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A self-balancing unmanned bicycle and its control method

A technology of unmanned driving and control methods, which is applied in the field of transportation and can solve the problems of two wheels without direct driving force

Active Publication Date: 2020-10-30
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

Method used

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  • A self-balancing unmanned bicycle and its control method
  • A self-balancing unmanned bicycle and its control method
  • A self-balancing unmanned bicycle and its control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0266] 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.

[0267] 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.

[0268] At time t2, the user rides on the unmanned bicycle with self-balancing function, and the unmanned bicycle with self-balancing function automatically performs auxiliary balancing.

[0269] At time t3, the user sets a certain distance for automatic driving, and the unmanned bicycle with self-balancing function adjusts the bicycle travel based on the selection of bicycle control methods in var...

Embodiment 2

[0273] 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.

[0274] 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.

[0275] At time t1, after the controller with self-balancing and unmanned driving functions is established, it will be put into use by the user. The user turns on the power switch, and the unmanned bicycle with self-balancing function starts based on the bicycle control method in the starting state.

[0276] At time t2, the user rides on the unmanned bicycle with self-balancing func...

Embodiment 3

[0282] 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.

[0283] 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.

[0284] At time t1, after the controller with self-balancing and unmanned driving functions is established, it will be put into use by the user. The user turns on the power switch, and the unmanned bicycle with self-balancing function starts based on the bicycle control method in the starting state.

[0285] At time t2, ...

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Abstract

The invention discloses a self-balancing unmanned bicycle and a control method thereof. The self-balancing unmanned bicycle comprises a bicycle, a sensor module, a handlebar control module, a vehiclebody middle control module and a vehicle body rear control module. The control method comprises self-balancing control and unmanned control. Realization of self-balancing comprises simulation modeling, automatic modeling and intelligent modeling; the step of unmanned control comprises the content of selecting a desired bicycle variable according to the target motion state, and unmanned driving ofthe bicycle is achieved. According to the unmanned bicycle, a self-balancing function can be achieved in various motion states with a coupled control method, an indirect driving method is adopted, further refitting of the ordinary bicycle is not needed, and self-balancing and unmanned driving of the bicycle can be achieved by only mounting three controller modules on the ordinary bicycle.

Description

technical field [0001] The invention relates to the field of transportation, in particular to a self-balancing unmanned bicycle and a 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 intelligent vehicles. At present, m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62M6/50G05B13/04G06F30/20
CPCB62M6/50G05B13/042G06F30/15
Inventor 孟濬赵夕朦
Owner ZHEJIANG UNIV
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