CN103019236A - Two-wheel car self-support running method - Google Patents

Two-wheel car self-support running method Download PDF

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Publication number
CN103019236A
CN103019236A CN2011102872947A CN201110287294A CN103019236A CN 103019236 A CN103019236 A CN 103019236A CN 2011102872947 A CN2011102872947 A CN 2011102872947A CN 201110287294 A CN201110287294 A CN 201110287294A CN 103019236 A CN103019236 A CN 103019236A
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wheeler
control system
speed
self
drive motor
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CN2011102872947A
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CN103019236B (en
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郭盖华
涂超
周伟
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DONGGUAN ROBSTEP ROBOT Co Ltd
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Abstract

The invention discloses a two-wheel car self-support running method. According to the two-wheel car self-support running method, a two-wheel car and a remote controller are utilized, wherein the two-wheel car comprises a swinging rod, a driving motor with a PID (Proportion Integration Differentiation) controller, wheels and a control system, and the remote controller can send a signal to the control system of the two-wheel car; the control system receives the signal and controls the two-wheel car to do corresponding movement; and the two-wheel car self-support running method comprises a two-wheel car automatic standing method, a two-wheel car in-situ standing method, a two-wheel car speed changing running method, a two-wheel car steering control method, a two-wheel car braking method and a two-wheel car automatic stopping method. The two-wheel car self-support running method provided by the invention controls automatic standing, in-situ standing, speed changing running, steering control, braking and automatic stopping through the remote controller, realizes interaction of the remote controller and the two-wheel car, and thereby strengthens entertainment property of the two-wheel car.

