Two-wheeled longitudinal self-balancing robot and control system

Abstract

The invention discloses a two-wheeled longitudinal self-balancing robot and a control system. The two-wheeled longitudinal self-balancing robot comprises a head part, a body part, a tail part, an electric control box, a front wheel steering mechanism, a front wheel mounting mechanism, a front wheel, a rear wheel mounting mechanism and a rear wheel. The control system for the two-wheeled longitudinal self-balancing robot comprises a master control unit, a dual gyro balancing component, a steering engine drive unit, a rear wheel drive unit, a man-machine interaction unit, an information detection unit and a power supply unit. According to the robot disclosed by the invention, self-balancing is realized based on a dual flywheel gyro effect principle, the control system of the robot adopts an adaptive control algorithm, and the model is gradually close to an actual condition by virtue of on-line identification, so that the two-wheeled longitudinal self-balancing robot can automatically restore to a stable state when stressed by lateral impact force to a certain degree, can be kept in a stable state while bearing an asymmetrical load to a certain degree, can realize automatic obstacle avoidance while meeting an obvious obstacle, and has the advantages of fast response, high corrective moment, low energy consumption and small noise.

Description

technical field [0001] The invention relates to the technical field of electric balancing vehicles, in particular to a longitudinal two-wheel self-balancing robot and a control system. Background technique [0002] Two-wheeled mobile robots are divided into two types: coaxial two-wheels (left and right distribution) and longitudinal two-wheels (front and rear distribution). The coaxial two-wheeled mobile robot has strong flexibility and is very similar to the walking of the biped robot. There are many related researches and applications in the industry, but the realization of the self-balancing of the longitudinal two-wheeled robot is extremely challenging. Since the longitudinal two-wheel balance robot is a typical naturally unstable body, it will swing left and right under uncontrolled conditions, and it is difficult to achieve self-balancing, so its balance control is a relatively complicated process. Since the front and rear two-wheel structures are unstable, multivaria...

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Problems solved by technology

However, these methods currently have weaknesses such as low stability, high energy consumption, and lack of autonomy, and their control system design is too complicated to quickly meet the practical requirements.

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