CN110696951A - Automatic-driving two-wheeled self-balancing vehicle and control method thereof - Google Patents
Automatic-driving two-wheeled self-balancing vehicle and control method thereof Download PDFInfo
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- CN110696951A CN110696951A CN201910815412.3A CN201910815412A CN110696951A CN 110696951 A CN110696951 A CN 110696951A CN 201910815412 A CN201910815412 A CN 201910815412A CN 110696951 A CN110696951 A CN 110696951A
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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
Abstract
The invention discloses an automatic driving two-wheeled self-balancing vehicle and a control method thereof, wherein the automatic driving two-wheeled self-balancing vehicle comprises a front vehicle body, a rear vehicle body and an electric part; the front vehicle body is rotatably connected with the rear vehicle body; the electric part is respectively connected with the front vehicle body and the rear vehicle body and drives the front vehicle body and the rear vehicle body to move forwards. A steering motor is arranged on a rear bogie and a front bogie, the steering motor is used for controlling the rotation of the bogie, a rear vehicle body is connected with a front vehicle body through a torsion motor, and the front vehicle body and the rear vehicle body can rotate around a motor shaft. The controller carries out route planning and real-time obstacle avoidance driving analysis on the driving to a target location according to comprehensive analysis of map data of the navigation positioning module, environmental information acquired by the visual sensing module and data measured by a sensor on the vehicle, and obtains the control quantity of each motor by combining solving of a dynamic equation of the vehicle, so that the output torque of each motor is cooperatively controlled, and the vehicle can automatically plan driving according to a set driving target while keeping dynamic balance.
Description
Technical Field
The invention relates to the fields of entertainment equipment, sports equipment, travel tools and the like, in particular to an electric two-wheeled self-balancing bicycle capable of automatically driving and a control method thereof.
Background
At present, the two-wheeled balance vehicle is deeply loved by teenagers in sports, and people use the two-wheeled balance vehicle as entertainment sports equipment or a tool for riding instead of walk. However, two wheels of the existing two-wheel balance vehicle are both in a state that two axes are overlapped and two wheels are arranged left and right, and the two wheels are not in a state of being arranged front and back, and the current two-wheel balance vehicle does not have an automatic driving function, so that the two-wheel balance vehicle is not convenient to be used as a tool for riding instead of walk for the masses. Accordingly, further improvements and improvements are needed in the art.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic driving two-wheeled self-balancing vehicle.
The invention also aims to overcome the defects in the prior art and provide a control method based on the self-balancing vehicle.
The purpose of the invention is realized by the following technical scheme:
an automatic-driving two-wheel self-balancing vehicle mainly comprises a front vehicle body, a rear vehicle body and an electric part arranged on the front vehicle body and the rear vehicle body. The front vehicle body is rotatably connected with the rear vehicle body; the electric part is respectively connected with the front vehicle body and the rear vehicle body and drives the front vehicle body and the rear vehicle body to move forwards.
Specifically, the front vehicle body comprises a front pedal, a front steering motor fixing seat, a front steering frame, a front wheel and a motor shaft output fixing seat. The front pedal is fixedly arranged on the front vehicle body, and a space for accommodating the electric part is formed between the front pedal and the front vehicle body. The front steering motor fixing seat is arranged at the bottom of the front side of the front vehicle body. The front steering motor is arranged in the front steering motor fixing seat, and the output end of the front steering motor downwards penetrates through the front steering motor fixing seat and then is connected with one end of the front steering frame and drives the front steering frame to rotate. The other end of the front bogie is connected with a front wheel. And the motor shaft output fixing seat is fixedly arranged at the rear side position of the front vehicle body and is connected with the rear vehicle body.