Description

The method that a kind of two wheeler is supported oneself and walked
Technical field
The present invention relates to the automatic control technology field, especially relate to the method that a kind of two wheeler is supported oneself and walked.
Background technology
For occasions such as shopping mall, square, recreation ground and large-scale meeting-place, automobile is impassable, and walking is tiresome again, needs a kind of can the behaviour to ride instead of walk, flexible operation, control easily two wheeler.
Existing two wheeler use-pattern is to control to finish the various running statuses of two wheeler by the driver, in order to reach the convenient and practical property of two wheeler, this two wheeler can use a teleswitch from its function of far distance controlled, and therefore the various technology of improving remote-controller function also are provided.
Summary of the invention
The present invention be directed to the method that defective that the above-mentioned background technology exists provides a kind of two wheeler to support oneself walking, thereby walking strengthens the recreational of two wheeler so that telepilot control two wheeler is supported oneself.
For achieving the above object, the method that a kind of two wheeler of the present invention is supported oneself and walked, comprise two wheeler and telepilot, two wheeler comprises fork, the drive motor with the PID controller, wheel and control system, telepilot sends a signal to the two wheeler control system, described control system receives signal and controls two wheeler and do corresponding sports, it comprises the method that two wheeler stands up automatically, the method of standing in the two wheeler original place, the method of two wheeler speed change walking, two wheeler turns to the method for control, method and the self-stopping method of two wheeler of two wheeler braking.
Further, the method that described two wheeler stands up automatically may further comprise the steps:
(1) described two wheeler control system is set with the restriction speed of automatically standing up, and described telepilot sends and automatically stands up signal to control system, and described control system is according to the signal output travelling speed of automatically standing up;
(2) two wheeler control system comparison travelling speed and restriction speed and the travelling speed controlled quentity controlled variable passed to drive motor with the PID controller, described drive motor with the PID controller rotates with travelling speed by the actuator drives wheel;
(3) wheel continues for some time with travelling speed, described control system output inverted running speed is also passed to drive motor with the PID controller with controlled quentity controlled variable, described drive motor with the PID controller rotates with inverted running speed by the actuator drives wheel, and the two wheeler car body stands up automatically;
(4) be provided with gyro sensor and acceleration transducer on the described control system, merge angle value and survey the two wheeler car body state that automatically stands up in order to output, the fusion angle value of sensor is provided with interval range during described two wheeler self-equilibrating operation, when the fusion angle value when two wheeler car body angle enters the operation of two wheeler self-equilibrating was interval, two wheeler was kept the state that automatically stands up; When the fusion angle value when two wheeler car body angle does not enter the operation of two wheeler self-equilibrating was interval, the output of two wheeler control system was regulated the speed.
Further, the method for standing in described two wheeler original place may further comprise the steps:
(1) telepilot sends the original place and stands signal to control system, described control system is zero according to the original place signal output speed of standing, the two wheeler control system is that zero controlled quentity controlled variable is passed to the drive motor with the PID controller with speed, and it is zero that described drive motor with the PID controller keeps the speed of two wheeler operation by the actuator drives wheel;
(2) described control system gathers the two wheeler running status and calculates corresponding angle analog quantity, so that the fusion angle value sum of angle analog quantity and sensor output is zero.
Further, the method for described two wheeler speed change walking may further comprise the steps:
(1) telepilot sends the speed change walk signal to control system, described control system is according to speed change walk signal output First Speed, the two wheeler control system is passed to drive motor with the PID controller with the controlled quentity controlled variable of First Speed, and it is First Speed that described drive motor with the PID controller keeps the two wheeler travelling speed by the actuator drives wheel;
(2) described control system gathers the two wheeler running status and calculates corresponding angle analog quantity, so that the fusion angle value sum of angle analog quantity and sensor output is zero.
Further, described two wheeler turns to the method for control, may further comprise the steps:
(1) telepilot is provided with and turns to operating key, user to press the described operating key that turns to, and telepilot sends steering controling signal to control system;
(2) described control system is according to steering controling signal output turning velocity variable quantity, and the revolver of two wheeler is right takes turns current output speed and add respectively and deduct described turning velocity variable quantity, realizes that two wheeler turns to;
