CN107264697A - A kind of unmanned self-balancing traveling two-wheeled steering - Google Patents
A kind of unmanned self-balancing traveling two-wheeled steering Download PDFInfo
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- CN107264697A CN107264697A CN201710402525.1A CN201710402525A CN107264697A CN 107264697 A CN107264697 A CN 107264697A CN 201710402525 A CN201710402525 A CN 201710402525A CN 107264697 A CN107264697 A CN 107264697A
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- 238000006243 chemical reaction Methods 0.000 claims description 13
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- 230000000087 stabilizing effect Effects 0.000 claims description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/12—Bikes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明公开了一种无人自平衡行驶两轮转向系统，它包括车身、姿态检测传感器模块、摄像头阵列模块、转向控制电机模块、姿态调整陀螺仪模块、行进驱动电机模块、无线传输模块、平衡控制器及上位机；本发明中提出的无人自平衡行驶两轮转向系统可通过上位机软件中提供的人机指令接口设定无人自平衡行驶两轮转向系统车身的行进速度，分别应对静止和非静止两种条件选取不同的控制算法保持静止平衡和行进平衡。本发明中提出的无人自平衡行驶两轮转向系统在行进过程中，通过摄像头实时采集道路数据并通过无线传输模块发送至上位机，从而对无人自平衡行驶两轮转向系统车身的行进速度和方向进行控制，从而实现无人控制、保持平衡并自主行进的功能。The invention discloses an unmanned self-balancing driving two-wheel steering system. Controller and upper computer; the unmanned self-balancing driving two-wheel steering system proposed in the present invention can set the advancing speed of the unmanned self-balancing driving two-wheel steering system body through the man-machine command interface provided in the upper computer software, respectively Different control algorithms are selected for static and non-stationary conditions to maintain static balance and traveling balance. During the traveling process of the unmanned self-balancing driving two-wheel steering system proposed in the present invention, the road data is collected in real time through the camera and sent to the host computer through the wireless transmission module, so as to control the traveling speed of the unmanned self-balancing two-wheel steering system body and direction, so as to realize the function of unmanned control, balance and autonomous travel.
Description
技术领域technical field
本发明涉及无人驾驶车辆的运动控制领域，具体涉及一种无人自平衡行驶两轮转向系统。The invention relates to the field of motion control of unmanned vehicles, in particular to an unmanned self-balancing driving two-wheel steering system.
背景技术Background technique
现今有关无人驾驶汽车的研究和应用已经渐渐进入成熟阶段，但是有关无人自行车的研究却很少、相关应用则更少。我国是一个自行车大国，自行车的保有量居世界第一，但是却始终没能够实现无人的、能自动平衡和自主行驶的系统。现有的关于无人自平衡行驶两轮转向系统多是在行进速度不变或是完全静止的前提下保持平衡，并不能做到包括启停控制，路况检测和自动行驶在内的功能。Nowadays, the research and application of unmanned vehicles have gradually entered a mature stage, but there are very few studies on unmanned bicycles, and even fewer related applications. my country is a big country of bicycles, and the number of bicycles ranks first in the world, but it has never been able to realize an unmanned, automatic balancing and autonomous driving system. Most of the existing unmanned self-balancing driving two-wheel steering systems maintain balance under the premise of constant speed or complete static, and cannot perform functions including start-stop control, road condition detection and automatic driving.
发明内容Contents of the invention
针对上述不足，本发明提供了一种无人自平衡行驶两轮转向系统，其能够分别在静止和行进状态下保持平衡、能够完成静止状态和行进状态的启停转换、能够根据预设指令在行进状态下保持平衡并依据路况检测结果自动行进。In view of the above deficiencies, the present invention provides an unmanned self-balancing driving two-wheel steering system, which can maintain balance in the stationary state and the traveling state respectively, can complete the start-stop conversion between the stationary state and the traveling state, and can operate according to preset instructions. Keep balance while driving and automatically drive according to the road condition detection results.
本发明解决技术问题所采用的技术方案如下：一种无人自平衡行驶两轮转向系统，包括：车身、姿态检测传感器模块、摄像头阵列模块、转向控制电机模块、姿态调整陀螺仪模块、行进驱动电机模块、无线传输模块、平衡控制器及上位机；The technical solution adopted by the present invention to solve the technical problem is as follows: an unmanned self-balancing driving two-wheel steering system, including: a vehicle body, an attitude detection sensor module, a camera array module, a steering control motor module, an attitude adjustment gyroscope module, and a driving drive Motor module, wireless transmission module, balance controller and host computer;
姿态检测传感器模块，用于在静止或行进状态下作为平衡控制器的输入，作为平衡控制器的控制量输出的反馈。The attitude detection sensor module is used as the input of the balance controller in the static or traveling state, and as the feedback of the control quantity output of the balance controller.
