CN107264697B - An unmanned self-balancing two-wheel steering system - Google Patents

Abstract

The invention discloses an unmanned self-balancing driving two-wheel steering system, which comprises a vehicle body, an attitude detection sensor module, a camera array module, a steering control motor module, an attitude adjustment gyroscope module, a traveling drive motor module, a wireless transmission module, a balance The controller and the host computer; the unmanned self-balancing two-wheel steering system proposed in the present invention can set the travel speed of the unmanned self-balancing two-wheel steering system body through the man-machine command interface provided in the software of the host computer, respectively responding to Different control algorithms are selected for static and non-static conditions to maintain static balance and traveling balance. During the traveling process of the unmanned self-balancing 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 determine the traveling speed of the unmanned self-balancing two-wheel steering system body. It can control the direction and direction, so as to realize the function of unmanned control, balance and autonomous travel.

Description

An unmanned self-balancing two-wheel steering system

technical field

The invention relates to the field of motion control of unmanned vehicles, in particular to an unmanned self-balancing two-wheel steering system.

Background technique

Today, the research and application of driverless cars have gradually entered a mature stage, but there are very few studies on driverless 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 achieve an unmanned, self-balancing and autonomous driving system. The existing two-wheel steering systems for unmanned self-balancing driving mostly maintain balance under the premise that the traveling speed is constant or completely stationary, and cannot perform functions including start-stop control, road condition detection and automatic driving.

SUMMARY OF THE INVENTION

In view of the above deficiencies, the present invention provides an unmanned self-balancing two-wheel steering system, which can maintain balance in stationary and traveling states, can complete the start-stop transition between stationary and traveling states, and It maintains balance while traveling and automatically travels according to the road condition detection results.

The technical scheme adopted by the present invention to solve the technical problem is as follows: an unmanned self-balancing driving two-wheel steering system, comprising: a vehicle body, an attitude detection sensor module, a camera array module, a steering control motor module, an attitude adjustment gyroscope module, a traveling drive Motor module, wireless transmission module, balance controller and host computer;

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.

The camera array module is used to collect the real-time picture of the front or side of the vehicle body in the traveling state, and control the camera array module to transmit the real-time picture to the upper computer through the balance controller.

The steering control motor module is used as an actuator for the output of the balance controller in the traveling state, and is used to control and maintain the balance of the vehicle body during the traveling process.

The attitude adjustment gyroscope module is used as an actuator for the output of the balance controller in the static state, and is used to control and maintain the balance of the vehicle body during the static process.

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 body under the control of the balance controller.

The wireless transmission module is used to wirelessly transmit the real-time images collected by the camera array module to the host computer.

The balance controller is used to realize self-balancing when the vehicle body is stationary and traveling, control the transmission of real-time images collected by the camera array module to the upper computer, and accept acceleration, deceleration or steering commands from the upper computer.

The upper computer is used to process and analyze the transmitted real-time images to complete the speed and steering control of the vehicle body.

The power module is used to provide the operating voltage for the entire system.

Further, the body includes a frame, a front fork, a front movable axle wheel, a rear fixed axle wheel and a circuit bracket; the front fork is rotatably mounted on the front end of the frame; the front movable axle wheel is mounted on the On the front fork, the rear fixed axle wheel is installed on the rear end of the frame; the circuit bracket is fixed on the middle and upper part of the frame.

Further, the posture detection sensor module is installed in the circuit bracket.

Further, the camera array module is composed of several cameras, which are distributed in the front or the side of the frame.

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 mounted on the frame, and its output shaft is connected to the front fork to control the winding of the front fork. The frame rotates; the first motor angle measuring disc is installed at the rear end of the first motor to measure the rotation angle of the first motor; the first motor driver is arranged in the circuit bracket, and its output directly drives the first motor Rotating, the first motor driver is connected with the balance controller.

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 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, its output directly drives the second motor to rotate, and the second motor driver is connected with the balance controller.

