公开(公告)号：US08321053B2

公开(公告)日：2012-11-27

申请号：US12770328

申请日：2010-04-29

Applicant: Xiaogang Ruan ,  Xinyuan Li ,  Honggui Han ,  Jianwei Zhao ,  Naigong Yu ,  Hongge Ren ,  Jianxian Cai

Inventor： Xiaogang Ruan ,  Xinyuan Li ,  Honggui Han ,  Jianwei Zhao ,  Naigong Yu ,  Hongge Ren ,  Jianxian Cai

IPC: B25J5/00 ,  G05B15/02

CPC classification number: B25J5/007

Abstract: A flexible two-wheeled self-balancing robot system and its motion control method include a main controller 1, a motion controller 2, an assistant controller 3, two servo drivers 4, sensors, input/output devices, two DC motors 5 and a power supply system; a camera is installed on truck's top board 11, a tilt-meter and a gyro are installed both in truck 6 and chassis 8. Truck 6 and chassis 8 are connected with an elastic joint in which is installed a two-arm torsion spring and a cylindrical spring; the main controller 1 is connected to the motion controller 2, the assistant controller 3 and input/output devices. The user commands received by the main controller 1 are immediate commands or stored commands; through main controller 1 running the motion behavior decision algorithm, the motion controller 2 running the motion balancing control algorithm, and the servo drives 4 controlling the torques of the motors 5, locomotion on plane and remote control of the robot can be implemented.

Abstract translation: 灵活的两轮自平衡机器人系统及其运动控制方法包括主控制器1，运动控制器2，辅助控制器3，两个伺服驱动器4，传感器，输入/输出装置，两个直流马达5和一个电源 供应系统; 一个相机安装在卡车的顶板11上，一个倾斜仪和一个陀螺仪都安装在卡车6和底盘8.卡车6和底盘8与一个弹性接头连接，弹性接头安装有双臂扭簧和 圆柱形弹簧 主控制器1连接到运动控制器2，辅助控制器3和输入/输出装置。 由主控制器1接收的用户命令是立即命令或存储命令; 通过运行运动行为判定算法的主控制器1，运行运动平衡控制算法的运动控制器2以及控制马达5的转矩的伺服驱动器4，平面上的运动和机器人的远程控制。

公开(公告)号：US20100292840A1

公开(公告)日：2010-11-18

申请号：US12770328

申请日：2010-04-29

Applicant: Xiaogang Ruan ,  Xinyuan Li ,  Honggui Han ,  Jianwei Zhao ,  Naigong Yu ,  Hongge Ren ,  Jianxian Cai

Inventor： Xiaogang Ruan ,  Xinyuan Li ,  Honggui Han ,  Jianwei Zhao ,  Naigong Yu ,  Hongge Ren ,  Jianxian Cai

IPC: G05B15/00

CPC classification number: B25J5/007

Abstract: A flexible two-wheeled self-balancing robot system and its motion control method include a main controller 1, a motion controller 2, an assistant controller 3, two servo drivers 4, sensors, input/output devices, two DC motors 5 and a power supply system; a camera is installed on truck's top board 11, a tilt-meter and a gyro are installed both in truck 6 and chassis 8. Truck 6 and chassis 8 are connected with an elastic joint in which is installed a two-arm torsion spring and a cylindrical spring; the main controller 1 is connected to the motion controller 2, the assistant controller 3 and input/output devices. The user commands received by the main controller 1 are immediate commands or stored commands; through main controller 1 running the motion behavior decision algorithm, the motion controller 2 running the motion balancing control algorithm, and the servo drives 4 controlling the torques of the motors 5, locomotion on plane and remote control of the robot can be implemented.

Abstract translation: 灵活的两轮自平衡机器人系统及其运动控制方法包括主控制器1，运动控制器2，辅助控制器3，两个伺服驱动器4，传感器，输入/输出装置，两个直流马达5和一个电源 供应系统; 一个相机安装在卡车的顶板11上，一个倾斜仪和一个陀螺仪都安装在卡车6和底盘8.卡车6和底盘8与一个弹性接头连接，弹性接头安装有双臂扭簧和 圆柱形弹簧 主控制器1连接到运动控制器2，辅助控制器3和输入/输出装置。 由主控制器1接收的用户命令是立即命令或存储命令; 通过运行运动行为判定算法的主控制器1，运行运动平衡控制算法的运动控制器2以及控制马达5的转矩的伺服驱动器4，平面上的运动和机器人的远程控制。