A self-balancing unmanned bicycle and its self-evolving control method based on intelligent evolution

A technology of unmanned driving and bicycles, applied in the field of transportation, can solve the problems of no self-balancing of bicycles, no direct driving force of two wheels, etc., and achieve the effect of simplified adjustment

Active Publication Date: 2020-02-07
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The front handle of the bicycle has a high degree of freedom, and the two wheels have no direct drive force
Therefore, the driving force that causes its balance on a motorcycle or electric bicycle does not exist on a bicycle, and its balancing method is invalid on a bicycle, which brings more difficulties to the self-balancing and unmanned driving of the bicycle
[0005] At the same time, although there are some related self-evolution simulation studies, there is no related research on self-evolution based on hardware, and it has not been applied to the self-balancing problem of bicycles.

Method used

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  • A self-balancing unmanned bicycle and its self-evolving control method based on intelligent evolution
  • A self-balancing unmanned bicycle and its self-evolving control method based on intelligent evolution
  • A self-balancing unmanned bicycle and its self-evolving control method based on intelligent evolution

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0113] Taking the balance control of unmanned bicycles in multiple environments by using the self-evolving control method as an example, an unmanned bicycle with self-balancing function will be described in detail below.

[0114] At time t0, before being put into use by users, the three devices, the handlebar control module, the middle control module of the car body, and the rear control module of the car body (including the sensor module), are installed on the ordinary bicycle, and based on the self-evolving The control method builds the controller and superimposes the driverless control method.

[0115] Such as Figure 4 As shown, the specific steps of the self-evolving control method are as follows:

[0116] 1) Selection of key variables: select controllable and considerable key variables, including the variables of the bicycle and the control variables of the handlebar control module, the middle control module of the car body, and the rear control module of the car body; ...

Embodiment 2

[0134] Taking the balance control of unmanned bicycles in multiple environments by using the control method of environmental evolution adaptive evolution as an example, a kind of unmanned bicycle with self-balancing function will be described in detail.

[0135] At time t0, before being put into use by the user, the three devices, the handlebar control module, the middle control module of the car body, and the rear control module (including the sensor module) are installed on the ordinary bicycle, and are automatically evolved based on the environment. Adapt the evolutionary control method to build the controller, and superimpose the unmanned control method.

[0136] Such as Figure 5 As shown, the specific steps of the control method for adaptive evolution of environmental evolution are as follows:

[0137] 1) Selection of key variables: select controllable and considerable key variables, including the variables of the bicycle and the control variables of the handlebar contr...

Embodiment 3

[0154] Taking the balance control of an unmanned bicycle with the control method of competition and cooperation as an example, a kind of unmanned bicycle with self-balancing function will be described in detail below.

[0155] At time t0, before being put into use by the user, the three devices of the handlebar control module, the middle control module of the vehicle body, and the rear control module of the vehicle body (including the sensor module) are installed on an ordinary bicycle.

[0156] At time t1, it is directly put into use by users. The user turns on the power switch and uses the unmanned bicycle as an ordinary bicycle, and starts the real-time competition and cooperation control method of the three controllers to learn the balance of various road conditions and terrain conditions, and superimpose the unmanned driving control method.

[0157] Such as Image 6 As shown, the specific steps of the control method for competition and cooperation are as follows:

[01...

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Abstract

The invention discloses a self-balancing unmanned bicycle based on intelligent evolution and a self-evolution control method thereof. The self-balancing unmanned bicycle includes a bicycle body, a sensor module, a handlebar control module, a vehicle body middle control module and a vehicle body rear control module. The control method includes two parts of self-balancing control and unmanned control. After setting basic rules and evolution goals, the self-balancing control is performed, and a basic control rule set is generated based on physical simulation; and on this basis, self-evolution ofcontrol rules is performed by continuously improving control precision and environmental complexity, and finally, the self-balancing of the bicycle is realized based on the self-evolution. The unmanned bicycle has a self-balancing function under various motion states through the coupled control method, and adopts the indirect driving method. Further modification of an ordinary bicycle is not required, and only three controller modules need to be installed on the ordinary bicycle to achieve the self-balancing and the unmanned cycling of the bicycle.

Description

technical field [0001] The invention relates to the field of traffic, in particular to an intelligent evolution-based self-balancing unmanned bicycle and a self-evolution control method thereof. Background technique [0002] As a traditional means of transportation, bicycles have the advantages of narrow body, simple mechanism, small-radius rotation, convenience and flexibility, no pollution, no noise, no need for energy, and low price. It plays a pivotal role in the life of modern people whose problems such as rising and falling are becoming more and more serious. Unmanned bicycles can not only provide driving balance assistance for some special groups such as children and the elderly, but are also expected to be widely used in disaster rescue and forest operations. [0003] As people's attention to intelligent vehicles and unmanned driving technology continues to increase, driverless bicycles or bicycle robots have made initial developments on the basis of this concept of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62K3/00B62K11/00B62J45/40G05D1/02G05D1/08
CPCB62J45/40B62J99/00B62K3/00B62K11/00B62K2202/00G05D1/0221G05D1/0223G05D1/0891G05D2201/0212
Inventor 孟濬赵夕朦
Owner ZHEJIANG UNIV
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