Specifically, the rear vehicle body comprises a rear pedal, a rear steering motor fixing seat, a rear bogie, a rear wheel, a torsion motor and a motor fixing seat. The rear pedal is fixedly arranged on the rear vehicle body, and a space for accommodating the electric part is formed between the rear pedal and the rear vehicle body. The rear steering motor fixing seat is arranged at the bottom of the rear side of the rear vehicle body. The rear steering motor is arranged in the rear steering motor fixing seat, and the output end of the rear steering motor penetrates through the rear steering motor fixing seat downwards and then is connected with one end of the rear bogie and drives the rear bogie to rotate. The other end of the rear bogie is connected with a rear wheel. The motor fixing seat is arranged at the front side position of the rear vehicle body. The torsion motor is arranged on the motor fixing seat and is fixedly connected with the rear vehicle body through the motor fixing seat, and the output end of the torsion motor is connected with the motor shaft output fixing seat of the front vehicle body so as to drive the front vehicle body to twist in a reciprocating manner.
Specifically, the electrical part comprises a front pressure sensing module, a rear pressure sensing module, a visual sensing module, a controller, a navigation positioning module, a front attitude sensor, a rear attitude sensor and a battery pack. The front pressure sensor and the rear pressure sensor are respectively arranged on the front pedal and the rear pedal. The vision sensor module is fixedly installed at the front side position of the front pedal. The navigation positioning module and the front attitude sensor are both arranged in the front vehicle body. And the rear attitude sensor and the battery pack are both arranged in the rear vehicle body. The controller is arranged in the front vehicle body and is respectively and electrically connected with the front steering motor, the rear steering motor, the torsion motor, the front pressure sensing module, the rear pressure sensing module, the visual sensing module, the navigation positioning module, the front attitude sensor, the rear attitude sensor and the battery pack.
Furthermore, in order to facilitate the user to check and set parameters, the rear vehicle body also comprises a touch screen for displaying control information and inputting information. The touch screen is fixedly arranged at the rear side position of the rear pedal and is electrically connected with the controller.
Furthermore, in order to control the speed of the balance car conveniently, the front car body also comprises a front encoder used for monitoring the rotating speed and the rotating angle of the front wheel. The front encoder is arranged on the front bogie and is electrically connected with the controller.
Furthermore, in order to facilitate the control of the speed of the balance car, the rear car body further comprises a rear encoder for monitoring the rotating speed and the rotating angle of the rear wheel. The rear encoder is arranged on the rear bogie and is electrically connected with the controller.
In order to facilitate monitoring of the rolling condition of the front vehicle body and the rear vehicle body, the front attitude sensor and the rear attitude sensor are both gyroscope sensors.
As a preferable scheme of the invention, in order to enable the position control of the balance car to be more accurate, the navigation positioning module adopts a Beidou positioning module or a GPS positioning module.
In a preferred embodiment of the present invention, the vision sensor module is a depth camera.
Furthermore, in order to facilitate monitoring of the swinging conditions of the front vehicle body and the rear vehicle body, the rear vehicle body further comprises a middle encoder for measuring the rotating angle between the front vehicle body and the rear vehicle body. The middle encoder is arranged on the torsion motor, and the measuring end of the middle encoder faces to the output shaft of the torsion motor.
The other purpose of the invention is realized by the following technical scheme:
a control method for an automatic driving two-wheel self-balancing vehicle mainly comprises the following specific steps:
step S1: when the balance car is started, the electric system of the balance car is electrified, system initialization operation and fault diagnosis are carried out, if a fault occurs, a fault alarm is prompted through the touch screen, the work is finished, and if the system is normal, the next step is carried out.
Step S2: and inputting related driving target data through the touch screen.
Step S3: and the rear pressure sensing module on the rear pedal and the front pressure sensing module on the front pedal carry out real-time pressure detection, collect relevant pressure sensing data and judge whether the two feet of the user get on the vehicle respectively for readiness, if the two feet of the user do not get on the vehicle, the user waits for getting on the vehicle by the two feet of the user, and if the two feet of the user are detected to be ready for getting on the vehicle, the next step is carried out.
Step S4: the method comprises the steps that a rear encoder or a front encoder on a vehicle measures the rotating angle and the rotating speed of a rear wheel or a front wheel in real time, an encoder on a rear steering motor or a front steering motor measures the rotating angle and the rotating speed of a rear bogie or a front bogie in real time, a rear attitude sensor or a front attitude sensor measures the moving attitude of a rear vehicle body or a front vehicle body in real time, and a middle encoder on a torsion motor measures the relative rotating angle and the rotating speed between the rear vehicle body and the front vehicle body in real time to obtain the moving state data of the balance vehicle.