摄像头阵列模块，用于在行进状态下采集车身前方或侧面的实时画面，通过平衡控制器控制摄像头阵列模块向上位机传输实时画面。The camera array module is used to collect real-time images of the front or side of the vehicle body in the driving state, and the balance controller controls the camera array module to transmit real-time images to the host computer.
转向控制电机模块，作为行进状态下平衡控制器输出的执行机构，用于控制并保持车身在行进过程中的平衡。The steering control motor module is used as the actuator for the output of the balance controller in the running state, and is used to control and maintain the balance of the vehicle body during the running process.
姿态调整陀螺仪模块，作为静止状态下平衡控制器输出的执行机构，用于控制并保持车身在静止过程中的平衡。The attitude adjustment gyro module is used as the actuator output by the balance controller in the static state, and is used to control and maintain the balance of the vehicle body in the static process.
行进驱动电机模块，用于保持行进状态下的行进速度，并在平衡控制器控制下完成车身加速、减速、启动或停止的过程。The traveling drive motor module is used to maintain the traveling speed in the traveling state, and complete the process of accelerating, decelerating, starting or stopping the vehicle body under the control of the balance controller.
无线传输模块，用于将摄像头阵列模块采集到的实时画面以无线形式传输至上位机。The wireless transmission module is used to wirelessly transmit the real-time images collected by the camera array module to the host computer.
平衡控制器，用于实现车身静止和行进状态下的自平衡、控制向上位机传输摄像头阵列模块采集的实时画面以及接受上位机的加速、减速或转向指令。The balance controller is used to realize the self-balancing of the body in static and moving states, control the transmission of real-time images collected by the camera array module to the host computer, and accept acceleration, deceleration or steering commands from the host computer.
上位机，用于将传输来的实时画面进行处理和分析，完成对车身的速度及转向控制。The upper computer is used to process and analyze the transmitted real-time images, and complete the speed and steering control of the vehicle body.
电源模块，用于为整个系统提供工作电压。The power module is used to provide the working voltage for the whole system.
进一步的，所述车身包括车架、前叉、前部可动轴轮、后部固定轴轮和电路支架；所述前叉转动安装在车架前端；所述前部可动轴轮安装在前叉上，所述后部固定轴轮安装在车架后端；所述电路支架固定在车架中上部。Further, the vehicle body includes a vehicle frame, a front fork, a front movable wheel, a rear fixed wheel and a circuit bracket; the front fork is rotatably mounted on the front end of the frame; the front movable wheel is mounted on On the front fork, the rear fixed axle wheel is installed at the rear end of the vehicle frame; the circuit bracket is fixed at the middle and upper part of the vehicle frame.
进一步的，所述姿态检测传感器模块安装在电路支架内上。Further, the posture detection sensor module is installed in the circuit bracket.
进一步的，所述摄像头阵列模块由若干摄像头组成，分布在车架的前方或侧方。Further, the camera array module is composed of several cameras, which are distributed on the front or side of the vehicle frame.
进一步的，所述转向控制电机模块包括第一电机、第一电机测角盘、第一电机驱动器；所述第一电机安装在车架上，其输出轴与前叉相连，控制前叉的绕车架转动；所述第一电机测角盘安装在第一电机的后端，用于测量第一电机的转动角度；所述第一电机驱动器设置在电路支架内，其输出直接驱动第一电机转动，第一电机驱动器与平衡控制器相连。Further, the steering control motor module includes a first motor, a first motor angle measuring disc, and a first motor driver; the first motor is installed on the vehicle frame, and its output shaft is connected with the front fork to control the rotation of the front fork. The vehicle frame rotates; the angle measuring disk of the first motor is installed on the rear end of the first motor for measuring the rotation angle of the first motor; the driver of the first motor is arranged in the circuit bracket, and its output directly drives the first motor For rotation, the first motor driver is connected with the balance controller.
进一步的，所述姿态调整陀螺仪模块包括陀螺仪转子、陀螺仪支架、第二电机、第二测速码盘、第二电机驱动器；其中陀螺仪转子位于陀螺仪支架中心，以高速转动时的角速度保持车身平衡；所述第二电机的输出与陀螺仪转子直接相连，用于驱动陀螺仪转子转动；所述第二测速码盘安装在第二电机的后端，用于测量第二电机转动速度；第二直流电机驱动器设置在电路支架内，其输出直接驱动第二电机转动，第二电机驱动器与平衡控制器相连。Further, the attitude adjustment gyroscope module includes a gyroscope rotor, a gyroscope bracket, a second motor, a second speed measuring code disc, and a second motor driver; wherein the gyroscope rotor is located at the center of the gyroscope bracket, and the angular velocity when rotating at a high speed is Maintain the balance of the vehicle body; the output of the second motor is directly connected to the gyroscope rotor for driving the gyroscope rotor to rotate; the second speed measuring code disc is installed at the rear end of the second motor for measuring the rotation speed of the second motor ; The second DC motor driver is arranged in the circuit support, and its output directly drives the rotation of the second motor, and the second motor driver is connected with the balance controller.
