Research On Two-Wheeled Upright Robot

Two-wheeled upright robot is also called intelligent wheeled robot. The research object of this design is two-wheeled upright model car. Compared with traditional four-wheeled vehicle, two-wheeled upright model car has higher requirements in hardware design, software control and development, and field debugging. Two-wheeled upright robot can turn in a very small space, can even turn 360°on the spot. It’s really suitable to replace people who work in harsh environments. It also can be applied to pilotless automobile, automatic production lines, warehousing, robot and aerospace fields. As a high-tech industry, Intelligent control is developing rapidly, and has made great achievements. The robots of automatic control has been closely related to people’s production and life. Therefore, it’s very important to research into two-wheeled upright robot motion control.This subject first introduces a kind of two-wheeled upright robot which relies on camera to capture the image, and realize two functions of two-wheeled upright robot which are called automatic balancing upright walking and self tracking. The main control core of this system uses a 16 bit single chip MC9S12xs128 produced by Freescale company, uses CodeWarrior IDE do the software development work.Finally a intelligent vehicle with a strong function of practical application emerged. The whole system involves model cars mechanical structure, sensor-circuit design and signal processing, software design, control algorithm.Secondly, the design focuses on introducing the principle and realization method of the vehicle’s self-balancing. Through adjusting the car’s PD angle to control the car and make it stand. Through acceleration transducer and gyroscope to get the car line velocity and steering angle velocity of two-wheeled upright robot’s wheels. In order to achieve the car being relatively stationary and upright. The speed control signal and balance control signal can be overlapped to the two motors of rear wheels.Thirdly, the upright robot mainly uses the camera to capture runway image, and send the image information to Single Chip Micyoco. After the processing work, signals would be send back to the the two wheels, realizing controlling the directions of the intelligent car. Meanwhile, OMRON coder would collect the current speed information and sent it to Single Chip Micyoco, to achieve a speed feedback. When the camera captures information in different curves or different sections of roads, the upright vehicle can control the speed of the car according to the speed feedback system.(Try to be slower in curves while faster along the straights).Finally We use PID algorithm for system control, and we found that in the testing process, the algorithm shows the effect and performance of the upright vehicle when it’s moving from straight to curve, from curve to straight, or along continuous curves. Based on the practical debugging running of two-wheeled upright robot, it’s verified that this design’s balancing and speed control algorithm is feasible.The results showed that the mechanical structure and control algorithm for the design of the two-wheeled upright robot enjoys good performance and high reliability, achieved two-wheeled upright robot self balancing and tracking function. This design provides the basic and research data for more optimized operation in the future.