Step S5: the navigation positioning module determines the current position of the balance car in real time, and plans a path of a driving target according to driving target data input by a user to obtain driving route data.
Step S6: the vision sensing module acquires surrounding environment information of the vehicle in real time, constructs a three-dimensional map of the surrounding environment and provides obstacle avoidance driving data for the vehicle.
Step S7: the controller carries out route planning of driving to a target place and real-time obstacle avoidance driving analysis according to comprehensive analysis of driving route map data provided by the navigation positioning module, surrounding three-dimensional environment information data provided by the visual sensing module and data measured by each sensor on the balance car, and obtains the control quantity of each motor by combining with solving of a dynamic equation of the balance car.
Step S8: and each motor on the balance car outputs corresponding torque according to the motor control quantity calculated by the controller.
Step S9: the controller compares the vehicle motion state measured in real time and the position data provided by the navigation positioning module with the driving target data input by the user, judges whether the balance vehicle system reaches the control target, if so, the control is finished, and if not, the output is continuously controlled.
Compared with the prior art, the invention also has the following advantages:
(1) the automatic driving two-wheeled self-balancing vehicle provided by the invention fills the gap in the field of the current two-wheeled self-balancing vehicle with two electronically controlled wheels arranged in front and at the back, has the functions of self-balancing and automatic driving, is flexible in movement and good in turning performance, and is suitable for being used as an entertainment sports equipment or a travel tool.
(2) The automatic driving two-wheeled self-balancing vehicle provided by the invention can carry out route planning and real-time obstacle avoidance driving analysis on the driving direction to a target place according to the comprehensive analysis of the map data provided by the navigation positioning module, the ambient environment information data acquired by the visual sensing module and the data measured by each motion sensor on the vehicle, and the control quantity of each motor is obtained by combining the solution of the kinetic equation of the vehicle, so that the output torque of each motor is cooperatively controlled, and the driving of the vehicle can be automatically planned according to the driving target data set by a user while the dynamic balance of the vehicle is kept.
Drawings
Fig. 1 is a schematic structural view of an autopilot two-wheeled self-balancing vehicle provided by the invention.
Fig. 2 is a perspective view of the autopilot two-wheeled self-balancing vehicle provided by the invention.
Fig. 3 is a side view of the autopilot two-wheeled self-balancing vehicle provided by the present invention.
Fig. 4 is a control block diagram of the autopilot two-wheeled self-balancing vehicle provided by the invention.
Fig. 5 is a control flow chart of the autopilot two-wheeled self-balancing vehicle provided by the invention.
The reference numerals in the above figures illustrate:
1-rear car body, 2-touch screen, 3-rear pressure sensing module, 4-rear pedal, 5-front pedal, 6-front pressure sensing module, 7-vision sensing module, 8-front steering motor, 9-front car body, 10-front steering motor fixing seat, 11-front steering frame, 12-front wheel, 13-front encoder, 14-controller, 15-navigation positioning module, 16-front attitude sensor, 17-motor shaft output fixing seat, 18-torsion motor, 19-motor fixing seat, 20-rear attitude sensor, 21-battery pack, 22-rear wheel, 23-rear steering frame, 24-rear encoder, 25-rear steering motor fixing seat and 26-rear steering motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described below with reference to the accompanying drawings and examples.
Example 1:
as shown in fig. 1, 2 and 3, the present embodiment discloses an automatic driving two-wheeled self-balancing vehicle, which mainly comprises a front vehicle body 9, a rear vehicle body 1, and an electric part mounted on the front vehicle body 9 and the rear vehicle body 1. The front vehicle body 9 is rotatably connected with the rear vehicle body 1; the electric parts are respectively connected with the front vehicle body 9 and the rear vehicle body 1 and drive the front vehicle body 9 and the rear vehicle body 1 to move forward.