Further, the traveling drive motor module includes a third motor, a third motor driver and a third speed-measuring code disc; the third motor is located in the center of the rear fixed axle wheel, embedded in the rear fixed axle wheel, and is connected to the rear fixed axle wheel. The fixed axle wheel is integrated to drive the rotation of the rear fixed axle wheel; the third speed measuring code disc is installed at the rear end of the third motor to measure the rotational speed of the third motor; the third motor driver is arranged in the circuit bracket , its output directly drives the third motor to rotate; the third motor driver is connected with the balance controller.

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 with the balance controller, and the second sub-wireless transmission module is connected with the host computer. , the first sub-wireless transmission module and the second sub-wireless transmission module communicate wirelessly.

Further, the host computer can be a PC or a server for processing video stream data and remotely controlling 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 is directly connected to the host computer; The module and the second sub-wireless transmission module communicate wirelessly, and are mainly used for the host computer to receive vehicle body running state data and video stream data.

Further, the power module includes a battery and a voltage protection circuit; the power module is located in the body circuit bracket, wherein the voltage protection circuit input is connected to the battery output, and the voltage protection circuit output is connected to the power drive circuit input; the power drive circuit Including a DC conversion circuit and a voltage regulator circuit; the DC conversion circuit includes but is not limited to 48V to 12V, 48V to 5V, 12V to 5V and 12V to 3.3V, etc. DC converters; the voltage regulator circuit includes but not limited to It is limited to DC voltage regulators including 48V, 12V, 5V and 3.3V; the DC conversion circuit and voltage regulator circuit are located in the circuit bracket as part of the power supply; the DC conversion circuit is a cascade structure to ensure the output The voltage levels include 48V, 12V, 5V, 3.3V, etc., and these voltage levels are used to drive different voltage loads in the body circuit brackets.

The first motor, the second motor and the third motor are selected from any one of a DC deceleration motor, a steering gear or a stepping motor, but are not limited thereto.

The beneficial effects of the present invention are as follows:

Self-balancing: the present invention can maintain self-balancing through the attitude sensor and the controller in two states of static and traveling, and has basic stability.

Unmanned control: under the control of the host computer, the system can realize autonomous start-stop conversion and travel control, without the need for real-time human control during operation, and has quite autonomous characteristics.

Practicality: The unmanned self-balancing two-wheel steering system described in the present invention can realize actions such as traveling, acceleration and deceleration, and turning in various road environments under the joint action of the host computer and the balance controller; at the same time, the present invention It has a certain load-bearing capacity, can be used to realize the transportation of people or objects, and has considerable application prospects.

Description of drawings

1 is a schematic structural diagram of an unmanned self-balancing two-wheel steering system;

Fig. 2 is the working flow chart of the two-wheel steering system for unmanned self-balancing driving;

Fig. 3 is the structure diagram of the static state control system of the unmanned self-balancing driving two-wheel steering system;

Fig. 4 is the structure diagram of the traveling state control system of the unmanned self-balancing driving two-wheel steering system;

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, host computer 7, frame 101, front fork 102 . The front movable axle wheel 103 , the rear fixed axle wheel 104 , and the circuit bracket 105 .

Detailed ways

In order to make the technical solutions and features of the autonomously balanced two-wheel steering system provided by the present invention clearer, the specific embodiments will be described in detail below with reference to the contents in the accompanying drawings. It should be pointed out that the content described in the following specific implementation is only one of all feasible implementations, and any implementation conforming to the content of the claims of the present invention belongs to the protection scope of the present invention.

1. System structure and workflow

The present invention provides an unmanned self-balancing 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 travel drive motor module 4, and a wireless transmission module, balance controller and host computer 7;

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.

The camera array module is used to collect the real-time picture of the front or side of the vehicle body in the traveling state, and control the camera array module to transmit the real-time picture to the upper computer through the balance controller.

The steering control motor module is used as an actuator for the output of the balance controller in the traveling state, and is used to control and maintain the balance of the vehicle body during the traveling process.