进一步的，所述行进驱动电机模块包括第三电机、第三电机驱动器和第三测速码盘；所述第三电机位于后部固定轴轮中心，嵌入到后部固定轴轮中，与后部固定轴轮一体，驱动后部固定轴轮的转动；所述第三测速码盘安装在第三电机的后端，用于测量第三电机的转速；所述第三电机驱动器设置在电路支架内，其输出直接驱动第三电机转动；第三电机驱动器与平衡控制器相连。Further, the travel drive motor module includes a third motor, a third motor driver and a third speed measuring code disc; the third motor is located at the center of the rear fixed axle wheel, embedded in the rear fixed axle wheel, and connected to the rear fixed axle wheel. The fixed shaft wheel is integrated to drive the rotation of the rear fixed shaft wheel; the third speed measuring code disc is installed at the rear end of the third motor for measuring the speed of the third motor; the third motor driver is arranged in the circuit bracket , the output of which directly drives the rotation of the third motor; the driver of the third motor is connected with the balance controller.
进一步的，所述无线传输模块由第一子无线传输模块和第二子无线传输模块组成，所述第一子无线传输模块与平衡控制器相连，所述第二子无线传输模块与上位机相连，第一子无线传输模块和第二子无线传输模块通过无线通讯。Further, the wireless transmission module is composed of a first sub-wireless transmission module and a second sub-wireless transmission module, the first sub-wireless transmission module is connected to the balance controller, and the second sub-wireless transmission module is connected to the host computer , the first sub-wireless transmission module and the second sub-wireless transmission module communicate through wireless.
进一步的，所述上位机可以是PC机或服务器，用于处理视频流数据并远程控制车身；所述第二子无线传输模块与上位机直接相连，作为上位机的输入；第一子无线传输模块和第二子无线传输模块通过无线通讯，主要用于上位机接受车身运行状态数据和视频流数据。Further, the host computer may be a PC or a server, which is used to process video stream data and remotely control the vehicle body; the second sub-wireless transmission module is directly connected to the host computer as the input of the host computer; the first sub-wireless transmission module The module and the second sub-wireless transmission module are mainly used for the upper computer to receive the body running status data and video stream data through wireless communication.
进一步的，所述电源模块包括蓄电池和电压保护电路；所述电源模块位于车身电路支架内，其中电压保护电路输入与蓄电池输出相连，电压保护电路输出与电源驱动电路输入相连；所述电源驱动电路包括直流变换电路和稳压电路；所述直流变换电路包括但不限于48V转12V、48V转5V、12V转5V和12V转3.3V等在内的直流变换器；所述稳压电路包括但不限于48V、12V、5V和3.3V等在内的直流稳压器；所述直流变换电路和稳压电路作为电源的一部分，位于电路支架内；所述直流变换电路为级联结构，以保证输出电压等级包括48V12V5V3.3V等，这些电压等级分别用于驱动车身电路支架内不同电压负载；所述稳压电路作为直流变换电路的后级，起到稳定电压输出的作用。Further, the power supply module includes a battery and a voltage protection circuit; the power supply module is located in the vehicle body circuit bracket, wherein the input of the voltage protection circuit is connected to the output of the battery, and the output of the voltage protection circuit is connected to the input of the power drive circuit; the power drive circuit Including DC conversion circuit and voltage stabilization circuit; the DC conversion circuit includes but not limited to DC converters including 48V to 12V, 48V to 5V, 12V to 5V and 12V to 3.3V; the voltage stabilization circuit includes but not Limited to DC voltage regulators including 48V, 12V, 5V and 3.3V; the DC conversion circuit and the voltage stabilization circuit are located in the circuit bracket as a part of the power supply; the DC conversion circuit is a cascaded structure to ensure output The voltage levels include 48V12V5V3.3V, etc. These voltage levels are respectively used to drive different voltage loads in the body circuit bracket; the voltage stabilizing circuit is used as a post-stage of the DC conversion circuit to stabilize the voltage output.
所述第一电机、第二电机以及第三电机选自直流减速电机、舵机或步进电机中的任意一种，但不限于此。The first motor, the second motor and the third motor are selected from any one of a DC geared motor, a steering gear or a stepping motor, but are not limited thereto.
本发明的有益效果如下：The beneficial effects of the present invention are as follows:
自平衡：本发明能够分别在静止和行进两种状态下通过姿态传感器和控制器保持自平衡，具有基本的稳定性。Self-balancing: the present invention can maintain self-balancing through attitude sensors and controllers in two states of rest and travel respectively, and has basic stability.
无人控制：本发明能够在上位机的控制下，本系统可以实现自主启停转换和行进控制，而不需要运行过程中实时的人为控制，具有相当的自主特性。Unmanned control: under the control of the host computer, the system can realize autonomous start-stop conversion and travel control without real-time human control during operation, and has considerable autonomous characteristics.