Specifically, the front vehicle body 9 includes a front pedal 5, a front steering motor 8, a front steering motor fixing seat 10, a front steering frame 11, a front wheel 12, and a motor shaft output fixing seat 17. The front pedal 5 is fixedly mounted on the front vehicle body 9, and forms a space for accommodating the electric part with the front vehicle body 9. The front steering motor fixing seat 10 is installed at the bottom position of the front side of the front vehicle body 9. The front steering motor 8 is arranged in the front steering motor fixing seat 10, and the output end of the front steering motor 8 downwards penetrates through the front steering motor fixing seat 10 and then is connected with one end of the front bogie 11 and drives the front bogie 11 to rotate. The other end of the front bogie 11 is connected to the front wheel 12. The motor shaft output fixing seat 17 is fixedly arranged at the rear side position of the front vehicle body 9 and is connected with the rear vehicle body 1.
Specifically, the rear vehicle body 1 includes a rear pedal 4, a rear steering motor 26, a rear steering motor holder 25, a rear bogie 23, a rear wheel 22, a torsion motor 18, and a motor holder 19. The rear pedal 4 is fixedly mounted on the rear vehicle body 1, and forms a space for accommodating the electric part with the rear vehicle body 1. The rear steering motor fixing base 25 is installed at the bottom position of the rear side of the rear vehicle body 1. The rear steering motor 26 is installed in the rear steering motor fixing seat 25, and the output end of the rear steering motor 26 penetrates through the rear steering motor fixing seat 25 downwards to be connected with one end of the rear bogie 23 and drive the rear bogie 23 to rotate. The other end of the rear bogie 23 is connected to the rear wheel 22. The motor fixing base 19 is installed at a front side position of the rear vehicle body 1. The torsion motor 18 is mounted on the motor fixing seat 19 and is fixedly connected with the rear vehicle body 1 through the motor fixing seat 19, and the output end of the torsion motor is connected with the motor shaft output fixing seat 17 of the front vehicle body 9 to drive the front vehicle body 9 to perform reciprocating torsion.
Specifically, the electrical part includes a front pressure sensing module 6, a rear pressure sensing module 3, a vision sensing module 7, a controller 14, a navigation positioning module 15, a front attitude sensor 16, a rear attitude sensor 20, and a battery pack 21. The front and rear pressure sensors are mounted on the front and rear pedals 5 and 4, respectively. The vision sensor module is fixedly installed at a front side position of the front pedal 5. The navigation positioning module 15 and the front attitude sensor 16 are both installed in the front vehicle body 9. The rear attitude sensor 20 and the battery pack 21 are both mounted in the rear vehicle body 1. The controller 14 is arranged in the front vehicle body 9 and is electrically connected with the front steering motor 8, the rear steering motor 26, the torsion motor 18, the front pressure sensing module 6, the rear pressure sensing module 3, the vision sensing module 7, the navigation positioning module 15, the front attitude sensor 16, the rear attitude sensor 20 and the battery pack 21 respectively.
Furthermore, in order to facilitate the user to view and set parameters, the rear vehicle body 1 of the present invention further includes a touch screen 2 for displaying control information and inputting information. The touch screen 2 is fixedly installed at a rear side position of the rear pedal 4 and is electrically connected with the controller 14.
Furthermore, in order to facilitate the control of the speed of the balance car, the front car body 9 of the invention further comprises a front encoder 13 for monitoring the rotating speed and the rotating angle of the front wheel 12. The front encoder 13 is provided on the front bogie 11 and is electrically connected to the controller 14.
Further, in order to facilitate the control of the speed of the balance car, the rear car body 1 further includes a rear encoder 24 for monitoring the rotation speed and rotation angle of the rear wheel 22. The rear encoder 24 is provided on the rear bogie 23 and is electrically connected to the controller 14.
In a preferred embodiment of the present invention, the front attitude sensor 16 and the rear attitude sensor 20 are both gyro sensors for monitoring the rolling of the front vehicle body 9 and the rear vehicle body 1.
As a preferable scheme of the invention, in order to enable the position control of the balance car to be more accurate, the navigation positioning module 15 of the invention adopts a Beidou positioning module or a GPS positioning module.
In a preferred embodiment of the present invention, the vision sensor module is a depth camera.
Further, in order to facilitate monitoring of the swing of the front vehicle body 9 and the rear vehicle body 1, the rear vehicle body 1 of the present invention further includes a middle encoder for measuring a rotation angle between the front vehicle body 9 and the rear vehicle body 1. The middle encoder is arranged on the torsion motor 18, and the measuring end of the middle encoder faces to the output shaft of the torsion motor 18.
