A two-wheeled self-balancing service robot with automatic swing arm

Abstract

The invention belongs to the related technical field of automatic control and discloses an automatic arm swinging two-wheel self-balancing service robot. The two-wheel self-balancing service robot comprises a vehicle body, two supporting plates which are perpendicularly fixed to the vehicle body in a spaced manner and a rotating shaft with the two ends being connected to the two supporting plates correspondingly. The two-wheel self-balancing service robot further comprises an upper swinging arm, a lower swinging arm and a controller. One end of the upper swinging arm and one end of the lower swinging arm are rotationally connected to the rotating shaft. When the upper swinging arm rotates, the controller controls the lower swinging arm to rotate in the direction opposite to the rotation direction of the upper swinging arm, then the lower swinging arm drives a heavy hammer to rotate so that the gravity center of the two-wheel self-balancing service robot can be adjusted, and the two-wheel self-balancing service robot achieves self-balance. The two-wheel self-balancing service robot can achieve self-balance better by controlling the upper swinging arm to rotate, the automation degree is relatively high, operation is easy, and the amount of borne heavy objects is relatively large.

Description

technical field [0001] The invention belongs to the technical field related to automatic control, and more specifically relates to a two-wheeled self-balancing service robot with automatic arm swing. Background technique [0002] With the development of science and technology, the degree of automation of people's life is getting higher and higher, and service robots have been widely used. Self-balancing service robots in service robots, such as electric balance cars, mainly use gyroscopes and acceleration sensors to detect body posture changes, and use servo systems to accurately drive motors to adjust to maintain system balance. [0003] The self-balancing service robot can not only be used as a means of transportation to facilitate people's travel, but also can be used for intelligent food delivery in tea restaurants and coffee shops. In addition, the daily delivery of medicines to patients in the hospital can also be handed over to two-wheeled self-balancing service robo...

AI Technical Summary

Problems solved by technology

Because the heavy objects carried by the two-wheel self-balancing service robot have a great influence on its own balance performance, while the ordinary two-wheel self-balancing food delivery robot can carry a small amount of heavy objects, the moving mechanism of the self-balancing robot , there will be a certain inclination angle between the body and the ground, which will increase the risk of the body shaking and toppling in practice, and on special terrains such as slopes, it is difficult to maintain balance due to the problem of the center of gravity, and a small disturbance will make the body fall

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