实用性：本发明中所述的无人自平衡行驶两轮转向系统能够在上位机和平衡控制器的共同作用下实现在多种道路环境下的行进、加减速和转弯等动作；同时本发明具有一定的负重能力，可以用于实现人或物的运输，具有相当的应用前景。Practicality: The unmanned self-balancing driving two-wheel steering system described in the present invention can realize actions such as traveling, acceleration and deceleration, and turning under various road environments under the joint action of the upper computer and the balance controller; at the same time, the present invention With a certain load capacity, it can be used to realize the transportation of people or objects, and has considerable application prospects.
附图说明Description of drawings
图1是无人自平衡行驶两轮转向系统的结构示意图；Fig. 1 is a structural schematic diagram of an unmanned self-balancing driving two-wheel steering system;
图2是无人自平衡行驶两轮转向系统工作流程图；Fig. 2 is a working flow chart of the unmanned self-balancing driving two-wheel steering system;
图3是无人自平衡行驶两轮转向系统静止状态控制系统结构图；Fig. 3 is a structure diagram of the static state control system of the unmanned self-balancing driving two-wheel steering system;
图4是无人自平衡行驶两轮转向系统行进状态控制系统结构图；Fig. 4 is a structural diagram of the state control system of the unmanned self-balancing driving two-wheel steering system;
图中：车身1、转向控制电机模块2、摄像头阵列模块3、行进驱动电机模块4、第一子无线传输模块5、和第二子无线传输模块6、上位机7、车架101、前叉102、前部可动轴轮103、后部固定轴轮104、电路支架105。In the figure: body 1, steering control motor module 2, camera array module 3, travel drive motor module 4, first sub-wireless transmission module 5, and second sub-wireless transmission module 6, upper computer 7, frame 101, front fork 102, front movable shaft wheel 103, rear portion fixed shaft wheel 104, circuit support 105.
具体实施方式detailed description
为使得本发明提供的自主平衡两轮转向系统的技术方案和特点更加明确，下面将结合说明书附图中的内容进行对具体实施方式的详细描述。应当指出的是，下面具体实施方式中所述的内容只是所有可行的实施方式中的一种，任何符合本发明权利要求书中内容的实施方式均属于本发明的保护范围。In order to make the technical solution and characteristics of the self-balancing two-wheel steering system provided by the present invention clearer, the specific implementation will be described in detail below in conjunction with the contents in the accompanying drawings. It should be noted that the content described in the following specific embodiments is only one of all feasible implementation modes, and any implementation mode that conforms to the content in the claims of the present invention belongs to the protection scope of the present invention.
一、系统结构和工作流程1. System structure and workflow
本发明提供一种无人自平衡行驶两轮转向系统，包括：车身1、姿态检测传感器模块、转向控制电机模块2、摄像头阵列模块3、姿态调整陀螺仪模块、行进驱动电机模块4、无线传输模块、平衡控制器及上位机7；The present invention provides an unmanned self-balancing driving two-wheel steering system, comprising: a vehicle body 1, an attitude detection sensor module, a steering control motor module 2, a camera array module 3, an attitude adjustment gyroscope module, a traveling drive motor module 4, a wireless transmission Module, balance controller and upper computer 7;
姿态检测传感器模块，用于在静止或行进状态下作为平衡控制器的输入，作为平衡控制器的控制量输出的反馈。The attitude detection sensor module is used as the input of the balance controller in the static or traveling state, and as the feedback of the control quantity output of the balance controller.
摄像头阵列模块，用于在行进状态下采集车身前方或侧面的实时画面，通过平衡控制器控制摄像头阵列模块向上位机传输实时画面。The camera array module is used to collect real-time images of the front or side of the vehicle body in the driving state, and the balance controller controls the camera array module to transmit real-time images to the host computer.
转向控制电机模块，作为行进状态下平衡控制器输出的执行机构，用于控制并保持车身在行进过程中的平衡。The steering control motor module is used as the actuator for the output of the balance controller in the running state, and is used to control and maintain the balance of the vehicle body during the running process.
姿态调整陀螺仪模块，作为静止状态下平衡控制器输出的执行机构，用于控制并保持车身在静止过程中的平衡。The attitude adjustment gyro module is used as the actuator output by the balance controller in the static state, and is used to control and maintain the balance of the vehicle body in the static process.
行进驱动电机模块，用于保持行进状态下的行进速度，并在平衡控制器控制下完成车身加速、减速、启动或停止的过程。The traveling drive motor module is used to maintain the traveling speed in the traveling state, and complete the process of accelerating, decelerating, starting or stopping the vehicle body under the control of the balance controller.
无线传输模块，用于将摄像头阵列模块采集到的实时画面以无线形式传输至上位机。The wireless transmission module is used to wirelessly transmit the real-time images collected by the camera array module to the host computer.