As shown in fig. 4 and 5, the present embodiment further discloses a control method for an automatic two-wheel self-balancing vehicle, which mainly includes the following specific steps:
step S1: when the balance car is started, the electric system of the balance car is electrified, system initialization operation and fault diagnosis are carried out, if a fault occurs, a fault alarm is prompted through the touch screen 2, the work is finished, and if the system is normal, the next step is carried out.
Step S2: the relevant travel target data is input through the touch panel 2.
Step S3: and the rear pressure sensing module 3 on the rear pedal 4 and the front pressure sensing module 6 on the front pedal 5 carry out real-time pressure detection, collect relevant pressure sensing data and judge whether the two feet of the user get on the vehicle respectively for readiness, if the two feet of the user do not get on the vehicle, the user waits for getting on the vehicle by the two feet of the user, and if the two feet of the user are detected to be ready to get on the vehicle, the next step is carried out.
Step S4: the rear encoder 24 or the front encoder 13 on the vehicle measures the rotation angle and the rotation speed of the rear wheel 22 or the front wheel 12 in real time, the encoder on the rear steering motor 26 or the front steering motor 8 measures the rotation angle and the rotation speed of the rear bogie 23 or the front bogie 11 in real time, the rear attitude sensor 20 or the front attitude sensor 16 measures the motion attitude of the rear vehicle body 1 or the front vehicle body 9 in real time, and the middle encoder on the torsion motor 18 measures the relative rotation angle and the rotation speed between the rear vehicle body 1 and the front vehicle body 9 in real time to obtain the motion state data of the balance vehicle.
Step S5: the navigation positioning module 15 determines the current position of the balance car in real time, and plans a path to a target according to the driving target data input by the user to obtain the driving route data.
Step S6: the vision sensing module 7 acquires the surrounding environment information of the vehicle in real time, constructs a three-dimensional map of the surrounding environment, and provides obstacle avoidance driving data for the vehicle.
Step S7: the controller 14 performs path planning of driving to a target location and real-time obstacle avoidance driving analysis according to comprehensive analysis of the driving route map data provided by the navigation positioning module 15, the surrounding three-dimensional environment information data provided by the vision sensing module 7 and data measured by each sensor on the balance car, and obtains the control quantity of each motor by combining with solving a dynamic equation of the balance car.
Step S8: each motor on the balance car outputs a corresponding torque according to the motor control amount calculated by the controller 14.
Step S9: the controller 14 compares the vehicle motion state measured in real time and the position data provided by the navigation and positioning module 15 with the driving target data input by the user, judges whether the balance vehicle system reaches the control target, if so, ends, and if not, continues to control the output.
Example 2:
the embodiment discloses an automatic driving two-wheeled self-balancing vehicle which comprises a rear vehicle body 1, a touch screen 2, a rear pressure sensing module 3, a rear pedal 4, a front pedal 5, a front pressure sensing module 6, a vision sensing module 7, a front steering motor 8, a front vehicle body 9, a front steering motor fixing seat 10, a front steering frame 11, a front wheel 12, a front encoder 13, a controller 14, a navigation positioning module 15, a front attitude sensor 16, a motor shaft output fixing seat 17, a torsion motor 18, a motor fixing seat 19, a rear attitude sensor 20, a battery pack 21, a rear wheel 22, a rear steering frame 23, a rear encoder 24, a rear steering motor fixing seat 25, a rear steering motor 26 and the like.