The attitude adjustment gyroscope module is used as an actuator for the output of the balance controller in the static state, and is used to control and maintain the balance of the vehicle body during the static process.

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 body under the control of the balance controller.

The wireless transmission module is used to wirelessly transmit the real-time images collected by the camera array module to the host computer.

The balance controller is used to realize self-balancing when the vehicle body is stationary and traveling, control the transmission of real-time images collected by the camera array module to the upper computer, and accept acceleration, deceleration or steering commands from the upper computer.

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.

The power module is used to provide the operating voltage for the entire system.

Further, the body 1 includes a 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 frame 101; the The front movable axle wheel 103 is mounted on the front fork 102 , the rear fixed axle wheel 104 is mounted on the rear end of the frame 101 ;

Further, the attitude detection sensor module is installed in the circuit bracket 105, and the attitude detection sensor module can be a product of the MPU-6050 model of InvenSense company in the United States, but is not limited to this. ,

Further, the camera array module is composed of several cameras, which are distributed in the front or the side of the frame 101 .

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 mounted on the frame, and its output shaft is connected to the front fork to control the winding of the front fork. The frame rotates; the first motor angle measuring disc is installed at the rear end of the first motor to measure the rotation angle of the first motor; the first motor driver is arranged in the circuit bracket, and its output directly drives the first motor Rotating, the first motor driver is connected with the balance controller. The first motor driver can be a product of the LV8731 model of Sanyo Company, Japan, but is not limited to this. The balance controller can be a 42BYG product of Wuxi Santuo Electric Equipment Co., Ltd., but is not limited to this.

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 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, its output directly drives the second motor to rotate, and the second motor driver is connected with the balance controller. The second motor driver can be a WS-50ZYT78-R product of Dongguan Desheng Motor Co., Ltd., but is not limited to this.

Further, the traveling drive motor module includes a third motor, a third motor driver and a third speed-measuring code disc; the third motor is located in the center of the rear fixed axle wheel, embedded in the rear fixed axle wheel, and is connected to the rear fixed axle wheel. The fixed axle wheel is integrated to drive the rotation of the rear fixed axle wheel; the third speed measuring code disc is installed at the rear end of the third motor to measure the rotational speed of the third motor; the third motor driver is arranged in the circuit bracket , its output directly drives the third motor to rotate; the third motor driver is connected with the balance controller. The third motor driver can be a 35H product of Taizhou Transit Motor Co., Ltd., but is not limited to this.

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 with the balance controller, and the second sub-wireless transmission module 6 is connected to the balance controller. Connected to the host computer, the first sub-wireless transmission module 5 and the second sub-wireless transmission module 6 communicate wirelessly. The wireless transmission module can be a product of the model TX6722 of Shenzhen Limit Electronic Technology Co., Ltd., but is not limited to this.

Further, the host computer can be a PC or a server for processing video stream data and remotely controlling 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 transmission module 6 is directly connected to the host computer; The transmission module 5 and the second sub-wireless transmission module 6 communicate wirelessly, and are mainly used for the host computer to receive vehicle body running state data and video stream data.

Further, the power module includes a battery and a voltage protection circuit; the power module is located in the body circuit bracket, wherein the voltage protection circuit input is connected to the battery output, and the voltage protection circuit output is connected to the power drive circuit input; the power drive circuit Including a DC conversion circuit and a voltage regulator circuit; the DC conversion circuit includes but is not limited to 48V to 12V, 48V to 5V, 12V to 5V and 12V to 3.3V, etc. DC converters; the voltage regulator circuit includes but not limited to It is limited to DC voltage regulators including 48V, 12V, 5V and 3.3V; the DC conversion circuit and voltage regulator circuit are located in the circuit bracket as part of the power supply; the DC conversion circuit is a cascade structure to ensure the output The voltage levels include 48V, 12V, 5V, 3.3V, etc., and these voltage levels are used to drive different voltage loads in the body circuit brackets.

