The Research And Implementation Of Two Self-balancing Security Robot Control System

Two Self-balancing Security Robot is one of the intelligent robots used in the security filed. Based on the two self-balancing robot, kinds of technology, such as computer vision, GPS and Iot, were used on this robot to achieve autonomous navigation, smart patrol, security monitoring, crisis detection and early warning functions. Comparing with the traditional security products, the features of high flexibility, low cost, and easy to be operated make it an intelligent security product with high practical value.With a two wheels of coaxial design approach, this robot is unstable. So it is important to keep balance when it moves. Besides, to achieve autonomous navigation, smart patrol functions on this robot, it is necessary to design a two self-balancing robot control system with a simple but effective robot control application interface, real time communication and short communication response time.As the design of the software and hardware of the two self-balancing robot control system, a set of design scheme was put forward in this article.First, this article made a short theoretical discussion on how the two self-balancing robot keep balance. As the result, a math algorithm model, which was used to keep the robot balance during its movement, was deduced by the force analysis of the two self-balancing robot when it moves. At ths same time, to control the speed and the direction of the robot, the method by adjusting the angle of robot to adjust the speed of the robot and the method by configuring different speed of the two wheel to control the direction of this robot were proposed.Second, a design method of the two self-balancing robot control system was described in detail in this article. For the hardware, this paper shew how to choose the chip and how to design the appropriate circuit with these chips according to the function. About the software design of the control system, this article focused on how to achieve the main function, and finally gave out the design scheme.At last, some experiments were done to validate the performance of the robot. With the analysis of the experiments, the two self-balancing security robot control system was find out to be feasible, it did do a contribution to the application of the self-balancing robot on security field.