The rear wheel 22 (or the front wheel 12) is a driving wheel integrating a power device, a transmission device and a braking device together, and a hub motor can be selected as the driving wheel, so that the overall size of the balance car is reduced, the transmission distance is shortened, the transmission steps are simplified, the transmission efficiency is improved, and the electronic control on the rotating speed of the wheel is convenient to realize; the rear bogie 23 (or the front bogie 11) is provided with a rear encoder 24 (or a front encoder 13) and a rear wheel 22 (or a front wheel 12), wherein the encoders are used for measuring the rotating speed and the rotating angle of the wheels in real time, and the data of the encoders are used as part of data describing the motion state of the vehicle; the rear bogie 23 (or the front bogie 11) is connected with a rotating shaft of a rear steering motor 26 (or a front steering motor 8), a motor base of the rear bogie is fixedly connected to a rear steering motor fixing seat 25 (or a front steering motor fixing seat 10) and can control the rotation of the bogie by controlling the rotation of the steering motor, wherein the steering motor is a motor with an encoder and can measure the rotating speed and the rotating angle of the bogie, and the data of the steering motor is used as a part of data for describing the motion state of the vehicle; the rear steering motor fixing seat 25 (or the front steering motor fixing seat 10) is fixedly connected with the rear vehicle body 1 (or the front vehicle body 9), so that the bogie is conveniently assembled and disassembled in a modularized manner; a rear attitude sensor 20 (or a front attitude sensor 16) is mounted on the rear vehicle body 1 (or the front vehicle body 9), and the attitude sensor is used for measuring the motion attitude of the rear vehicle body 1 (or the front vehicle body 9); the rear vehicle body 1 and the front vehicle body 9 are connected through a torsion motor 18, the axis of the motor is used as the rotation axis of a rotation pair, wherein a motor fixing seat 19 and a motor shaft output fixing seat 17 are respectively and fixedly arranged on the rear vehicle body 1 and the front vehicle body 9, the torsion motor 18 is a motor with an encoder, and the relative rotation angle and the rotation speed between the rear vehicle body 1 and the front vehicle body 9 can be measured; the battery pack 21 and the controller 14 are respectively arranged on the rear vehicle body 1 and the front vehicle body 9, wherein the battery pack 21 provides energy for an electric system of the whole balance vehicle, and the controller 14 is used for analyzing and processing related sensing data and calculating the control quantity of a corresponding motor; the front vehicle body 9 is provided with a navigation positioning module 15, and the navigation positioning module 15 can select a Beidou module or a GPS module and is used for determining the current position of the vehicle and planning a path of a driving target; the rear car body 1 (or the front car body 9) is fixedly connected with the rear pedal 4 (or the front pedal 5), and related electrical systems are arranged and installed in a compartment formed by the rear car body 1 (or the front car body 9) and the rear pedal 4 (or the front pedal 5) to form a concealed electrical system layout, so that the car is smooth in appearance, neat and attractive; a rear pressure sensing module 3 (or a front pressure sensing module 6) is arranged on the rear pedal 4 (or the front pedal 5), and whether the two feet of the user get on the vehicle respectively is judged by measuring the pressure treaded on the pedals; the rear pedal 4 is also provided with a touch screen 2 for displaying the running state data of the vehicle and inputting data by a user; the front pedal 5 is further provided with a visual sensing module 7, for example, the visual sensing module 7 can be a depth camera, and is used for acquiring surrounding environment information of the vehicle in real time, constructing a three-dimensional map of the surrounding environment, and providing data for obstacle avoidance driving of the vehicle.
