CN216052746U - Unmanned bicycle experiment platform with balance flywheel and vision guide module - Google Patents
Unmanned bicycle experiment platform with balance flywheel and vision guide module Download PDFInfo
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- CN216052746U CN216052746U CN202122606521.XU CN202122606521U CN216052746U CN 216052746 U CN216052746 U CN 216052746U CN 202122606521 U CN202122606521 U CN 202122606521U CN 216052746 U CN216052746 U CN 216052746U
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Abstract
The utility model discloses an unmanned bicycle experiment platform with a balance flywheel and a vision guide module, which comprises a mechanical platform, an embedded control panel, a vision guide module, a power management module and a power supply, wherein the mechanical platform is connected with the embedded control panel; the mechanical platform comprises a vehicle body main body, a front wheel steering system, an auxiliary balancing device, a rear wheel driving system and fixing and connecting structures among all the components; the embedded control panel, the vision guide module, the power management module and the power supply form an electric control module; the visual guide module is used for acquiring and processing images, realizing the perception of the environment and providing guide information for the movement of the unmanned bicycle in the environment; the power management module is used for supplying power. In order to improve the expandability and the environment perception capability of the system, the utility model adds the card computer and the camera on the basis of the existing structure to form a visual guide module, so that the system can execute more complex motion control tasks.
Description
Technical Field
The utility model belongs to the field of mobile robots, and particularly relates to an unmanned bicycle experiment platform with a balance flywheel and a vision guide module.
Background
The bicycle is a vehicle born in the 18 th century and is a unique mechanical system, and the bicycle in the traditional sense can carry out balance control and motion direction control only under the condition of a certain speed.
With the development of control theory and artificial intelligence technology, many researchers have begun to study the balance problem of bicycles from the perspective of control theory and have built various unmanned bicycles. As a mobile robot platform, the unmanned bicycle can also be used for experimental research in aspects of motion control, path planning, intelligent perception and the like, can be used as a multipurpose experimental platform, and has positive significance for experimental verification of control theory and artificial intelligence technology.
At present, most of unmanned bicycle platforms adopt a single chip microcomputer as a signal processing element and a control element, a rolling inclination angle of a system is measured through a gyroscope, and balance and movement of the system are controlled by taking a motor, a steering engine and an auxiliary balance adjuster as executing elements.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to overcome the defects in the prior art and provide an unmanned bicycle experiment platform with a balance flywheel and a vision guide module.
In order to achieve the purpose, the utility model adopts the following technical scheme:
an unmanned bicycle experiment platform with a balance flywheel and a vision guide module comprises a mechanical platform, an embedded control panel, the vision guide module, a power management module and a battery;
the mechanical platform comprises a vehicle body main body, a front wheel steering system, an auxiliary balancing device, a rear wheel driving system and fixing and connecting structures among all the components;
the embedded control panel, the vision guide module, the power management module and the battery form an electric control module which is fixedly arranged at the tail part of the vehicle body main body through screws, nuts and copper columns;
the visual guide module is used for acquiring and processing images, realizing the perception of the environment and providing guide information for the movement of the unmanned bicycle experiment platform in the environment;
and the power supply management module is used for converting the voltage of the battery into stable standard voltage and supplying power to the mechanical platform, the embedded control panel and the visual guidance module.
Further, the front wheel steering system comprises a steering engine, a front fork, a front wheel and a connecting structure, is arranged at the front part of the body main body and is used for controlling the steering of the unmanned bicycle experiment platform;
the auxiliary balancing device comprises a balancing motor and a balancing flywheel and is used for providing a balancing control moment to keep the balance of the vehicle body; the balance motor is fixed in the hollow part in the middle of the vehicle body through screws and nuts, and the balance flywheel is fixed on an output shaft of the balance motor through a coupler, the screws and the nuts;
the rear wheel steering system comprises a speed reducing motor, a transmission structure and a rear wheel, is arranged at the rear part of the vehicle body main body and is used for driving the unmanned bicycle experiment platform to move forwards or backwards;
the balance motor and the speed reducing motor are both provided with magnetic encoders for measuring the rotating speed.