The working flow of an unmanned self-balancing two-wheel steering system proposed in the present invention is shown in FIG. 2 . The specific process is to first select the operating state of the system through the human-machine command interface of the upper computer, which are the static state, the start acceleration state, the traveling state and the stop deceleration state:

1) Static state:

When the system works in a static state, the main working parts of the system are the balance controller, the attitude detection sensor module, the attitude adjustment gyroscope module, the wireless transmission module and the host computer. Its specific working method is as follows: first, the attitude detection sensor module detects the inclination of the body of the unmanned self-balancing two-wheel steering system in real time, and sends the inclination information to the upper computer through the wireless transmission module; then, the balance controller uses the inclination as the input to calculate The speed of the gyroscope rotor is obtained to control the duty cycle of the input voltage of the second motor; then the second motor is driven by the second drive circuit driver with the calculated duty cycle to drive the gyroscope rotor to rotate, so that the system can adjust the gyroscope at the attitude. Under the action of the instrument module, it returns to a balanced state, and at the same time, the rotational speed of the gyroscope rotor measured by the second speed-measuring code disc is sent to the upper computer through the wireless transmission module. Finally, the balance controller receives the command of the upper computer through the wireless transmission module to choose whether to keep the static state or enter the start-up acceleration state.

2) Start the acceleration state:

This state is a transition state between the static state and the traveling state. When the system works in the startup acceleration state, all parts of the system except the camera array module enter into work. Its specific working method is as follows: first, the balance controller receives the travel speed command of the upper computer through the wireless transmission module; then the third motor will gradually accelerate the body to the set value, and during this process, the balance controller will switch between static and The control algorithm in the traveling 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 is accelerated to the set value, the body is controlled by the feedback of the third speed code disc. speed and keep it stable.

3) Progress status:

When the system works in the traveling state, all parts of the system except the attitude adjustment gyroscope module start to work. First, the attitude detection sensor module detects the inclination of the 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 Video stream preprocessing, obstacle detection and analysis algorithm, vehicle body speed and direction generation algorithm calculate the body dynamic speed and send it to the body balance controller through the wireless transmission module; then, the balance controller receives the travel of the host computer through the wireless transmission module Speed and direction command, through the output inclination angle of the attitude detection sensor module and the direction command of the host computer as the input, the output angle of the first motor is calculated by the balance controller to maintain the balance of the system or turn at a certain angle, and the third speed measuring code disc is used as input. The output and the upper computer travel speed control command are input, and the rotation speed of the third motor is changed through the output. Finally, the balance controller receives the command from the host computer through the wireless transmission module to choose whether to maintain the traveling state or enter the stop deceleration state

4) Stop deceleration state

This state is the transition state between the traveling state and the traveling state. When the system works in the stop deceleration state, all parts of the system except the camera array module enter into work. The specific working method is as follows: first, the balance controller will control the third motor to gradually decelerate the body, and during this process, the balance controller will switch the control algorithms in the traveling and stationary states, and the balance control actuator of the body will be controlled by The steering control motor module is transformed into the attitude adjustment gyroscope module; finally, when the traveling speed of the body decelerates to zero, it enters a stationary state and maintains a balance.

Second, the balance control algorithm

The balance control algorithm includes two parts, namely the balance control algorithm in the static state and the control algorithm in the traveling state. The specific implementation process is as follows:

Firstly, according to the physical characteristics of the body of the two-wheel steering system, the dynamic models under static and traveling states are established respectively; then, the transfer function of the vehicle body is obtained and appropriately simplified according to the established dynamic models under static and traveling states. Thereby, 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 from the simplified transfer functions of the two-wheel steering system under the stationary and traveling states. (s) and G _d (s); finally, the controller outputs the control quantities in the stationary and traveling states, respectively, to keep the vehicle body in balance under the two conditions.

The structure diagram of the static state control system of the unmanned self-balancing driving two-wheel steering system obtained by the above-mentioned specific implementation process is shown in Figure 3, wherein 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.