As shown in fig. 1, 4 and 5, a control method for an automatic two-wheel self-balancing vehicle, applied to the balancing vehicle, specifically includes the following steps:
step 1: when the balance car is started, the electric system of the balance car is electrified, system initialization operation and fault diagnosis are carried out, if a fault occurs, a fault alarm is prompted through the touch screen 2, the work is finished, and if the system is normal, the next step is carried out;
step 2: the user inputs related driving target data through the touch screen 2;
and step 3: the rear pressure sensing module 3 on the rear pedal 4 and the front pressure sensing module 6 on the front pedal 5 carry out real-time pressure detection, collect relevant pressure sensing data and judge whether the two feet of the user get on the vehicle respectively for readiness, if the two feet of the user do not get on the vehicle for readiness, the user waits for the completion of getting on the vehicle by the two feet of the user, and if the two feet of the user are detected to get on the vehicle for readiness, the next step is carried out;
and 4, step 4: a rear encoder 24 (or a front encoder 13) on the vehicle measures the rotation angle and the rotation speed of a rear wheel 22 (or a front wheel 12) in real time, an encoder on a rear steering motor 26 (or a front steering motor 8) measures the rotation angle and the rotation speed of a rear bogie 23 (or a front bogie 11) in real time, a rear attitude sensor 20 (or a front attitude sensor 16) measures the motion attitude of a rear vehicle body 1 (or a front vehicle body 9) in real time, and a middle encoder on a torsion motor 18 measures the relative rotation angle and the rotation speed between the rear vehicle body 1 and the front vehicle body 9 in real time to obtain the motion state data of the balance vehicle;
and 5: the navigation positioning module 15 determines the current position of the balance car in real time, and plans a path of a driving target according to driving target data input by a user to obtain driving route data;
step 6: the vision sensing module 7 acquires the surrounding environment information of the vehicle in real time, constructs a three-dimensional map of the surrounding environment and provides obstacle avoidance driving data for the vehicle;
and 7: the controller 14 performs path planning of driving to a target site and real-time obstacle avoidance driving analysis according to comprehensive analysis of the driving route map data provided by the navigation positioning module 15, the surrounding three-dimensional environment information data provided by the vision sensing module 7 and data measured by each motion sensor on the balance car, and combines solution of a dynamic equation of the balance car to further obtain the control quantity of each motor;
and 8: each motor on the balance car outputs corresponding torque according to the motor control quantity calculated by the controller 14;
and step 9: the controller 14 compares the vehicle motion state measured in real time and the position data provided by the navigation and positioning module 15 with the driving target data input by the user, judges whether the balance vehicle system reaches the control target, if so, ends, and if not, continues to control the output.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (9)
1. An automatic driving two-wheel self-balancing vehicle is characterized by comprising a front vehicle body, a rear vehicle body and an electric part arranged on the front vehicle body and the rear vehicle body; the front vehicle body is rotatably connected with the rear vehicle body; the electric part is respectively connected with the front vehicle body and the rear vehicle body and drives the front vehicle body and the rear vehicle body to move forwards;
the front vehicle body comprises a front pedal, a front steering motor fixing seat, a front steering frame, a front wheel and a motor shaft output fixing seat; the front pedal is fixedly arranged on the front vehicle body, and a space for accommodating the electric part is formed between the front pedal and the front vehicle body; the front steering motor fixing seat is arranged at the bottom position of the front side of the front vehicle body; the front steering motor is arranged in the front steering motor fixing seat, and the output end of the front steering motor downwards penetrates through the front steering motor fixing seat and then is connected with one end of the front steering frame and drives the front steering frame to rotate; the other end of the front bogie is connected with a front wheel; the motor shaft output fixing seat is fixedly arranged at the rear side position of the front vehicle body and is connected with the rear vehicle body;
the rear vehicle body comprises a rear pedal, a rear steering motor fixing seat, a rear bogie, a rear wheel, a torsion motor and a motor fixing seat; the rear pedal is fixedly arranged on the rear vehicle body, and a space for accommodating the installation of the electric part is formed between the rear pedal and the rear vehicle body; the rear steering motor fixing seat is arranged at the bottom position of the rear side of the rear vehicle body; the rear steering motor is arranged in the rear steering motor fixing seat, and the output end of the rear steering motor downwards penetrates through the rear steering motor fixing seat and then is connected with one end of the rear bogie and drives the rear bogie to rotate; the other end of the rear bogie is connected with a rear wheel; the motor fixing seat is arranged at the front side position of the rear vehicle body; the torsion motor is arranged on the motor fixing seat and is fixedly connected with the rear vehicle body through the motor fixing seat, and the output end of the torsion motor is connected with the motor shaft output fixing seat of the front vehicle body so as to drive the front vehicle body to perform reciprocating torsion;
the electric part comprises a front pressure sensing module, a rear pressure sensing module, a visual sensing module, a controller, a navigation positioning module, a front attitude sensor, a rear attitude sensor and a battery pack; the front pressure sensor and the rear pressure sensor are respectively arranged on the front pedal and the rear pedal; the vision sensor module is fixedly arranged at the front side position of the front pedal; the navigation positioning module and the front attitude sensor are both arranged in the front vehicle body; the rear attitude sensor and the battery pack are both arranged in the rear vehicle body; the controller is arranged in the front vehicle body and is respectively and electrically connected with the front steering motor, the rear steering motor, the torsion motor, the front pressure sensing module, the rear pressure sensing module, the visual sensing module, the navigation positioning module, the front attitude sensor, the rear attitude sensor and the battery pack.
