Omni-directional self-balancing mobile robot based on infrared sensor

Abstract

The invention discloses an omni-directional self-balancing mobile robot based on an infrared sensor. The robot comprises an objective table, a movable mechanism and a control mechanism. The robot is driven by two wheels and is suitable for work in a narrow space, especially on occasions with severe working environments and complex tasks. The two driving wheels of the robot are independently controlled and are connected through hinging, and when the robot moves on an uneven road surface, the axes of the left and right wheels change, and the balance of the objective table cannot be influenced; by the adoption of the infrared sensor, posture detection of the self-balancing mobile robot is realized, the principle is simple, control is easy, the sensitivity is high, and the response speed is high; a fuzzy PD controller integrating the dual advantages of fuzzy control and PD control is adopted so that self-balancing control of the omni-directional mobile robot can be realized, and article carrying is more stable.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an infrared sensor-based omnidirectional self-balancing mobile robot. Background technique [0002] With the deepening of mobile robot research, its application fields are more extensive, and the environment and tasks it faces are becoming more and more complex. Traditional wheeled mobile robots mostly use a three-wheel or four-wheel structure with guide wheels. In workplaces with narrow spaces and many corners, they usually cannot perform tasks flexibly and quickly, and sometimes even lead to task failure. [0003] The two-wheel self-balancing robot has simple structure and flexible movement. It maintains motion balance through two-wheel coaxial and differential drive, and can move upright. Due to its structural advantages, two-wheeled self-balancing robots are suitable for working in narrow spaces, especially where the working environment is harsh and the tasks are complex. Typ...

AI Technical Summary

Problems solved by technology

[0004] Although the two-wheeled self-balancing robot has many advantages and good dynamic performance, it still has the following deficiencies: First, when traveling on uneven roads, the axes of the left and right wheels will fluctuate with the terrain. Due to the constant change, the stage of the robot cannot be kept level, and the carried objects are easy to fall off; second, most of the existing self-balancing technologies are based on multi-axis attitude sensors, which require a large amount of data to be collected and processed, and the control system is relatively complex. Complicated; third, the existing two-wheeled self-balancing robot can only rotate in the forward and reverse directions of the two wheels at the corner to achieve in-situ rotation and arbitrary radius steering, which takes a certain amount of execution time; fourth, the robot’s The stage is usually fixedly connected to the robot body and cannot be adjusted adaptively as the environment changes

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