平衡控制器，用于实现车身静止和行进状态下的自平衡、控制向上位机传输摄像头阵列模块采集的实时画面以及接受上位机的加速、减速或转向指令。The balance controller is used to realize the self-balancing of the body in static and moving states, control the transmission of real-time images collected by the camera array module to the host computer, and accept acceleration, deceleration or steering commands from the host computer.
上位机，用于对传输来的实时画面进行处理和分析，完成对车身的速度及转向控制。The upper computer is used to process and analyze the transmitted real-time images, and complete the speed and steering control of the vehicle body.
电源模块，用于为整个系统提供工作电压。The power module is used to provide the working voltage for the whole system.
进一步的，所述车身1包括车架101、前叉102、前部可动轴轮103、后部固定轴轮104和电路支架105；所述前叉102转动安装在车架101前端；所述前部可动轴轮103安装在前叉102上，所述后部固定轴轮104安装在车架101后端；所述电路支架105固定在车架101中上部。Further, the vehicle body 1 includes a vehicle frame 101, a front fork 102, a front movable axle wheel 103, a rear fixed axle wheel 104 and a circuit bracket 105; the front fork 102 is rotatably mounted on the front end of the vehicle frame 101; The front movable axle wheel 103 is installed on the front fork 102, and the rear fixed axle wheel 104 is installed on the rear end of the vehicle frame 101;
进一步的，所述姿态检测传感器模块安装在电路支架105内上，所述姿态检测传感器模块可以采用美国InvenSense公司MPU-6050型号的产品，但不限于此。,Further, the posture detection sensor module is installed in the circuit bracket 105, and the posture detection sensor module can be a product of the model MPU-6050 from InvenSense Company of the United States, but is not limited thereto. ,
进一步的，所述摄像头阵列模块由若干摄像头组成，分布在车架101的前方或侧方。Further, the camera array module is composed of several cameras, which are distributed in front or side of the vehicle frame 101 .
进一步的，所述转向控制电机模块包括第一电机、第一电机测角盘、第一电机驱动器；所述第一电机安装在车架上，其输出轴与前叉相连，控制前叉的绕车架转动；所述第一电机测角盘安装在第一电机的后端，用于测量第一电机的转动角度；所述第一电机驱动器设置在电路支架内，其输出直接驱动第一电机转动，第一电机驱动器与平衡控制器相连。所述第一电机驱动器可以采用日本三洋公司LV8731型号的产品，但不限于此。所述平衡控制器可以采用无锡三拓电气设备有限公司42BYG型号的产品，但不限于此。Further, the steering control motor module includes a first motor, a first motor angle measuring disc, and a first motor driver; the first motor is installed on the vehicle frame, and its output shaft is connected with the front fork to control the rotation of the front fork. The vehicle frame rotates; the angle measuring disk of the first motor is installed on the rear end of the first motor for measuring the rotation angle of the first motor; the driver of the first motor is arranged in the circuit bracket, and its output directly drives the first motor For rotation, the first motor driver is connected with the balance controller. The first motor driver may be a product of the type LV8731 of Sanyo Corporation of Japan, but is not limited thereto. The balance controller can be a 42BYG product of Wuxi Santuo Electric Equipment Co., Ltd., but is not limited thereto.
进一步的，所述姿态调整陀螺仪模块包括陀螺仪转子、陀螺仪支架、第二电机、第二测速码盘、第二电机驱动器；其中陀螺仪转子位于陀螺仪支架中心，以高速转动时的角速度保持车身平衡；所述第二电机的输出与陀螺仪转子直接相连，用于驱动陀螺仪转子转动；所述第二测速码盘安装在第二电机的后端，用于测量第二电机转动速度；第二直流电机驱动器设置在电路支架内，其输出直接驱动第二电机转动，第二电机驱动器与平衡控制器相连。所述第二电机驱动器可以采用东莞市德晟电机有限公司WS-50ZYT78-R型号的产品，但不限于此。Further, the attitude adjustment gyroscope module includes a gyroscope rotor, a gyroscope bracket, a second motor, a second speed measuring code disc, and a second motor driver; wherein the gyroscope rotor is located at the center of the gyroscope bracket, and the angular velocity when rotating at a high speed is Maintain the balance of the vehicle body; the output of the second motor is directly connected to the gyroscope rotor for driving the gyroscope rotor to rotate; the second speed measuring code disc is installed at the rear end of the second motor for measuring the rotation speed of the second motor ; The second DC motor driver is arranged in the circuit support, and its output directly drives the rotation of the second motor, and the second motor driver is connected with the balance controller. The second motor driver can be a product of the model WS-50ZYT78-R of Dongguan Desheng Motor Co., Ltd., but is not limited thereto.
