The invention discloses a wheelchair dynamic balancing system which is made by the aid of knowledge and techniques of inertia, electronics, mechanics, software and control theories. The dynamic balancing system can ensures a fact that a wheelchair can consistently keep horizontal and stable states in various road condition environments and prevents articles on a wheelchair or a rider from falling,and the wheelchair is conveniently operated and controlled by people. According to the dynamic balancing system, an AGV (automatic guided vehicle) serves as a movable carrier, an Arduino Uno development board serves as a processor, a movable service system based on self-stabilization is formed according to a JY-61 sensor module and a steering engine, set tasks under different scenes are finished,attitude information of the wheelchair is measured and read by the JY-61 sensor module and transmitted to an Arduino Uno through a serial port, the attitude information is processed in the Arduino Uno, control signals are transmitted to the steering engine, the steering engine drives the wheelchair to rotate through a connecting rod, so that horizontal stabilization of the wheelchair is maintained.
Wheelchair dynamic balancing system