Posture control-based roller skating type mobility robot

Abstract

The invention discloses a posture control-based roller skating type mobility robot, which comprises a left roller skate body, a right roller skate body, a portable power supply, a communication controller and a posture detection system. The two roller skate bodies are of four-roller structures, and the left part and the right part are respectively provided with a driving roller, and the front part and the rear part are respectively provided with a small swivel castor, and the driving rollers are driven by a motor to rotate, so that the roller skate bodies can move in all directions. The 24V direct-current portable power supply provides electric drive for the roller skate bodies. The posture detection system obtains the upper body posture of an operator according to the relative spatial relation by six wireless motion capture sensors (WSSS (Wireless Standalone Sensing System)) so as to recognize the motion intention of the operator, and implements the motion intention by adjusting the rotational speed of the driving rollers of the roller skate bodies. The communication controller receives WSSS sensor information, generates a speed command with the assistance of a posture algorithm and transmits the speed command to a roller skate body controller, so that the driving rollers are controlled to rotate. The roller skating type mobility robot provides a tool integrated with mobility and entertainment functions for daily outings, and a novel set of control method is also provided for mobility vehicles.

Description

technical field [0001] The invention belongs to the technical field of electric walking-replacing devices, and more particularly relates to a wheel-skating walking-replacing robot based on attitude control. Background technique [0002] Modern means of transportation is very developed, can realize by automobile, airplane for long-distance transportation, then has bicycle electric vehicle for broad masses to use for short-distance transportation. Today's transportation advocates green travel, so electric vehicles have developed rapidly due to their low-carbon environmental protection and non-human drive. The various electric scooters emerging on the market are the result of the development of such vehicles. [0003] Electric roller skates are a cross product that combines electric scooter and roller skating. As a means of transportation, it also provides users with entertainment experience of roller skating. [0004] In the Chinese invention patent application publication sp...

AI Technical Summary

Problems solved by technology

[0008] The present invention mainly aims to solve the problem of operational complexity caused by the control mode of electric roller skates controlled by the force of the feet, and proposes a roller-skating walking-replacing robot based on attitude control, which can replace electric roller skates and make them more convenient It is safe, easy to operate, and has a simpler structure, and it also provides a new strategy for the development of electric roller skates

Images