进一步的，所述行进驱动电机模块包括第三电机、第三电机驱动器和第三测速码盘；所述第三电机位于后部固定轴轮中心，嵌入到后部固定轴轮中，与后部固定轴轮一体，驱动后部固定轴轮的转动；所述第三测速码盘安装在第三电机的后端，用于测量第三电机的转速；所述第三电机驱动器设置在电路支架内，其输出直接驱动第三电机转动；第三电机驱动器与平衡控制器相连。所述第三电机驱动器可以采用台州市全顺电机有限公司35H型号的产品，但不限于此。Further, the travel drive motor module includes a third motor, a third motor driver and a third speed measuring code disc; the third motor is located at the center of the rear fixed axle wheel, embedded in the rear fixed axle wheel, and connected to the rear fixed axle wheel. The fixed shaft wheel is integrated to drive the rotation of the rear fixed shaft wheel; the third speed measuring code disc is installed at the rear end of the third motor for measuring the speed of the third motor; the third motor driver is arranged in the circuit bracket , the output of which directly drives the rotation of the third motor; the driver of the third motor is connected with the balance controller. The third motor driver can be a 35H model product of Taizhou Quanshun Electric Co., Ltd., but is not limited thereto.
进一步的，所述无线传输模块由第一子无线传输模块5和第二子无线传输模块6组成，所述第一子无线传输模块5与平衡控制器相连，所述第二子无线传输模块6与上位机相连，第一子无线传输模块5和第二子无线传输模块6通过无线通讯。所述无线传输模块可以采用深圳市极限电子科技有限公司TX6722型号的产品，但不限于此。Further, the wireless transmission module is composed of a first sub-wireless transmission module 5 and a second sub-wireless transmission module 6, the first sub-wireless transmission module 5 is connected to a balance controller, and the second sub-wireless transmission module 6 Connected with the host computer, the first sub-wireless transmission module 5 and the second sub-wireless transmission module 6 communicate through wireless. The wireless transmission module can be a product of Shenzhen Extreme Electronics Technology Co., Ltd. TX6722 model, but is not limited thereto.
进一步的，所述上位机可以是PC机或服务器，用于处理视频流数据并远程控制车身；所述第二子无线传输模块6与上位机直接相连，作为上位机的输入；第一子无线传输模块5和第二子无线传输模块6通过无线通讯，主要用于上位机接受车身运行状态数据和视频流数据。Further, the host computer can be a PC or a server, which is used to process video stream data and remotely control the vehicle body; the second sub-wireless transmission module 6 is directly connected to the host computer as the input of the host computer; the first sub-wireless The transmission module 5 and the second sub-wireless transmission module 6 are mainly used for the host computer to receive vehicle body running status data and video stream data through wireless communication.
进一步的，所述电源模块包括蓄电池和电压保护电路；所述电源模块位于车身电路支架内，其中电压保护电路输入与蓄电池输出相连，电压保护电路输出与电源驱动电路输入相连；所述电源驱动电路包括直流变换电路和稳压电路；所述直流变换电路包括但不限于48V转12V、48V转5V、12V转5V和12V转3.3V等在内的直流变换器；所述稳压电路包括但不限于48V、12V、5V和3.3V等在内的直流稳压器；所述直流变换电路和稳压电路作为电源的一部分，位于电路支架内；所述直流变换电路为级联结构，以保证输出电压等级包括48V12V5V3.3V等，这些电压等级分别用于驱动车身电路支架内不同电压负载；所述稳压电路作为直流变换电路的后级，起到稳定电压输出的作用。Further, the power supply module includes a battery and a voltage protection circuit; the power supply module is located in the vehicle body circuit bracket, wherein the input of the voltage protection circuit is connected to the output of the battery, and the output of the voltage protection circuit is connected to the input of the power drive circuit; the power drive circuit Including DC conversion circuit and voltage stabilization circuit; the DC conversion circuit includes but not limited to DC converters including 48V to 12V, 48V to 5V, 12V to 5V and 12V to 3.3V; the voltage stabilization circuit includes but not Limited to DC voltage regulators including 48V, 12V, 5V and 3.3V; the DC conversion circuit and the voltage stabilization circuit are located in the circuit bracket as a part of the power supply; the DC conversion circuit is a cascaded structure to ensure output The voltage levels include 48V12V5V3.3V, etc. These voltage levels are respectively used to drive different voltage loads in the body circuit bracket; the voltage stabilizing circuit is used as a post-stage of the DC conversion circuit to stabilize the voltage output.
