CN-116430881-B - Self-balancing unmanned bicycle based on rotor

CN116430881BCN 116430881 BCN116430881 BCN 116430881BCN-116430881-B

Abstract

The invention discloses a rotor-based self-balancing unmanned bicycle, which comprises a sensor module, a handlebar balance control module, a tail motion control module, a classification processing module and a power supply device. The self-balancing subsystem collects bicycle pose data by using a sensor, and adjusts the steering of a rotor and the rotation speed to balance the original dumping moment, so that the self-balancing of the bicycle in various states, especially in low-speed running, is realized, and the unmanned subsystem completes automatic path planning according to a machine learning algorithm and respectively adjusts the rotation speed of a handle rotor and the inclination angle of a tail rotor blade to realize steering and speed regulation. The rotor wing device adopted by the invention works based on the structure of a daily general bicycle, has the characteristics of convenient assembly and disassembly, light and handy structure, strong function expansibility and the like, and provides a new thought for solving the self-balancing unmanned problem of the bicycle.

Inventors

WANG RUOYU
MENG JUN

Assignees

浙江大学

Dates

Publication Date: 20260505
Application Date: 20230223

Claims (8)

1. The self-balancing unmanned bicycle based on the rotor wing is characterized by comprising a sensor module, a handlebar balance control module, a tail motion control module, a classification processing module and a power supply device; The sensor module is used for measuring bicycle balance variables and motion path variables, wherein the bicycle balance variables comprise bicycle handle bar deflection angles Deflection angle of bicycle body And rear wheel rotational speed n, the motion path variables including a target direction and an obstacle azimuth; The handlebar balance control module is arranged on a bicycle handlebar, and realizes a handlebar deflection angle by adjusting the speed and steering of left and right rotary wings of the handlebar The main body is two rotors rotating horizontally, and the combination of different rotation states of the two rotors can generate upward lifting force And reactive torque ; The tail balance control module is arranged at the rear part of the bicycle body, and the tail rotor wing speed and steering speed are adjusted to jointly complete the deflection angle of the bicycle body with the handlebar balance control module The rear balance control module is a rotor wing arranged above the rear wheel of the bicycle and a driving mechanism thereof, the main body is a rotary rotor wing which rotates in the direction vertical to the vehicle body, and the rotor wing rotates to generate forward thrust And reactive torque ; The rear motion control module is arranged at the rear part of the bicycle, and the inclination angle of the blades of the rear rotor wing is adjusted, so that the thrust generated by the rear rotor wing is adjusted under the condition that the rotation speed of the rear rotor wing is not changed, and the rotation speed n of the rear wheel is further adjusted, and the bicycle is controlled to advance at the expected speed; the classification processing module is used for processing bicycle balance variable and motion path variable information, completing real-time path planning and rotor working parameter calculation, and sending instructions to the handlebar balance control module, the tail balance control module and the tail motion control module; The power supply device is arranged in the middle of the bicycle and is connected with the handlebar rotor wing, the tail suspension wing and the singlechip to realize power supply driving.
2. A rotor-based self-balancing unmanned bicycle according to claim 1, wherein in the unbalanced condition, the reaction torque is Varying for balancing bicycle yaw angle Moment generated by tilting angle speed in direction, in balance state Varying for steering during movement, and simultaneously, generating a lifting moment by rotation of the rotor The balance process of the side dumping condition of the vehicle body is participated, and the equation relation is as follows: Wherein d is the distance from the rotary shaft of the rotary wing at the left end or the right end of the handle to the central axis of the handle, Indicating the angular velocity of the left rotor of the handlebar, Indicating the angular velocity of the right rotor, 、 Is constant.
3. A rotor-based self-balancing unmanned bicycle according to claim 2, wherein in the unbalanced condition, the reaction torque is Varying for balancing the roll angle of a bicycle Moment generated by tilting angle speed in direction, thrust in balanced state For full vehicle drive, the equation relationship is as follows: Wherein, the Indicating the angular velocity of the tail rotor, 、 Is constant.
4. The self-balancing unmanned bicycle based on the rotor wing according to claim 1, wherein the rear motion control module is a rotor blade inclination angle adjusting device, the rotating speed of the rotor blade of the rear of the bicycle affects the advancing speed and the balance state of the bicycle, the influence of the rotating speed change of the rotor blade on the balance of the bicycle is reduced after the balance of the bicycle, the forward thrust effect is reduced when the bicycle is in static balance, the rear motion control module can change the forward thrust by changing the inclination angle of the rotor blade, the speed of the bicycle is adjusted in the balance state, the balance of the bicycle is assisted in the unbalanced state, the reverse pulling force is generated when the inclination angle of the blade is negative, the front wheel of the bicycle is regarded as a driven wheel, the degree of freedom of the front wheel relative to the handlebar is limited, and the balance of the whole bicycle is facilitated.