The structure diagram of the traveling state control system of the unmanned self-balancing two-wheel steering system obtained by the above-mentioned specific implementation process is shown in Figure 4, wherein the input of the control system is the inclination of the body of the unmanned self-balancing two-wheel steering system. The output is the rotation angle θ of the second motor.

Claims (4)

1. an unmanned self-balancing two-wheel steering system is characterized in that, comprising: body, attitude detection sensor module, camera array module, steering control motor module, attitude adjustment gyroscope module, travel drive motor module, wireless transmission module , balance controller and host computer; 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; The camera array module is used to collect the real-time image of the front or side of the vehicle body in the traveling state, and control the camera array module to transmit the real-time image to the upper computer through the balance controller; Steering control motor module, as the actuator output of the balance controller in the traveling state, is used to control and maintain the balance of the vehicle body during the traveling process; The attitude adjustment gyroscope module, as the actuator output of the balance controller in the static state, is used to control and maintain the balance of the vehicle body during the static process; The travel drive motor module is used to maintain the travel speed in the travel state, and complete the process of body acceleration, deceleration, start or stop under the control of the balance controller; The wireless transmission module is used to wirelessly transmit the real-time images collected by the camera array module to the host computer; The balance controller is used to realize self-balancing when the vehicle body is stationary and traveling, control the transmission of real-time images collected by the camera array module to the upper computer, and accept acceleration, deceleration or steering commands from the upper computer; The host computer is used to process and analyze the transmitted real-time images to complete the speed and steering control of the vehicle body; Power module, used to provide working voltage for the whole system; The body includes a frame, a front fork, a front movable axle wheel, a rear fixed axle wheel and a circuit bracket; the front fork is rotatably mounted on the front end of the frame; the front movable axle wheel is mounted on the front fork , the rear fixed axle wheel is installed on the rear end of the frame; the circuit bracket is fixed on the upper part of the frame; The steering control motor module includes a first motor, a first motor angle measuring disc, and a first motor driver; the first motor is mounted on the frame, and its output shaft is connected with the front fork to control the rotation of the front fork around the frame The first motor angle measuring plate is installed at the rear end of the first motor; the first motor driver is arranged in the circuit bracket, and its output directly drives the first motor to rotate, and the first motor driver is connected with the balance controller; 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 in the center of the gyroscope bracket; the output of the second motor and the gyroscope The instrument rotor is connected; the second speed-measuring code disc is installed at the rear end of the second motor; the second DC motor driver is arranged in the circuit support, and its output directly drives the second motor to rotate, and the second motor driver is connected with the balance controller; The traveling drive motor module includes a third motor, a third motor driver and a third speed-measuring code disc; the third motor is located in the center of the rear fixed axle wheel, embedded in the rear fixed axle wheel, and connected to the rear fixed axle wheel. integrated to drive the rotation of the rear fixed axle wheel; the third speed-measuring code disc is installed at the rear end of the third motor; the third motor driver is arranged in the circuit bracket, and its output directly drives the rotation of the third motor; the third motor The motor driver is connected with the balance controller; 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, the second sub-wireless transmission module is connected to the upper computer, and the first sub-wireless transmission module is connected to the upper computer. The sub wireless transmission module and the second sub wireless transmission module communicate wirelessly. 2 . The two-wheel steering system for unmanned self-balancing driving according to claim 1 , wherein the attitude detection sensor module is installed in the circuit bracket. 3 . 3 . The two-wheel steering system for unmanned self-balancing driving according to claim 1 , wherein the camera array module is composed of several cameras, which are distributed in the front or side of the vehicle frame. 4 . 4. The unmanned self-balancing two-wheel steering system according to claim 1, wherein the power supply module comprises a battery and a voltage protection circuit; the power supply module is located in the body circuit bracket, wherein the voltage protection circuit input and the voltage protection circuit The output of the battery is connected to the output of the voltage protection circuit, and the output of the voltage protection circuit is connected to the input of the power drive circuit; the power drive circuit includes a DC conversion circuit and a voltage regulator circuit;