Unmanned motorcycle

Abstract

The utility model relates to an unmanned motorcycle. The unmanned motorcycle comprises a motorcycle body, the motorcycle body comprises a frame, wheels, a power system, a steering system and a brake system, the power system comprises a power motor, and the steering system comprises a handlebar rotating shaft. The unmanned motorcycle further comprises a mounting frame arranged on the frame, a steering motor is arranged on the mounting frame, and the steering motor is in transmission connection with the handlebar rotating shaft. A main controller is arranged on the mounting frame and connected with the power motor and the steering motor. And an inertial measurement unit connected with the main controller is arranged on the mounting frame so as to obtain the posture of the motorcycle in real time. And a speed sensor connected with the main controller is arranged on the frame. The brake system comprises a brake motor connected with the main controller. According to the utility model, no self-balancing auxiliary device is adopted, the structure of a motorcycle body is not changed, the data obtained by the utility model is closer to the driving condition of the existing motorcycle, and the conditions required for stable driving of the motorcycle can be analyzed essentially.

Description

Technical Field

[0001] The utility model relates to the field of unmanned driving, in particular to an unmanned driving motorcycle. Background Art

[0002] Two-wheeled motorcycles, due to their light weight and maneuverability, are well-suited for exploring complex and rugged terrain. In recent years, with the emergence of autonomous driving technology, this technology has also been gradually applied to motorcycles. By deeply analyzing the mechanics of motorcycle motion, it is possible to apply human driving habits and decision-making to motorcycles, mimicking human stance and decision-making. However, motorcycle stability has always been a concern.

[0003] Most existing unmanned motorcycles achieve balance control by adding self-balancing devices or modifying the motorcycle's internal structure. However, both solutions have drawbacks. While they can achieve a certain degree of stable operation, the addition of self-balancing devices or structural changes alters the motorcycle's stable operating conditions. The resulting data, based on external devices, deviates from the existing stable operating data, hindering in-depth research into the conditions for stable unmanned motorcycle operation. Utility Model Content

[0004] The purpose of the utility model is to provide an unmanned motorcycle, which does not require any self-balancing auxiliary device to be added and does not change the main structure of the motorcycle, while being able to achieve the purpose of analyzing the stability of the motorcycle in essence.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: an unmanned motorcycle, including a body, the body including a frame, wheels, a power system, a steering system and a braking system, the power system including a power motor, the steering system including a handlebar shaft, the unmanned motorcycle also including a mounting frame arranged on the frame, the mounting frame being provided with a steering motor, the steering motor being transmission-connected to the handlebar shaft; a main controller being provided on the mounting frame, the main controller being connected to the power motor and the steering motor; an inertial measurement unit being provided on the mounting frame and connected to the main controller to obtain the posture of the motorcycle in real time; a speed sensor for detecting the speed of the motorcycle being provided on the frame, the speed sensor being connected to the main controller; the braking system including a brake motor, the main controller being connected to the brake motor.

[0006] The brake system also includes a brake pad, an oil cylinder and a brake oil pipe connecting the brake pad and the oil cylinder. An oil rod is provided on the piston of the oil cylinder, and the brake motor is used to drive the oil rod to achieve braking.

[0007] The oil rod is provided with a pressure sensor for collecting the pressure signal generated when the brake motor pushes the oil rod. The pressure sensor is connected to the main controller.

[0008] The mounting frame comprises a horizontal frame and a vertical frame. The steering motor is arranged on the vertical frame. The steering motor is connected to a universal joint through a flange. The universal joint is connected to a handlebar rotating shaft.

[0009] The upper end of the vertical frame is provided with a UWB positioning module and an antenna connected to the main controller, which are used to obtain the position of the motorcycle in real time to obtain the running track of the motorcycle.

[0010] The mounting frame is provided with an on-board computer connected to the main controller.

[0011] The mounting frame is provided with a display screen connected to the main controller, and the display screen is connected to the mounting frame through a mounting structure.

[0012] The mounting structure includes a display screen fixing gripper for clamping and fixing the display screen, and the display screen fixing gripper is connected to the mounting frame through a connecting rod.

[0013] The mounting frame is provided with a first mounting tube, the display screen fixing gripper is provided with a second mounting tube, and both ends of the connecting rod are provided with connecting ball ends, which are used to be rotatably installed in the corresponding mounting tubes.

[0014] The speed sensor is installed on the rear swing arm of the frame to collect and detect the rotation speed of the rear wheel in real time.

