一种自平衡监测机器人的设计研究  

Design and Research of a Self-balancing Monitoring Robot

作　　者：郑江磊 孟祥瑞[1] 王向前[1] ZHENG Jianglei;MENG Xiangrui;WANG Xiangqian(School of Economics and Management,Anhui University of Science and Technology,Huainan 232000,China)

机构地区：[1]安徽理工大学经济与管理学院,安徽淮南232000

出　　处：《宿州学院学报》2023年第6期1-5,共5页Journal of Suzhou University

摘　　要：在不同监测环境中,监测设备可能因气流扰动、地形倾斜、地面震动、供电接线不便等情况而影响监测数据的获取或准确。为此,研究设计制作了一款能够自主平衡的监测机器人,该自平衡监测机器人依靠内部动量轮控制平衡力矩来修正设备倾斜角度,保持设备持续平衡稳定运行;利用远程无线信号调试,解决传统监测系统调试不便的问题;通过WiFi模块可以在上位机中进行远程参数设定;利用无线充电及供电模块,解决传统的冗长线路供电问题。最后经过各类环境模拟实验,验证了LQR用于自平衡的可行性,机器人在复杂的地形下能保持站立,并能修正自身平衡状态,达到实时稳定的监测效果。When monitoring different environments,there may be airflow disturbance,terrain incline,ground vibration,inconvenient power supply connection and other conditions.Monitoring equipment should be able to adjust and correct its own state to maintain balance,so as to obtain more accurate monitoring data.Therefore,a self-balancing robot is designed and manufactured in this paper.The self-balancing monitoring robot relies on the internal momentum wheel to control the balance and correct the tilt angle of the equipment and maintain the continuous balance and stable operation of the equipment.Using the remote wireless signal debugging,it solves the problem of traditional monitoring system debugging inconvenience.Remote parameter setting can be carried out in the host computer through WiFi module;Wireless charging and power supply module is used to solve the traditional long line power supply problem.Finally,through various kinds of environmental simulation experiments,the feasibility of LQR for self-balancing is verified.The robot can keep standing under complex terrain,and can correct its own balance state,so as to achieve real-time and stable monitoring effect.

关 键 词：自平衡 LQR 动量轮 

分 类 号：TM02[电气工程—电工理论与新技术]