本发明中提出的一种无人自平衡行驶两轮转向系统的工作流程如图2所示。其具体过程是，首先通过上位机的人机指令接口选择系统的运行状态，分别为静止状态、启动加速状态、行进状态和停止减速状态：The workflow of an unmanned self-balancing driving two-wheel steering system proposed in the present invention is shown in FIG. 2 . The specific process is, firstly, select the operating state of the system through the man-machine command interface of the host computer, which are static state, start acceleration state, travel state and stop deceleration state:
1)静止状态：1) Static state:
当系统工作在静止状态时，系统的主要工作部分为平衡控制器、姿态检测传感器模块、姿态调整陀螺仪模块、无线传输模块和上位机。其具体的工作方式为：首先，姿态检测传感器模块实时检测无人自平衡行驶两轮转向系统车身的倾角，并通过无线传输模块向上位机发送倾角信息；接着，平衡控制器以倾角为输入计算出陀螺仪转子的速度，控制第二电机的输入电压占空比；然后以计算出的占空比通过第二驱动电路驱动器，驱动第二电机使陀螺仪转子转动，从而使得系统在姿态调整陀螺仪模块的作用下恢复到平衡状态，同时将陀螺仪转子由第二测速码盘测得的转速通过无线传输模块向上位机发送。最后，平衡控制器通过无线传输模块接收上位机指令从而选择是否保持静止状态或是进入启动加速状态。When the system works in a static state, the main working parts of the system are balance controller, attitude detection sensor module, attitude adjustment gyroscope module, wireless transmission module and host computer. Its specific working method is as follows: first, the attitude detection sensor module detects the inclination angle of the body of the unmanned self-balancing two-wheel steering system in real time, and sends the inclination information to the host computer through the wireless transmission module; then, the balance controller uses the inclination angle as input to calculate Calculate the speed of the gyroscope rotor, and control the duty ratio of the input voltage of the second motor; then use the calculated duty ratio to drive the second motor to rotate the gyroscope rotor through the second drive circuit driver, so that the system can adjust the gyroscope at an attitude Under the action of the gyroscope module, the balance state is restored, and at the same time, the rotational speed of the gyroscope rotor measured by the second speed measuring code disc is sent to the host computer through the wireless transmission module. Finally, the balance controller receives instructions from the host computer through the wireless transmission module to choose whether to maintain a static state or enter a start-up acceleration state.
2)启动加速状态：2) Start acceleration state:
此状态为静止状态和行进状态的过渡状态，当系统工作在启动加速状态时，系统除摄像头阵列模块外所有部分均进入工作。其具体的工作方式为：首先，平衡控制器通过无线传输模块接收上位机的行进速度指令；接着第三电机会逐渐使得车身加速到设定值，并且在此过程中平衡控制器将切换静止和行进状态下的控制算法并将车身的平衡控制执行机构由姿态调整陀螺仪模块转变为转向控制电机模块；最后，当车身的行进速度加速到设定值后，通过第三测速码盘反馈控制车身的行进速度，并使之保持稳定。This state is a transitional state between the stationary state and the traveling state. When the system is working in the startup acceleration state, all parts of the system except the camera array module are in operation. Its specific working method is as follows: first, the balance controller receives the travel speed command from the host computer through the wireless transmission module; then the third motor will gradually accelerate the body to the set value, and the balance controller will switch between static and The control algorithm in the driving state changes the balance control actuator of the body from the attitude adjustment gyroscope module to the steering control motor module; finally, when the speed of the body accelerates to the set value, the body is controlled by the third speed code disc feedback speed and keep it stable.
3)行进状态：3) Travel status:
当系统工作在行进状态时，系统除姿态调整陀螺仪模块外的所有部分均进入工作。首先，姿态检测传感器模块实时检测车身的倾角，并通过无线传输模块向上位机发送倾角信息以及摄像头阵列模块采集到的道路信息；接着，上位机通过无线传输模块接收道路信息，并通过现有的视频流预处理、障碍检测分析算法、车身的行进速度和方向生成算法计算得到车身动态行进速度并通过无线传输模块发送给车身平衡控制器；然后，平衡控制器通过无线传输模块接收上位机的行进速度和方向指令，通过姿态检测传感器模块的输出倾角和上位机的方向指令为输入通过平衡控制器计算出第一电机的输出角度以保持系统平衡或以一定角度转向，并以第三测速码盘输出和上位机行进速度控制指令为输入，通过输出改变第三电机的转速。最后，平衡控制器通过无线传输模块接收上位机指令从而选择是否保持行进状态或是进入停止减速状态When the system is working in the traveling state, all parts of the system except the attitude adjustment gyroscope module are in operation. First, the attitude detection sensor module detects the inclination angle of the vehicle body in real time, and sends the inclination information and the road information collected by the camera array module to the upper computer through the wireless transmission module; then, the upper computer receives the road information through the wireless transmission module, and passes the existing The video stream preprocessing, obstacle detection and analysis algorithm, vehicle body's travel speed and direction generation algorithm calculate the dynamic travel speed of the vehicle body and send it to the vehicle body balance controller through the wireless transmission module; then, the balance controller receives the progress of the upper computer through the wireless transmission module Speed and direction commands, through the output angle of the attitude detection sensor module and the direction command of the host computer, calculate the output angle of the first motor through the balance controller to maintain the system balance or turn at a certain angle, and use the third speed code disc The output and the travel speed control command of the upper computer are input, and the rotation speed of the third motor is changed through the output. Finally, the balance controller receives instructions from the host computer through the wireless transmission module to choose whether to keep moving or enter the stop and deceleration state
4)停止减速状态4) Stop deceleration state
此状态为行进状态和行进状态的过渡状态，当系统工作在停止减速状态时，系统除摄像头阵列模块外所有部分均进入工作。其具体的工作方式为：首先，平衡控制器将控制第三电机会逐渐使得车身减速，并且在此过程中平衡控制器将切换行进和静止状态下的控制算法并将车身的平衡控制执行机构由转向控制电机模块转变为姿态调整陀螺仪模块；最后，当车身的行进速度减速到零后，进入到静止状态并保持平衡。This state is the transition state between the traveling state and the traveling state. When the system is working in the stop deceleration state, all parts of the system except the camera array module are in operation. Its specific working method is as follows: firstly, the balance controller will control the third motor to gradually decelerate the vehicle body, and in the process, the balance controller will switch the control algorithm in the running and stationary states and switch the balance control actuator of the vehicle body by The steering control motor module is transformed into an attitude adjustment gyro module; finally, when the traveling speed of the vehicle body decelerates to zero, it enters a static state and maintains balance.