2. The autopilot two-wheeled self-balancing vehicle of claim 1 wherein the rear body further comprises a touch screen for displaying control information and inputting information; the touch screen is fixedly arranged at the rear side position of the rear pedal and is electrically connected with the controller.
3. The autonomous-driving two-wheeled self-balancing vehicle of claim 1, wherein the front body further comprises a front encoder for monitoring the rotational speed and rotational angle of the front wheels; the front encoder is arranged on the front bogie and is electrically connected with the controller.
4. The autonomous-driving two-wheeled self-balancing vehicle of claim 1, wherein the rear body further comprises a rear encoder for monitoring the rotational speed and rotational angle of the rear wheels; the rear encoder is arranged on the rear bogie and is electrically connected with the controller.
5. The autonomous-driving two-wheeled self-balancing vehicle of claim 1, wherein the front attitude sensor and the rear attitude sensor are each a gyro sensor.
6. The autopilot two-wheeled self-balancing vehicle of claim 1 wherein the navigation and positioning module is a Beidou positioning module or a GPS positioning module.
7. The autonomous-driving two-wheeled self-balancing vehicle of claim 1, wherein the vision sensor module is provided as a depth camera.
8. The autopilot two-wheeled self-balancing vehicle of claim 1 wherein the rear body further includes a center encoder for measuring the angle of rotation between the front body and the rear body; the middle encoder is arranged on the torsion motor, and the measuring end of the middle encoder faces to the output shaft of the torsion motor.
9. A control method of an autopilot two-wheeled self-balancing vehicle according to any one of claims 1 to 8, characterized by comprising the steps of:
step S1: when the balance car is started, the electric system of the balance car is electrified, system initialization operation and fault diagnosis are carried out, if a fault occurs, a fault alarm is prompted through a touch screen, the work is finished, and if the system is normal, the next step is carried out;
step S2: inputting related driving target data through a touch screen;
step S3: the method comprises the following steps that a rear pressure sensing module on a rear pedal and a front pressure sensing module on a front pedal carry out real-time pressure detection, relevant pressure sensing data are collected to judge whether two feet of a user get on the vehicle respectively for readiness, if the two feet of the user do not get on the vehicle, the user waits for getting on the vehicle with the two feet of the user, and if the two feet of the user are detected to be ready to get on the vehicle, the next step is carried out;
step S4: the method comprises the following steps that a rear encoder or a front encoder on a vehicle measures the rotation angle and the rotation speed of a rear wheel or a front wheel in real time, an encoder on a rear steering motor or a front steering motor measures the rotation angle and the rotation speed of a rear bogie or a front bogie in real time, a rear attitude sensor or a front attitude sensor measures the motion attitude of a rear vehicle body or a front vehicle body in real time, and a middle encoder on a torsion motor measures the relative rotation angle and the rotation speed between the rear vehicle body and the front vehicle body in real time to obtain the motion state data of the balance vehicle;
step S5: the navigation positioning module determines the current position of the balance car in real time, and plans a path of a driving target according to driving target data input by a user to obtain driving route data;
step S6: the visual sensing module acquires surrounding environment information of the vehicle in real time, constructs a three-dimensional map of the surrounding environment and provides obstacle avoidance driving data for the vehicle;
step S7: the controller carries out route planning of driving to a target place and real-time obstacle avoidance driving analysis according to comprehensive analysis of driving route map data provided by the navigation positioning module, surrounding three-dimensional environment information data provided by the visual sensing module and data measured by each sensor on the balance car, and combines solution of a kinetic equation of the balance car to obtain the control quantity of each motor;
step S8: each motor on the balance car outputs corresponding torque according to the motor control quantity calculated by the controller;
step S9: the controller compares the vehicle motion state measured in real time and the position data provided by the navigation positioning module with the driving target data input by the user, judges whether the balance vehicle system reaches the control target, if so, the control is finished, and if not, the output is continuously controlled.
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