A behavior-driven self-balancing unmanned bicycle and its equivalent mapping control method

A technology for unmanned driving and bicycles, which is applied in the field of transportation, and can solve the problems of two wheels without direct driving force and bicycle variable decomposition mapping.

Active Publication Date: 2020-06-23
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, there is no related research on decomposing and mapping bicycle variables to control

Method used

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  • A behavior-driven self-balancing unmanned bicycle and its equivalent mapping control method
  • A behavior-driven self-balancing unmanned bicycle and its equivalent mapping control method
  • A behavior-driven self-balancing unmanned bicycle and its equivalent mapping control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0151] Taking the balance control of an unmanned bicycle with the control method of equivalent mapping as an example, a kind of unmanned bicycle with self-balancing function will be described in detail below.

[0152] At time t0, that is, before putting it 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 of the car body (including the sensor module), are installed on the ordinary bicycle, and based on the equivalent mapping The control method of the controller is established, and the control method of the unmanned vehicle is superimposed.

[0153] Such as Figure 4 As shown, the specific steps of the control method of the equivalence mapping are as follows:

[0154] 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...

Embodiment 2

[0183] Taking the balance control of an unmanned bicycle with the behavior-driven control method as an example, an unmanned bicycle with self-balancing function will be described in detail below.

[0184] At time t0, before being put into use by users, the three devices, 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 the ordinary bicycle, and based on the behavior-driven The control method builds the controller and superimposes the driverless control method.

[0185] Such as Figure 5 As shown, the specific steps of the behavior-driven control method are as follows:

[0186] 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; the variables...

Embodiment 3

[0219] Taking the balance control of an unmanned bicycle with the control method of decomposing key balance as an example, a kind of unmanned bicycle with self-balancing function will be described in detail below.

[0220] 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 of the car body (including the sensor module), are installed on the ordinary bicycle, and based on the decomposition of the key balance The control method of the controller is established, and the control method of the unmanned vehicle is superimposed.

[0221] Such as Figure 8 As shown, the specific steps of the control method for decomposing the key balance are as follows:

[0222] 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 o...

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Abstract

The invention discloses an action-driven self-balancing unmanned bicycle and an equivalent mapping control method thereof. The self-balancing unmanned bicycle comprises a bicycle, a sensor module, a handlebar control module, a bicycle body middle part control module and a bicycle body rear part control module. The control method comprises self-balancing control and unmanned driving control. The self-balancing control regards a rear wheel as a ball and establishes a coordinate system based on the ball, bicycle variables are decomposed in the coordinate system, then controller variables are projected to the coordinate system so as to establish association, and finally self-balancing of the bicycle is realized based on equivalent mapping. The self-balancing unmanned bicycle can realize a self-balancing function in multiple motion states by using a coupled control method; and meanwhile, an indirect driving method is adopted, and the common bicycle does not need to be further modified, andthe self-balancing and unmanned driving of the bicycle can be realized only by mounting three controller modules on the common bicycle.

Description

technical field [0001] The invention relates to the traffic field, in particular to a behavior-driven self-balancing unmanned bicycle and a control method for equivalent mapping 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 intelli...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/0285G05D2201/0212
Inventor 孟濬赵夕朦
Owner ZHEJIANG UNIV
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