[0015] The beneficial effects of the present invention are as follows: the main controller monitors the running posture of the motorcycle in real time through the inertial measurement unit, such as the body inclination angle, pitch angle and heading angle, and collects the speed of the motorcycle at the same time, and then adjusts the parameters of the rotating motor, brake motor and power motor in real time through the main controller to adjust the running posture and driving speed of the motorcycle to achieve the purpose of preventing tipping. By controlling the steering of the handlebars and the speed, the unmanned motorcycle can remain stable when going straight and turning. This invention has certain engineering value for studying the balance control of unmanned motorcycles. Compared with the existing technology, the present invention does not adopt the method of adding a self-balancing auxiliary device, and does not change the main structure of the motorcycle. Moreover, the data obtained by this application is closer to the driving conditions of existing motorcycles, and can more essentially analyze the conditions required for stable driving of motorcycles. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural schematic diagram of an embodiment of an unmanned motorcycle of the present utility model;

[0017] Figure 2 yes Figure 1 A partial enlarged view of point A in the middle;

[0018] Figure 3 yes Figure 1 The structure of the unmanned motorcycle from another angle Figure 1 ;

[0019] Figure 4 yes Figure 1 The structure of the unmanned motorcycle from another angle Figure 2 ;

[0020] Figure 5 yes Figure 4 A partial enlarged view of point B in the middle. DETAILED DESCRIPTION

[0021] To facilitate understanding of the present invention, the present invention is described in more detail below with reference to the accompanying drawings and specific embodiments. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present invention.

[0022] It should be noted that, unless otherwise defined, the technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art in the field of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0023] An embodiment of an unmanned motorcycle of the present utility model is as follows Figure 1-Figure 5 As shown, the vehicle comprises a body 1. In this embodiment, the body is based on a conventional electric off-road motorcycle. The body includes a frame 2, wheels 3, a power system, a steering system, and a braking system. The power system includes a power motor, the steering system includes a handlebar shaft 4, and the braking system uses an oil brake. All of the above are prior art, and the structure of the vehicle body, the power system, the steering system, and the braking system are not described in detail in this embodiment.

[0024] The unmanned motorcycle in this application also includes a mounting frame 8 arranged on the frame, on which a steering motor 19 is provided, which is in transmission connection with the handlebar rotating shaft. Specifically, the steering motor 19 is connected to a universal joint 5 via a flange 6, and the universal joint 5 is connected to the handlebar rotating shaft 4. The steering motor drives the rotation of the handlebar rotating shaft to control the direction of the handlebar. A main controller 7 is provided on the mounting frame, and the main controller 7 adopts an STM32F4 series single-chip microcomputer. The main controller is connected to the power motor and the steering motor. The main controller can control the speed of the motorcycle through the power motor. The main controller is connected to the steering motor and can not only collect the steering angle and steering angular velocity of the steering motor in real time, but also send control commands to the steering motor in real time to control the steering angle and steering angular velocity of the steering motor.

[0025] The mounting frame is equipped with an inertial measurement unit (not shown) connected to the main controller to monitor the motorcycle's posture in real time, such as the inclination, pitch, and heading angles of the motorcycle during travel. A speed sensor 12 is installed on the frame to detect the motorcycle's speed and is connected to the main controller 7. In this embodiment, the speed sensor is mounted on the rear swingarm of the frame to monitor the rotational speed of the rear wheel in real time. The main controller collects the analog signal from the speed sensor, amplifies it in real time, and converts it to obtain the motorcycle's real-time speed. The braking system includes a brake motor 13, which is connected to the main controller 7. Hydraulic brakes are conventional technology. Briefly, the hydraulic brake system primarily comprises brake pads, a hydraulic cylinder, and a brake oil pipe connecting the brake pads and the hydraulic cylinder. A hydraulic rod is mounted on the piston of the hydraulic cylinder. In this embodiment, the brake motor drives the hydraulic rod to achieve braking. A pressure sensor is installed on the hydraulic rod to collect the pressure signal generated by the brake motor pushing the hydraulic rod. The pressure sensor is connected to the main controller and uses the real-time pressure sensor information to convert the pressure required to actuate the brakes. In this embodiment, the brake motor is a linear motor, and a brake motor driver 14 is provided on the mounting frame.

[0026] The mounting frame 8 comprises a horizontal frame 17 and a vertical frame 18, with a steering motor 19 mounted on the vertical frame 18. The upper end of the vertical frame houses a UWB positioning module and antenna 9, connected to the main controller, for real-time acquisition of the motorcycle's position and trajectory. The UWB positioning module and antenna are located at the upper end of the vertical frame, at the highest point of the vehicle, to reduce interference with UWB signal transmission. The mounting frame also houses an onboard computer 11, connected to the main controller, to facilitate motorcycle commissioning. The mounting frame also houses a display screen 15, connected to the main controller, capable of displaying vehicle status information during driving. The display screen is connected to the mounting frame via a mounting structure 16. The mounting structure includes a display screen securing grip 21, which is used to clamp and secure the display screen 15. The display screen securing grip is connected to the mounting frame via a connecting rod 22. The mounting frame is provided with a first mounting tube 23, and a second mounting tube 24 is mounted on the display screen securing grip 21. Each end of the connecting rod is provided with a connecting ball (25 and 26) for rotational mounting within the corresponding mounting tube. The display screen can be rotated to any angle, which is convenient to use.

