CN201856757U

CN201856757U - Inertial wheel two-wheeled robot stabilizing device

Info

Publication number: CN201856757U
Application number: CN2010205642721U
Authority: CN
Inventors: 韩毅; 吴初娜; 吴付威; 严尹鑫
Original assignee: Changan University
Current assignee: Changan University
Priority date: 2010-10-18
Filing date: 2010-10-18
Publication date: 2011-06-08
Anticipated expiration: 2020-10-18

Abstract

The utility model discloses an inertia wheel type two-wheel robot stabilizing device, which comprises a bicycle on which a control unit and a stabilizing unit are fixed; the detecting unit is composed of a single-axis gyroscope sensor and a three-axis acceleration sensor, and the stabilizing unit consists of It is composed of balance wheel, 540 DC motor and H-bridge motor drive circuit. The control unit is a single-chip microcomputer. According to the measurement and calculation of the detection unit, the lateral angle, angular velocity and angular acceleration of the bicycle are obtained, and these information are sent to the control unit, which receives and processes them. After the above information, the direction and angle of the bicycle dumping are calculated, and then the control signal is output to the H-bridge motor drive circuit to drive the DC motor fixed on the vehicle body to rotate in the direction of the bicycle dumping, thereby driving the balance wheel to rotate. The moment generated when the balance wheel rotates is opposite to the dumping moment of the bicycle, so that it and the dumping moment cancel each other out, so that the bicycle remains stable and does not fall.

Description

The wheeled two wheel robot stabilizing devices of a kind of inertia

Technical field

The utility model relates to intelligent robot chemical control system field, relates in particular to the wheeled two wheel robot stabilizing devices of a kind of inertia.

Background technology

Along with the develop rapidly of high integration and high-speed figure technology in recent years, control technology further develop and perfect, add the continuous generation of new more advanced manufacturing process, thereby make the robot field that earth-shaking variation take place.The while Eltec, the extensive application of information techenology aspect robot makes robot that far-reaching progress arranged aspect automatic guidance, and the technology that has further promoted robot is towards automation, and intelligentized direction develops.Though the robot on the market is a feast for the eyes now, great majority all are that three-wheel or three-wheel are above, and only a few has the two-wheel robot, because two wheel robots are time-dependent systems, need a stabilizing device, otherwise will fall.

Summary of the invention

The purpose of this utility model is, provides a kind of inertia wheeled two wheel robot stabilizing devices, and this device can keep travelling before two wheel robots automatically, can be in stabilized conditions in the process of moving, keeps balance, can not fall.

In order to realize above-mentioned task, the technical solution of the utility model is achieved in that

The wheeled two wheel robot stabilizing devices of a kind of inertia comprise bicycle, it is characterized in that, are mounted with detecting unit, control unit and stabilization element on bicycle; Detecting unit is connected with control unit, and control unit is connected with stabilization element.

Described detecting unit is made up of single axis gyroscope sensor and 3-axis acceleration sensor.It is the ADXRS610 gyroscope that the single axis gyroscope sensor adopts model, the cireular frequency when being used to measure bicycle and tilting.It is the 3-axis acceleration sensor of ADXL335 that 3-axis acceleration sensor adopts model, and it calculates bicycle angle of inclination with respect to the horizontal plane according to the acceleration/accel that gravity causes.

The MC9S12XDP512 micro controller system that described control unit adopts Freescale company to produce, it comprises the microprocessor of 16 bit of High Performance, low-power consumption, risc architecture, eight passage PWM, 8 tunnel 10 ADC.

Described stabilization element is made up of balance wheel, 540 DC machine and H bridge motor-drive circuit.It is the rubber tire of 150mm that balance wheel adopts diameter, its rotation axis and axle for bicycle line parallel and be positioned at the bicycle longitudinal axis directly over, it can produce when rotating and be used to offset the moment that bicycle is toppled over.

The utility model is according to the single axis gyroscope sensor and the 3-axis acceleration sensor that are fixed on the bicycle, measure and calculate lateral angles, cireular frequency and the angular acceleration that obtains bicycle, and send these information to control unit, after control unit receives and handles above-mentioned information, calculate direction and dump angle that bicycle is toppled over, then to H bridge motor-drive circuit output control signal, make its driving be fixed on the direction rotation that the DC machine on the vehicle body is toppled over to bicycle, thereby drive the balance wheel rotation.The moment that the balance wheel rotation time is produced is opposite with the overturn moment of bicycle, thus itself and overturn moment cancel out each other, make the bicycle held stationary, keep one's legs.

Description of drawings

Fig. 1 is a structured flowchart of the present utility model;

Fig. 2 is balance wheel of the present utility model and drive motor scheme of installation;

Fig. 3 is a motor-driven schematic diagram of the present utility model;

Fig. 4 is a workflow diagram of the present utility model.

The utility model is described in further detail below in conjunction with accompanying drawing.

The specific embodiment

The wheeled two wheel robot stabilizing devices of inertia of the present utility model comprise bicycle, it is characterized in that, are mounted with detecting unit, control unit and stabilization element on bicycle; Detecting unit is connected with control unit, and control unit is connected with stabilization element.