二、平衡控制算法2. Balance control algorithm
平衡控制算法包括两个部分，分别为静止状态下的平衡控制算法和行进状态下的控制算法，具体实施过程如下：The balance control algorithm includes two parts, which are the balance control algorithm in the static state and the control algorithm in the moving state. The specific implementation process is as follows:
首先根据两轮转向系统车身的物理特征，分别建立其静止和行进状态下的动力学模型；再根据所建立的静止和行进状态下的动力学模型，求得车身的传递函数并进行适当简化，从而得到静止和行进状态的传递函数Hs(s)和Hd(s)；然后由已经得到的简化过的静止和行进状态下的两轮转向系统的传递函数，设计相应的控制器Gs(s)和Gd(s)；最后分别利用静止和行进状态下的控制器输出控制量使得车身在两种条件下保持平衡。Firstly, according to the physical characteristics of the body of the two-wheel steering system, the dynamic models in the static and moving states are respectively established; then, according to the established dynamic models in the static and moving states, the transfer function of the body is obtained and simplified appropriately. Thus, the transfer functions H s (s) and H d (s) of the stationary and traveling states are obtained; then the corresponding controller G s is designed based on the obtained simplified transfer functions of the two-wheel steering system in the stationary and traveling states (s) and G d (s); Finally, use the output control quantities of the controller in the stationary state and the traveling state to keep the body in balance under the two conditions.
上述具体实施过程得到的无人自平衡行驶两轮转向系统静止状态控制系统结构图如图3所示，其中控制系统的输入为车身的倾角输出为陀螺仪转子速度，控制第二电机驱动电压占空比D。The structure diagram of the static state control system of the unmanned self-balancing driving two-wheel steering system obtained from the above specific implementation process is shown in Figure 3, where the input of the control system is the inclination angle of the vehicle body The output is the rotor speed of the gyroscope, which controls the duty cycle D of the driving voltage of the second motor.
上述具体实施过程得到的无人自平衡行驶两轮转向系统行进状态控制系统结构图如图4所示，其中控制系统的输入为无人自平衡行驶两轮转向系统车身的倾角输出为第二电机的转角角度θ。The structure diagram of the driving state control system of the unmanned self-balancing driving two-wheel steering system obtained from the above specific implementation process is shown in Figure 4, where the input of the control system is the inclination angle of the unmanned self-balancing driving two-wheel steering system body The output is the rotation angle θ of the second motor.
Claims (9)
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| CN107757795A (en) * | 2017-11-21 | 2018-03-06 | 南阳师范学院 | A kind of self-balancing trolley control system and method based on myRIO platforms |
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| CN109533154A (en) * | 2018-12-07 | 2019-03-29 | 纳恩博（北京）科技有限公司 | Scooter |
| CN110077510A (en) * | 2019-03-20 | 2019-08-02 | 广东工业大学 | A kind of Self-balancing electronic motorcycle with semi-automatic driving function |
| CN110134136A (en) * | 2019-05-29 | 2019-08-16 | 清华大学 | Vision Navigation System for Unmanned Motorcycle |
| CN111009054A (en) * | 2019-11-25 | 2020-04-14 | 腾讯科技（深圳）有限公司 | Vehicle-mounted control device, data processing method and storage medium |
| CN111284629A (en) * | 2020-02-28 | 2020-06-16 | 山东建筑大学 | A self-balancing bicycle and its control method |
| EP4091895A1 (en) * | 2021-05-18 | 2022-11-23 | Robert Bosch GmbH | Controller and control method |
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| EP4091895A1 (en) * | 2021-05-18 | 2022-11-23 | Robert Bosch GmbH | Controller and control method |
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