[0027] The mounting frame is also equipped with a voltage isolator 10 connected to the main controller, isolating the newly added control system circuit from the existing circuit of the vehicle body to prevent damage to electrical components. A wireless serial port transmitter and a wireless serial port receiver are also installed on the mounting frame. The wireless serial port transmitter can wirelessly transmit the motion data of the motorcycle during driving to a host computer for data storage and data analysis, facilitating further research on the stability of the unmanned motorcycle. It can also receive commands issued by the host computer or remote control. The mounting frame is equipped with an on-board power supply 20 for powering the main controller and electrical components such as the steering motor, brake motor, and sensors. The power motor is powered by the existing battery on the vehicle body.

[0028] This utility model designs an unmanned motorcycle without a self-balancing auxiliary device. Through in-depth analysis of the motorcycle's movement mechanism, it can imitate human driving decisions on the motorcycle. By turning the handlebars and controlling the speed, the motorcycle can maintain balance in different driving conditions such as straight driving and even turning. This has certain engineering value in the study of balance control of unmanned motorcycles.

[0029] In the above description of this specification, unless otherwise expressly specified or limited, terms such as "fixed," "mounted," "connected," or "connected" should be understood broadly. For example, the term "connected" can refer to a fixed connection, a removable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal connection between two components or the interaction between two components. Therefore, unless otherwise expressly defined in this specification, those skilled in the art can understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0030] According to the above description of this specification, those skilled in the art may also understand that the terms used below, such as "up", "down", "front", "back", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", "center", "longitudinal", "lateral", "clockwise" or "counterclockwise", etc., which indicate orientation or positional relationships, are based on the orientation or positional relationships shown in the drawings of this specification, and are only for the purpose of facilitating the explanation of the scheme of the utility model and simplifying the description, rather than explicitly or implicitly indicating that the device or element involved must have the specific orientation, be constructed and operate in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms cannot be understood or interpreted as limitations on the scheme of the utility model.

[0031] In addition, the terms "first" or "second" used in this specification to refer to numbers or ordinal numbers are used for descriptive purposes only and should not be understood as explicitly or implicitly indicating relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this specification, "plurality" means at least two, such as two, three or more, etc., unless otherwise clearly specified.

[0032] In other embodiments of the present invention, the braking system may also adopt air brakes. In this case, only the brake structure is different, and the brake motor is still used to implement it. Under the premise of ensuring that the electrical components are not damaged, a voltage isolator may not be set; and an on-board power supply may not be set. The power supply of the entire vehicle is supplied by the battery on the vehicle body.

Claims

1. An unmanned motorcycle, comprising a body, the body comprising a frame, wheels, a power system, a steering system, and a brake system, the power system comprising a power motor, the steering system comprising a handlebar shaft, and characterized in that: The unmanned motorcycle also includes a mounting frame arranged on the frame, on which a steering motor is provided, which is transmission-connected to the handlebar shaft; a main controller is provided on the mounting frame, which is connected to the power motor and the steering motor; an inertial measurement unit connected to the main controller is provided on the mounting frame to obtain the motorcycle's posture in real time; a speed sensor for detecting the speed of the motorcycle is provided on the frame, which is connected to the main controller; and a braking system includes a brake motor, which is connected to the main controller.

2. The driverless motorcycle according to claim 1, characterized in that: The brake system also includes a brake pad, an oil cylinder and a brake oil pipe connecting the brake pad and the oil cylinder. An oil rod is provided on the piston of the oil cylinder, and the brake motor is used to drive the oil rod to achieve braking.

3. The driverless motorcycle according to claim 2, characterized in that: The oil rod is provided with a pressure sensor for collecting the pressure signal generated when the brake motor pushes the oil rod. The pressure sensor is connected to the main controller.

4. The driverless motorcycle according to claim 1, characterized in that: The mounting frame comprises a horizontal frame and a vertical frame. The steering motor is arranged on the vertical frame. The steering motor is connected to a universal joint through a flange. The universal joint is connected to a handlebar rotating shaft.

5. The driverless motorcycle according to claim 4, characterized in that: The upper end of the vertical frame is provided with a UWB positioning module and an antenna connected to the main controller, which are used to obtain the position of the motorcycle in real time to obtain the running track of the motorcycle.

6. The driverless motorcycle according to claim 1, characterized in that: The mounting frame is provided with an on-board computer connected to the main controller.

7. The driverless motorcycle according to any one of claims 1 to 6, characterized in that: The mounting frame is provided with a display screen connected to the main controller, and the display screen is connected to the mounting frame through a mounting structure.

8. The driverless motorcycle according to claim 7, characterized in that: The mounting structure includes a display screen fixing gripper for clamping and fixing the display screen, and the display screen fixing gripper is connected to the mounting frame through a connecting rod.

9. The driverless motorcycle according to claim 8, characterized in that: The mounting frame is provided with a first mounting tube, the display screen fixing gripper is provided with a second mounting tube, and both ends of the connecting rod are provided with connecting ball ends, which are used to be rotatably installed in the corresponding mounting tubes.

10. The driverless motorcycle according to claim 1, characterized in that: The speed sensor is installed on the rear swing arm of the frame to collect and detect the rotation speed of the rear wheel in real time.

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