5. The rotor-based self-balancing unmanned bicycle of claim 1, wherein the classification processing module is a single chip microcomputer, and on one hand, the bicycle handle deflection angle is input according to the pose sensor in the sensor module Deflection angle of bicycle body Outputting the angular speed of the left rotor wing of the handlebar by utilizing a PID control algorithm Angular velocity of right rotary wing of handlebar Angular speed of tail rotor The corresponding instruction is sent to the handlebar balance control module or the tail balance control module and is embodied as the input PWM wave and the direction control voltage of the rotor wing control motor, and the inclination angle of the rotor wing blades is output by utilizing a PID control algorithm according to the rear wheel rotating speed n input by the speed sensor in the sensor module And on the other hand, the visual sensor in the sensor module acquires the image information to acquire the target direction and the obstacle azimuth, and performs path planning in real time.
6. A rotor-based self-balancing unmanned bicycle as claimed in claim 3, wherein the self-balancing unmanned bicycle comprises a self-balancing control section comprising: (1) The simulation modeling is to construct the mapping relation between the variable measured by the sensor module and the control variable of the handlebar balance control module, the tail balance control module and the tail motion control module so as to realize the simulation self-balancing of the bicycle, wherein the bicycle balance variable comprises the deflection angle of the handlebar of the bicycle Deflection angle of bicycle body And their first and second derivatives, said control variables including the angular speed of the left-hand rotor of the handlebar Angular velocity of left rotor of handlebar Angular speed of tail rotor Their direction of rotation; (2) Automatic modeling, namely realizing automatic balance control of the bicycle by combining a simulation controller obtained by simulation modeling with the correlation between the variable measured by the real sensor module of the bicycle and the control variable of the real control module; (3) Intelligent modeling, namely learning control parameters of the bicycle in unfamiliar or complex environments by combining a bicycle real controller obtained by automatic modeling with one or more of an evolutionary algorithm, a machine learning algorithm or a deep learning algorithm 、、、 J, realizing self-adaptive balance in unfamiliar environment or complex environment.
7. The rotor-based self-balancing unmanned bicycle of claim 1, wherein the self-balancing unmanned bicycle comprises an unmanned control portion that includes three sub-tasks of sensing and locating the environment, planning decisions, and performing decisions using machine learning algorithms to continuously sense the surrounding environment and predict possible changes, (1) The method comprises the following steps of adopting a monocular camera to monitor a roadblock in front, adopting a laser radar and an ultrasonic radar to acquire distance data and drawing a point cloud image, thereby realizing the drawing of the shape, the size and the distance of an obstacle; (2) Firstly, path planning is completed on the basis of a map through Dijkstra or RRT algorithm, and behavior prediction and self behavior decision of other road participants are carried out by utilizing a deep learning LSTM cyclic neural network; (3) And executing a decision, namely selecting a desired bicycle variable to realize unmanned control of the bicycle.
8. The rotor-based self-balancing unmanned bicycle of claim 6, wherein the theoretical modeling of the self-balancing bicycle of the self-balancing control section comprises: establishing a rotation matrix between an inertial coordinate system { E } and a bicycle coordinate system { B }, and And converts the attitude angle to angular velocities p, q, r in the bicycle coordinate system: In the bicycle reference system { B }, three rotors generate forces Moment generated on machine body shaft As well as gyroscopic moment : The bicycle coordinate system is converted to an inertial coordinate system { E } and a balance equation is established as follows: Wherein the method comprises the steps of Indicating the angular velocity of the left rotor of the handlebar, Indicating the angular velocity of the right rotor, Indicating the angular velocity of the tail rotor, Rotor wing at left end or right end of handlebar the distance from the rotating shaft to the central axis of the handlebar, 、、、 Is a constant value, and is used for the treatment of the skin, 、 Respectively represents the total rotational inertia of the handle bar, the rotor of the tail rotor motor and the rotor around the vehicle body, Representing the moment of inertia matrix of the whole vehicle around X, Y, Z three axes, 、 Representation pair 、 The first time of the guiding is calculated, 、 Representation pair 、 And obtaining a second guide.

