Self-balancing robot continuous external force resistance posture control method

A technology of attitude control and external force, applied in the field of attitude control of self-balancing robots against continuous external force, to achieve the effect of maintaining in-situ balance and accurate and rapid repair

Pending Publication Date: 2020-09-15
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

For some small and medium-sized two-wheeled self-balancing robots used for special occasions, if they encounter continuous horizontal external force interference during the process of maintaining balance on the spot, the adjustment of the counterweight may have a certain hysteresis, and may If it will affect its work, the robot needs to change its center of gravity in other ways to offset the interference of continuous horizontal external force

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  • Self-balancing robot continuous external force resistance posture control method
  • Self-balancing robot continuous external force resistance posture control method

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Embodiment Construction

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some, not all, embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the description of the application are only for the purpose of describing specific embodiments, and are not intended to limit the application.

[0036] In one embodiment, a self-balancing robot attitude control method against continuous external force is provided to o...

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Abstract

The invention discloses a self-balancing robot continuous external force resistance posture control method which comprises the steps that numerical values of encoders corresponding to a left wheel shaft and a right wheel shaft respectively are read regularly, the numerical values of the two encoders are added to serve as state parameters, and the state parameters have positive and negative values;the running state of a current self-balancing robot is judged according to the state parameters; and according to the motion state, a PID controller is adopted to adjust the self-balancing robot to be maintained in situ. According to the invention, the encoders are used for judging the current operation state of the self-balancing robot, the defect that a gyroscope cannot correctly reflect the current running state of the self-balancing robot is overcome, and different measures are taken according to different running states to ensure that fluctuation of the self-balancing robot is accuratelyand quickly repaired and the posture of the self-balancing robot is adjusted so as to always maintain in-situ balance.

Description

technical field [0001] The application belongs to the field of self-balancing robots, and in particular relates to an attitude control method for a self-balancing robot against continuous external force. Background technique [0002] The conventional two-wheeled self-balancing robot and the person standing on the balancing robot form a complete system, and passengers can adjust their own center of gravity to deal with different situations. However, when the small and medium-sized two-wheeled self-balancing robot maintains its balance in situ, when the robot is affected by a large continuous horizontal external force, the robot will shift or even move in one direction in order to maintain the balance. Usually in this case, it is necessary for the self-balancing robot to be able to judge the direction of the external force, and make a corresponding response to prevent the robot from continuing to drift in one direction, so as to affect the normal operation of the robot. [00...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0276Y02T10/72
Inventor 董辉吴宇航田叮吴祥袁登鹏董浩陈重周俊阳
Owner ZHEJIANG UNIV OF TECH
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