(3) user unclamps the described operating key that turns to, and telepilot sends steering controling signal to control system, and described control system makes zero according to steering controling signal output turning velocity variable quantity.
Further, the method for described two wheeler braking may further comprise the steps:
(1) described control system gathers the two wheeler running status and calculates corresponding angle analog quantity, and described angle analog quantity is provided with interval range during described two wheeler self-equilibrating operation, and described angle analog quantity has negative sense threshold values and forward threshold values;
(2) when the two wheeler car body is subject to clashing into, the angle analog quantity of described control system detecting and negative sense threshold values and forward threshold values compare, described control system control two wheeler wheel braking.
Further, the self-stopping method of described two wheeler may further comprise the steps:
(1) telepilot sends the automatic stopping signal to control system, described control system is according to automatic stopping signal output second speed, the two wheeler control system is passed to drive motor with the PID controller with the controlled quentity controlled variable of second speed, and described drive motor with the PID controller moves backward by the actuator drives wheel;
(2) described control system gathers the current output speed value of two wheeler;
(3) current output speed is nonnegative value, and described drive motor with the PID controller moves backward by the actuator drives wheel; When the current output speed of two wheeler is negative value, two wheeler level run state stops, and the two wheeler car body is because the inertia layback is stopped, and the two-wheeled vehicle trunk bending backwards is stopped.
In sum, a kind of two wheeler of the present invention support oneself walking method by telepilot control two wheeler automatically stand up, stand in the original place, speed change is walked, turn to control, braking and automatic stopping, realize the interaction of telepilot and two wheeler, thereby strengthened the recreational of two wheeler.
Description of drawings
Fig. 1 is the structural representation of two wheeler of the present invention.
Fig. 2 is the method synoptic diagram that two wheeler of the present invention stands up automatically.
Fig. 3 is the method synoptic diagram of standing in two wheeler of the present invention original place.
Fig. 4 is the method synoptic diagram of two wheeler speed change walking of the present invention.
Fig. 5 is the self-stopping method synoptic diagram of two wheeler of the present invention.
Embodiment
For further understanding feature of the present invention, technological means and the specific purposes that reach, function, below in conjunction with accompanying drawing and embodiment the present invention is described in further detail.
Such as Fig. 1 to shown in Figure 5, the specific embodiment of the invention by the following technical solutions: two wheeler comprises fork 10, the drive motor 20 with the PID controller, wheel 30, control system 40.Telepilot sends a signal to two wheeler control system 40, and described control system 40 receives signal and controls two wheeler and do corresponding sports.Described control system 40 gathers the current output speed speed of two wheelers and current output speed speed controlled quentity controlled variable is passed to drive motor 20 with the PID controller, described drive motor 20 with the PID controller feeds back the controlled quentity controlled variable of receiving and controls drive motor, thereby drive motor is by the motion of actuator drives wheel 30 control two wheelers.
Be provided with gyro sensor and acceleration transducer on the described control system 40, the wheel acceleration of the gyroscope magnitude of angular velocity of the output of gyro sensor and the output of acceleration transducer is converted into digital quantity after reading by two wheeler control system 40 inner A/D converters (ADC), and the data obtained is processed the fusion angle value that calculates sensor output through the kalman wave filter.
A kind of two wheeler support oneself walking method by the following technical solutions: it comprises the method that two wheeler stands up automatically, the method of standing in the two wheeler original place, the method of two wheeler speed change walking, two wheeler turns to the method for control, method and the self-stopping method of two wheeler of two wheeler braking.
The method that described two wheeler stands up automatically may further comprise the steps:
(1) described two wheeler control system 40 is set with the restriction speed limitspeed that automatically stands up, and described telepilot sends and automatically stands up signal to control system 40, and described control system 40 is according to the signal output travelling speed v that automatically stands up;
(2) when v 〉=limitspeed, two wheeler control system 40 collects misdata, and two wheeler does not carry out any action;
When v<limitspeed, two wheeler control system 40 is passed to drive motor 20 with the PID controller with travelling speed v controlled quentity controlled variable, and described drive motor 20 with the PID controller rotates with travelling speed v by actuator drives wheel 30;
(3) wheel 30 continues for some time with travelling speed v, described control system 40 output inverted running speed-v also pass to drive motor 20 with the PID controller with controlled quentity controlled variable, described drive motor 20 with the PID controller rotates with inverted running speed-v by actuator drives wheel 30, and the two wheeler car body can stand up automatically according to principle of inertia;
