The invention discloses a self-balancing wheeled robot control device with an accelerometer in the technical field of robots, which comprises a wheeled robot, the accelerometer is mounted in the wheeled robot, and a control device mounting box is mounted on the surface of the wheeled robot. According to the scheme, the acceleration of the wheeled robot in the horizontal direction is measured and calculated through the accelerometer installed in the wheeled robot, the control system can further calculate the inclination angle of the wheeled robot according to the readings of the accelerometer, and the balance state of the wheeled robot is kept by adjusting the output of the motor; when the output of the motor controls the wheeled robot to keep balance, the balance control device operates synchronously to perform compensation control on the balance of the wheeled robot, so that the situation that the output of the motor cannot control the wheeled robot to keep balance, so that the wheeled robot tilts and turns over is avoided; the balance control device carries out balance control on the wheeled robot by changing the overall gravity center position of the wheeled robot.
本发明公开了机器人技术领域的一种带有加速度计的自平衡轮式机器人控制装置,包括轮式机器人,轮式机器人的内部安装有加速度计,所述轮式机器人的表面安装有控制装置安装箱,本方案通过轮式机器人内部安装的加速度计对轮式机器人在水平方向上的加速度进行测算,进一步控制系统会根据加速度计读数计算轮式机器人的倾斜角度,并调整电机输出来保持轮式机器人的平衡状态,并且当电机输出控制轮式机器人保持平衡时,平衡控制装置同步运行,对轮式机器人的平衡进行补偿控制,避免电机输出无法控制轮式机器人保持平衡,导致轮式机器人倾斜翻到,当轮式机器人发生倾斜时,平衡控制装置通过改变轮式机器人整体的重心位置,对轮式机器人进行平衡控制。
Self-balancing wheeled robot control device with accelerometer
一种带有加速度计的自平衡轮式机器人控制装置
2023-07-14
Patent
Elektronische Ressource
Chinesisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen / B62D MOTOR VEHICLES , Motorfahrzeuge |
Two-wheeled robot self-balancing control method and robot
Europäisches Patentamt | 2023
|Two-wheeled self-balancing agricultural plant protection robot
Europäisches Patentamt | 2024
|