Description

Self-balancing unmanned bicycle based on rotor Technical Field The invention relates to the field of traffic, in particular to a rotor-based self-balancing unmanned bicycle. Background The bicycle is a common transportation tool, has the advantages of simple mechanism, convenience, flexibility, no noise, low price, energy conservation, environmental protection and the like, and has an irreplaceable important position at the moment that energy conservation, emission reduction and low-carbon travel become the national consensus. With the continuous improvement of the attention of people to intelligent vehicles and unmanned technologies, unmanned bicycles have been primarily developed on the basis of the concept of the intelligent vehicles. The unmanned bicycle is expected to be applied to disaster relief, forest operation and special logistics transportation, and has broad prospect. At present, the research of the unmanned bicycle mainly surrounds two aspects of dynamics modeling and new control algorithm proposal, and the research of the unmanned bicycle is mainly remained in the stage of theoretical discussion and preliminary experiments. The existing balance system applied to the motorcycle or the electric bicycle is basically superposition of a monocycle balance system (namely an inverted pendulum balance system) and a bipedal balance system, and the front handle flexibility of the bicycle is limited after the method is applied, so that the freedom degree of one dimension is reduced. In addition, attempts at existing bicycle self-balancing solutions mostly require complex mechanical modification of the bicycle, with low practicality and flexibility. The complex dynamics of bicycles make multi-state self-balancing of bicycles a number of troublesome problems, wherein the problem of self-balancing of bicycles in stationary or low-speed driving is always a key point limiting the development of unmanned bicycles. Disclosure of Invention The invention aims at overcoming the defects of the prior art and provides a rotor-based self-balancing unmanned bicycle. The invention aims at realizing the technical scheme that the rotor-based self-balancing unmanned bicycle comprises a sensor module, a handlebar balance control module, a tail motion control module, a classification processing module and a power supply device; the sensor module is used for measuring bicycle balance variables and motion path variables, wherein the bicycle balance variables comprise bicycle handlebar deflection angle alpha, bicycle body deflection angle beta and rear wheel rotating speed n, and the motion path variables comprise target directions and obstacle orientations; The handlebar balance control module is arranged on a bicycle handlebar, and the adjustment of the deflection angle alpha of the handlebar is realized by adjusting the speeds and the steering directions of left and right rotary wings of the handlebar; The tail balance control module is arranged at the rear part of the bicycle body, and the tail rotor wing speed and steering are adjusted to jointly complete the adjustment of the deflection angle beta of the bicycle body with the handlebar balance control module; The rear motion control module is arranged at the rear part of the bicycle, and the inclination angle of the blades of the rear rotor wing is adjusted, so that the thrust generated by the rear rotor wing is adjusted under the condition that the rotation speed of the rear rotor wing is not changed, and the rotation speed n of the rear wheel is further adjusted, and the bicycle is controlled to advance at the expected speed; The classification processing module is used for processing bicycle balance variable and motion path variable information, completing real-time path planning and rotor working parameter calculation, and sending instructions to the handlebar balance control module, the tail balance control module and the tail motion control module. The power supply module is arranged in the middle of the bicycle and is connected with the handlebar rotor wing, the tail suspension wing and the singlechip to realize power supply driving. The handlebar balance control module is a rotor wing and a driving mechanism thereof which are arranged at two ends of a handlebar, the main body is two rotor wings rotating in the horizontal direction, the combination of different rotation states of the two rotor wings can generate upward lifting force Fz and reactive torque Tz, the reactive torque Tz is changed to balance the moment generated by the tilting angle speed of the Yaw angle Yaw direction of the bicycle in an unbalanced state, the Tz is changed to be used for steering in motion in the balanced state, and meanwhile, the lifting force moment Mxy generated by the rotation of the rotor wings participates in the balance process of the lateral tilting condition of the vehicle body, and the equation relation is as follows: Fz=cT1(w12+w22) Tz=cM1(w12±w22) Mxy=dcT1(w12-w22) Wherein