(4) described gyro sensor and acceleration transducer are surveyed the two wheeler car body state that automatically stands up, the fusion angle value of sensor output is provided with interval range during described two wheeler self-equilibrating operation, when the fusion angle value when two wheeler car body angle enters the operation of two wheeler self-equilibrating was interval, two wheeler was kept the state that automatically stands up; When the fusion angle value when two wheeler car body angle does not enter the operation of two wheeler self-equilibrating was interval, the two wheeler control system was exported the v+ Δ v that regulates the speed.
The method of standing in described two wheeler original place may further comprise the steps:
(1) telepilot sends the original place and stands signal to control system 40, described control system 40 is zero according to the original place signal output speed of standing, two wheeler control system 40 is that zero controlled quentity controlled variable is passed to the drive motor 20 with the PID controller with speed, and it is zero that described drive motor 20 with the PID controller keeps the speed of two wheelers operation by actuator drives wheel 30;
(2) described control system 40 gathers the two wheeler running status and calculates corresponding angle analog quantity, so that the fusion angle value sum of angle analog quantity and sensor output is zero, guarantees the two wheeler level run.
The method of described two wheeler speed change walking may further comprise the steps:
(1) telepilot sends the speed change walk signal to control system 40, and described control system 40 is v according to speed change walk signal output First Speed 1, two wheeler control system 40 is with First Speed v 1Controlled quentity controlled variable pass to drive motor 20 with the PID controller, it is v that described drive motor 20 with the PID controller keeps two wheelers operation First Speed by actuator drives wheel 30 1
(2) described control system 40 gathers the two wheeler running status and calculates corresponding angle analog quantity, so that the fusion angle value sum of angle analog quantity and sensor output is zero, guarantees the two wheeler level run.
Described two wheeler turns to the method for control, may further comprise the steps:
(1) telepilot is provided with and turns to operating key, user to press the described operating key that turns to, and telepilot sends steering controling signal to control system 40;
(2) described control system 40 is according to steering controling signal output turning velocity variable quantity, and the revolver of two wheeler is right takes turns current output speed speed and add respectively and deduct described turning velocity variable quantity, realizes that two wheeler turns to;
(3) user unclamps the described operating key that turns to, and telepilot sends steering controling signal to control system 40, and described control system 40 makes zero the two wheeler level run according to steering controling signal output turning velocity variable quantity.
The method of described two wheeler braking may further comprise the steps:
(1) described control system 40 gathers the two wheeler running status and calculates corresponding angle analog quantity, and described angle analog quantity is provided with interval range during described two wheeler self-equilibrating operation, and described angle analog quantity has negative sense threshold values and forward threshold values;
(2) when the two wheeler car body is subject to forward bump, the angle analog quantity of described control system 40 detectings is less than the negative sense threshold values, the 30 forward brakings of described control system 40 control two wheeler wheels;
When the two wheeler car body was subject to backward bump, the angle analog quantity of described control system 40 detectings was greater than the forward threshold values, the 30 backward brakings of described control system 40 control two wheeler wheels.
The self-stopping method of described two wheeler may further comprise the steps:
(1) telepilot sends the automatic stopping signal to control system 40, and described control system 40 is v according to automatic stopping signal output second speed 2, two wheeler control system 40 is with second speed v 2Controlled quentity controlled variable pass to drive motor 20 with the PID controller, described drive motor 20 with the PID controller moves backward by actuator drives wheel 30;
Speed definition when (2) described two wheeler control system 40 is advanced two wheeler on the occasion of, the speed definition when two wheeler retreats is negative value, described control system 40 gathers the current output speed speed of two wheelers;
(3) when the current output speed speed of two wheeler be nonnegative value, described drive motor 20 with the PID controller moves backward by actuator drives wheel 30;
When the current output speed speed of two wheeler is negative value, two wheeler level run state stops, and the two wheeler car body is according to the principle of inertia parking of can swinging back.
In sum, a kind of two wheeler of the present invention support oneself walking method by telepilot control two wheeler automatically stand up, stand in the original place, speed change is walked, turn to control, braking and automatic stopping, realize the interaction of telepilot and two wheeler, thereby strengthened the recreational of two wheeler.
The above embodiment has only expressed one embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as limitation of the scope of the invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with claims.

