Two-wheeled self-balancing vehicle adjusted by spherical gyro

Abstract

The invention discloses a two-wheel self-balancing vehicle adjusted by a spherical gyro. Front and rear wheel devices are installed on the front and rear ends of the vehicle. The front and rear wheel devices both include a wheel steering mechanism and a wheel drive mechanism. A vehicle balancing device is arranged on the frame, and the vehicle balancing device includes a front and a rear spherical gyro mechanism. An omnidirectional wheel set and a gyroscope set in the spherical shell, each omnidirectional wheel set includes at least three omnidirectional wheels arranged on the corresponding wheel frame in contact with the spherical surface, and the rotation shafts of the two omnidirectional wheels pass through the universal The rotating shafts of the first and last omnidirectional wheels are respectively connected to the spherical shell motor and the incremental encoder that detects the rotational speed of the omnidirectional wheels. The present invention can realize in-situ stationary vehicle balance movement, straight line balance movement, turning balance movement and complex curve balance movement, with flexible movement, variable structure, stability and reliability.

Description

technical field [0001] The invention relates to a balance control technology, in particular to a two-wheel self-balancing vehicle adjusted by a spherical gyro. Background technique [0002] A self-balancing vehicle is a high-tech intelligent product that uses the principle of dynamic balance to control the forward and backward of the vehicle body. Its operation is mainly based on a basic principle called "Dynamic Stabilization". At present, most of the self-balancing vehicles use built-in precision solid-state gyroscopes (Solid-State Gyroscopes) to judge the posture state of the body. After calculating the appropriate instructions through the precise and high-speed central microprocessor, the motor is driven to achieve balance. Effect. [0003] The control torque gyro technology is a technology applied in the aerospace field. It is often used for the orientation (attitude) adjustment of satellites or spacecraft in space. The moment is applied to the object (such as a satel...

AI Technical Summary

Problems solved by technology

Lit Motors C1 has a built-in patented control system. There are two mechanical gyro devices with a speed of 5000-12000r / m under the driver's seat. These two gyro devices can keep the vehicle in balance when stopping, driving or turning; However, the two mechanical gyroscopes of LitMotors C1 are installed horizontally and can only precess in one direction in the pitch direction, and the direction of the gyro torque generated by them will be limited to a certain extent.

[0005] Beijing University of Posts and Telecommunications Guo Lei, Song Yuan et al.’s invention patent (Application No. 201610524122.X) of "A Multi-state Variable Structure Intelligent Balance Vehicle". Different environments are used to switch the driving state, and the state switching is realized by turning the fork, but the fork of the balance car can only rotate around the axis of the fork (vertical direction), and the degree of freedom is single. For some complex and changeable terrain In addition, the balance car mainly relies on the rotation of the wheels and handlebars to maintain the balance of the car body. The car body is not equipped with a special balance adjustment mechanism, so its balance range and load capacity need to be further improved

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