Detecting unit is made up of single axis gyroscope sensor and 3-axis acceleration sensor, the single axis gyroscope sensor is selected ADXRS610 single axis gyroscope sensor for use, it is that a angular velocity range is the MEMS angular velocity sensor of 300 °/S, and the compensation technique of accurate VREF (Voltage Reference) and temperature output is provided.This sensor Z axle response, the anti-high vibration of wideband, 2000g impacts tolerance, analog voltage signal output.3-axis acceleration sensor is selected the ADXL335 3-axis acceleration sensor for use, and it is a little range, small size, the low-power consumption triaxial accelerometer that has signal conditioning circuit and aanalogvoltage output can be provided that ADI releases recently.It not only can measure static acceleration, can also measure dynamic acceleration, has the specified anti-punching press intensity of 10000g, has good 0g bias stability and good sensitivity.

With reference to Fig. 1, ADXRS610 single axis gyroscope sensor is connected with AD1 with the AD0 of MC9S12XDP512 micro controller system respectively with the ADXL335 3-axis acceleration sensor, and AD0 and AD1 mouth that the angle signal of the angular velocity signal of ADXRS610 single axis gyroscope sensor output and the output of ADXL335 3-axis acceleration sensor enters the MC9S12XDP512 micro controller system respectively carry out digital to analogy conversion.H bridge motor-drive circuit is connected with 540 DC machine with the control signal output ends mouth of micro controller system respectively, and its control signal of exporting according to micro controller system is controlled the rotating of motor.540 DC machine are connected with balance wheel, when DC motor positive and negative rotation, drive also rotating of balance wheel, thereby the moment that is produced are offset the overturn moment of bicycle, makes the bicycle held stationary.

The installation of balance wheel and DC machine is with reference to Fig. 2, and wherein label 1 is 540 DC machine, and label 2 is a balance wheel, and label 3 is a strut bar.Balance wheel 2 is installed on the strut bar 3 by the axle center, and 540 DC machine are fixed on the balance wheel 2, and

balance wheel

2 and 540 DC machine 1 are carried out transmission in the mode of gear mesh.540 when DC machine 1 is rotated, and carries out rotating by gear driven balance wheel 2 around strut bar 3.

540 DC machine that the utility model adopts standard micro motor company to produce.This motor rated voltage is 7.2V, and no-load current is 2A, changes scooter 16200r/min; Maximum torque is 10.9Nm.Because MC9S12XDP512 micro controller system output PWM can't this DC machine of direct drive, therefore need drive by H bridge motor-drive circuit.For simplifying circuit layout, H bridge motor-drive circuit adopts integrate motor chip for driving MC33886 that motor is driven and controls.With reference to Fig. 3, the D1 of integrate motor chip for driving MC33886 and D2 pin directly connect high level and ground, make it by predetermined manner work, IN1 connects the PWM3 mouth of MC9S12XDP512 micro controller system, IN2 ground connection, control signal corresponding after OUT1 and OUT2 horsepower output amplify connects the both positive and negative polarity of 540 DC machine respectively, rotates with the control motor.By adjusting the PWM dutycycle of 3 mouthfuls of outputs of MC9S12XDP512 SCM PWM, realize that motor rotates and reverse with different speed.

With reference to Fig. 4, concrete workflow of the present utility model is as follows: system powers on, after the program initialization, ADXRS610 single axis gyroscope sensor begins the lateral angle speed of real-time detection bicycle, the ADXL335 3-axis acceleration sensor begins the lateral angles of real-time detection bicycle, two sensors and real-time send detected lateral angle velocity information and lateral angles information to the MC9S12XDP512 micro controller system with the form of aanalogvoltage.After the MC9S12XDP512 micro controller system receives the information that is sent, after by A/D conversion analog voltage being converted to digital voltage, in conjunction with the lateral angle velocity information of digital quantity and the size of lateral angles information, calculate direction and dump angle size that bicycle is desired to topple over.The direction and the dump angle size of toppling over according to the bicycle that calculates, the pwm signal of the PWM4 of MC9S12XDP512 micro controller system and PWM5 pin output different duty, after amplifying this signal, this pwm signal input H bridge motor-drive circuit exports to 540 DC machine, with rotation direction and the velocity of rotation of controlling 540 DC machine, 540 DC machine drive balance wheel 2 rotations, just opposite with the bicycle overturn moment during balance wheel 2 rotation to the moment of reaction direction of vehicle body, thus make the bicycle stabilized conditions of being kept upright.

Claims

1. A stabilizing device for an inertial wheel type two-wheeled robot, comprising a bicycle, is characterized in that a detection unit, a control unit and a stabilization unit are installed and fixed on the bicycle; the detection unit is connected with the control unit, and the control unit is connected with the stabilization unit.

2. The inertia wheel type two-wheel robot stabilization device according to claim 1, wherein the detection unit is composed of a single-axis gyroscope sensor and a three-axis acceleration sensor.

3. The inertia wheel type two-wheeled robot stabilizing device as claimed in claim 1, is characterized in that, described stabilizing unit is made up of H-bridge motor drive circuit, DC motor and balance wheel, and wherein, the axis of rotation of balance wheel and bicycle Axis parallel to and directly above the bike's longitudinal axis, the balance wheel rotates to create a counteracting moment that would tip the bike over.

4. The inertia wheel type two-wheeled robot stabilization device according to claim 2, wherein the ADXRS610 gyroscope is selected as the single-axis gyro sensor; the ADXL335 three-axis acceleration sensor is selected as the three-axis acceleration sensor.

5. The inertia wheel type two-wheel robot stabilization device according to claim 3, characterized in that, the balance wheel and the DC motor are gear-engaged for transmission.

6. The inertia wheel type two-wheeled robot stabilizing device as claimed in claim 3, wherein the balance wheel adopts a rubber tire with a diameter of 150mm.

7. The inertia wheel type two-wheeled robot stabilization device according to claim 3, characterized in that, the DC motor is a 540 DC motor.