Claims (7)

1. the two wheeler method of walking of supporting oneself, it is characterized in that: comprise two wheeler and telepilot, two wheeler comprises fork (10), drive motor (20) with the PID controller, wheel (30) and control system (40), telepilot sends a signal to two wheeler control system (40), described control system (40) receives signal and controls two wheeler and do corresponding sports, it comprises the method that two wheeler stands up automatically, the method of standing in the two wheeler original place, the method of two wheeler speed change walking, two wheeler turns to the method for control, method and the self-stopping method of two wheeler of two wheeler braking.
2. the method for a kind of two wheeler self-support walking according to claim 1 is characterized in that described two-wheeled
The method that car stands up automatically may further comprise the steps:
(1) described two wheeler control system (40) is set with the restriction speed of automatically standing up, and described telepilot sends and automatically stands up signal to control system (40), and described control system (40) is according to the signal output travelling speed of automatically standing up;
(2) relatively travelling speed and restriction speed and the travelling speed controlled quentity controlled variable passed to drive motor (20) with the PID controller of two wheeler control system (40), described drive motor with the PID controller (20) rotates with travelling speed by actuator drives wheel (30);
(3) wheel (30) continues for some time with travelling speed, described control system (40) output inverted running speed is also passed to drive motor (20) with the PID controller with controlled quentity controlled variable, with the rotation of inverted running speed, the two wheeler car body stands up described drive motor with the PID controller (20) automatically by actuator drives wheel 30;
(4) be provided with gyro sensor and acceleration transducer on the described control system (40), merge angle value and survey the two wheeler car body state that automatically stands up in order to output, the fusion angle value of sensor is provided with interval range during described two wheeler self-equilibrating operation, when the fusion angle value when two wheeler car body angle enters the operation of two wheeler self-equilibrating was interval, two wheeler was kept the state that automatically stands up; When the fusion angle value when two wheeler car body angle does not enter the operation of two wheeler self-equilibrating was interval, the output of two wheeler control system was regulated the speed.
3. the method for a kind of two wheeler self-support walking according to claim 1 is characterized in that described two-wheeled
The method of standing in the car original place may further comprise the steps:
(1) telepilot sends the original place and stands signal to control system, described control system is zero according to the original place signal output speed of standing, the two wheeler control system is that zero controlled quentity controlled variable is passed to the drive motor (20) with the PID controller with speed, and it is zero that described drive motor with the PID controller (20) keeps the speed of two wheeler operation by actuator drives wheel (30);
(2) described control system gathers the two wheeler running status and calculates corresponding angle analog quantity, so that the fusion angle value sum of angle analog quantity and sensor output is zero.
4. the method for a kind of two wheeler self-support walking according to claim 1 is characterized in that described two-wheeled
The method of car speed change walking may further comprise the steps:
(1) telepilot sends the speed change walk signal to control system, described control system is according to speed change walk signal output First Speed, the two wheeler control system is passed to drive motor (20) with the PID controller with the controlled quentity controlled variable of First Speed, and it is First Speed that described drive motor with the PID controller (20) keeps the two wheeler travelling speed by actuator drives wheel (30);
(2) described control system (40) gathers the two wheeler running status and calculates corresponding angle analog quantity, so that the fusion angle value sum of angle analog quantity and sensor output is zero.
5. the method for a kind of two wheeler self-support walking according to claim 1 is characterized in that described two-wheeled
Car turns to the method for control, may further comprise the steps:
(1) telepilot is provided with and turns to operating key, user to press the described operating key that turns to, and telepilot sends steering controling signal to control system (40);
(2) described control system (40) is according to steering controling signal output turning velocity variable quantity, and the revolver of two wheeler is right takes turns current output speed and add respectively and deduct described turning velocity variable quantity, realizes that two wheeler turns to;
(3) user unclamps the described operating key that turns to, and telepilot sends steering controling signal to control system (40), and described control system (40) makes zero according to steering controling signal output turning velocity variable quantity.
6. the method for a kind of two wheeler self-support walking according to claim 1 is characterized in that described two-wheeled
The method of car braking may further comprise the steps:
(1) described control system (40) gathers the two wheeler running status and calculates corresponding angle analog quantity, and described angle analog quantity is provided with interval range during described two wheeler self-equilibrating operation, and described angle analog quantity has negative sense threshold values and forward threshold values;
(2) when the two wheeler car body is subject to clashing into, the angle analog quantity of described control system (40) detecting and negative sense threshold values and forward threshold values compare, described control system (40) control two wheeler wheel (30) braking.
7. the method for a kind of two wheeler self-support walking according to claim 1 is characterized in that described two-wheeled
The self-stopping method of car may further comprise the steps:
(1) telepilot sends the automatic stopping signal to control system, described control system is according to automatic stopping signal output second speed, two wheeler control system (40) is passed to drive motor (20) with the PID controller with the controlled quentity controlled variable of second speed, and described drive motor with the PID controller (20) moves backward by actuator drives wheel (30);
(2) described control system (40) gathers the current output speed value of two wheeler;
(3) current output speed is nonnegative value, and described drive motor with the PID controller (20) moves backward by actuator drives wheel (30); When the current output speed of two wheeler is negative value, two wheeler level run state stops, and the two-wheeled vehicle trunk bending backwards is stopped.
CN201110287294.7A 2011-09-26 2011-09-26 Two-wheel car self-support running method Active CN103019236B (en)

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CN105730586A (en) * 2016-03-11 2016-07-06 厦门大学 Two-wheel self-balancing car control system in two-control mode

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Address after: 518572 Longcheng Street, Longgang District, Shenzhen City, Guangdong Province

Patentee after: Zhang Mingming

Address before: Science and technology Songshan Lake Science and Technology Industrial Park in Guangdong province Dongguan City nine road 523808 No. 1

Patentee before: Dongguan Robstep Robot Co., Ltd.