Balanced gyro self-propelled rescue and detection robot

Abstract

This invention relates to a self-propelled rescue and detection robot based on a gyroscope, primarily designed for high-risk or inaccessible disaster environments. Its structure combines a self-developed gyroscope control system with a single-wheeled walking mechanism, enabling stable movement on steel cables, pipes, or narrow supports. It possesses excellent dynamic balance and maneuverability. The robot is equipped with an image capture and digital transmission module, allowing for real-time transmission of images from the disaster area to assist rescue personnel in understanding the situation. Furthermore, the device is lightweight and highly mobile, making it suitable for applications such as high-altitude rescue, collapsed building inspection, or hazardous area detection, thereby improving overall disaster relief efficiency and safety.

Claims

1. A self-propelled rescue and detection robot using a balanced gyroscope, the assembly procedure of which is as follows: First, the main body structure is pre-assembled, and the various structural components of the self-propelled rescue and detection robot are positioned and locked according to the design drawings, and the geometric accuracy of the reference plane and center line is checked. Next, the balanced gyroscope is installed on a special bracket near the center of mass of the robot body, and its three-axis sensing direction is calibrated through a precision fixture to make it consistent with the coordinate system of the robot body. High-frequency vibration is isolated by shock-absorbing pads to improve measurement stability and anti-interference ability. Then, the assembly procedure is... The control system configuration involves fixing the ATMEGA328P module to the main control board, completing the power supply voltage regulation circuit (such as a 5V voltage regulator module), and wiring the I2C or SPI communication interface according to the circuit design to enable real-time transmission of attitude data from the gyroscope to the control core. Simultaneously, the control firmware is burned, creating a balance control program containing a PID closed-loop control algorithm to achieve real-time attitude correction. Following this, the drive system is installed, fixing the 2418 Hall effect high-speed brushless motor to the drive mount at the bottom of the chassis. The process involves connecting the motor to the electronic speed controller (ESC), connecting the three-phase power lines and Hall effect sensor signal lines, adjusting the coaxiality of the motor shaft and the single wheel hub, and applying appropriate preload to reduce operating clearance and yaw error, ensuring the stability and efficiency of power output. The single-wheel walking module and auxiliary support mechanism, including bearing housings, support arms, and guide elements, are assembled, and the wheel assembly's rotational resistance and dynamic balance are tested. A counterweight disc is then installed on the adjustable counterweight base of the robot body. By changing the counterweight position and mass distribution, the overall center of gravity is finely adjusted to fall within the range that the control system can stably control, thereby improving self-balancing performance. The sensing and communication system is integrated, and an image capture module and digital image transmission device are installed. Power and signal lines are integrated and wired, and electromagnetic interference (EMI) suppression is performed. After assembly, system calibration and testing are conducted sequentially, including gyroscope zero-point calibration, PID parameter tuning, dynamic balance testing, narrow support walking testing, and real-time image transmission verification. Once it is confirmed that each subsystem operates normally and meets the design performance indicators, the robot is complete.

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