Automatic balancing device and method of motorcycle-type robot

Abstract

The invention discloses an automatic balancing device and method of a motorcycle-type robot. The automatic balancing device is applied to the motorcycle-type robot, the motorcycle-type robot and the automatic balancing device form a single-dimensional inverted pendulum structure supported by two points, upright automatic balance of the motorcycle-type robot is achieved through the adoption of themomentum exchange principle in the inverted pendulum principles and according to the momentum conservation law; the automatic balancing device comprises a gesture collector for detecting gesture dataof a motorcycle body tilting leftwards and rightwards, a momentum wheel, a motor driving the momentum wheel to rotate and a motorcycle body controller connected with the gesture collector and the motor separately, the motorcycle body controller obtains the rotation data of the momentum wheel and the gesture data and utilizes a control algorithm to control the motor to output motor rotation data corresponding to the gesture data and the rotation data, and therefore the momentum wheel is controlled to rotate to achieve the upright automatic balance of the motorcycle-type robot.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to an automatic balancing device and method for a motorcycle robot. Background technique [0002] Traditional wheeled robots have at least one driving wheel and two supporting wheels that are not in a straight line with the driving wheel, resulting in a larger width dimension of the robot, making it difficult for the robot to move and travel in a narrow environment, which affects the corresponding search in a narrow environment or detection functions. For motorcycles or bicycles whose two-wheel axes are parallel, its width square size is small, but the upright balance of motorcycles or bicycles in a small space is controlled by humans, and there is no corresponding automatic balance for robots of this similar shape Means to ensure its upright balance, so how to solve the problem of making the robot possess self-balancing function in a narrow environment is an urgent prob...

AI Technical Summary

Problems solved by technology

[0002] Traditional wheeled robots have at least one driving wheel and two supporting wheels that are not in a straight line with the driving wheel, resulting in a larger width dimension of the robot, making it difficult for the robot to move and travel in a narrow environment, which affects the corresponding search in a narrow environment or detection functions

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