Furthermore, the embedded control panel comprises a main control chip, an attitude sensor, a motor control module and a communication interface; the embedded control panel downloads the compiled codes to the main control chip for operation in a cross compiling mode, so that motion control is realized;
the main control chip is used for executing sensor signal processing and motion control tasks, including balance control of the unmanned bicycle experiment platform and moving direction control in the environment;
the attitude sensor is used for measuring the roll angle of the unmanned bicycle experiment platform, and simultaneously transmits measured data to the main control chip as a feedback signal of balance control.
Further, the motor control module comprises a power amplifying circuit, an encoder speed measuring pulse input interface and a current feedback sampling circuit;
the power amplification circuit is used for converting control signals of the main control chip to the balance motor and the speed reducing motor into corresponding driving voltages to play a role in power amplification;
the encoder speed pulse input interface is used for acquiring speed pulse signals of magnetic encoders of the two motors, acquiring the rotating speeds of the balance motor and the speed reduction motor as feedback signals for balance control and moving direction control;
the current feedback sampling circuit is used for converting current signals of the balance motor and the speed reduction motor into voltage signals through the sampling resistor, so that the main control chip can calculate the current magnitude of the balance motor and the speed reduction motor through measuring the voltage signals.
Further, the communication interface is connected with the visual guidance module through a signal line and communicates with the visual guidance module.
Furthermore, the visual guide module is formed by connecting a card computer and a camera through a data line;
the camera directly communicates with the card computer, and the camera is fixed above the vehicle head of the vehicle body main body through the connecting piece.
Furthermore, the visual guidance module can be connected with a wireless local area network, and a user can write a visual guidance algorithm on the card computer in a remote login mode.
Furthermore, in the electric control module, the battery is fixed at the tail of the vehicle body main body through an adhesive tape, the card computer is fixed above the battery through a screw and a copper column, the embedded control panel is fixed above the card computer through a screw and a copper column, and the power management module is fixed above the embedded control panel.
Furthermore, the battery is connected with the input end of the power management module through a wire, and the output end of the power management module is connected with the mechanical platform, the embedded control panel and the visual guidance module.
Furthermore, the movement of the unmanned bicycle experiment platform in the environment is divided into an automatic mode and a remote control mode, the unmanned bicycle experiment platform can move autonomously in the environment in the automatic mode through a visual guidance mode, and the movement of the unmanned bicycle experiment platform is controlled through a remote controller under the remote control condition.
Compared with the prior art, the utility model has the following advantages and beneficial effects:
1. according to the utility model, the vision guide module is arranged on the unmanned bicycle mobile platform, so that the environment can be sensed through the camera, and the autonomy and intelligence of the system are enhanced.
2. The utility model is provided with the card computer, can carry out remote login access through a network, and can be more conveniently programmed and developed by a user compared with the traditional embedded system.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a block diagram of the electronic control module of the present invention;
FIG. 3 is a schematic structural view of a front wheel steering system;
FIG. 4 is a schematic view of the auxiliary balancing apparatus;
FIG. 5 is a schematic structural view of a rear wheel drive system;
FIG. 6 is a diagram of the relationship between functional modules of the present invention;
FIG. 7 is a flowchart of the inventive process;
the reference numbers illustrate: 1-an electronic control module; 2-a steering engine; 3-a front fork; 4-a camera; 5-front wheels; 6-a balance motor; 7-a balance flywheel; 8-a gear motor; 9-rear wheel; 10-embedded control panel; 11-a power management module; 12-card computer; 13-a battery.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Examples
As shown in fig. 1, the utility model relates to an unmanned bicycle experimental platform with a balance flywheel and a vision guide module, which comprises a mechanical platform, an embedded control board 10, a vision guide module, a power management module 11 and a battery 13;
the mechanical platform comprises a vehicle body main body, a front wheel steering system, an auxiliary balancing device, a rear wheel driving system and fixing and connecting structures among all the components;
the embedded control panel comprises a main control chip, an attitude sensor, a motor control module and a communication interface; the motor control module comprises a power amplifying circuit, an encoder speed measuring pulse input interface and a current feedback sampling circuit;
the main control chip is used for executing sensor signal processing and motion control tasks, including self balance control of the unmanned bicycle and moving direction control in the environment;
the attitude sensor is used for measuring a roll angle of the unmanned bicycle system, and transmitting the measured data to the main control chip as a feedback signal of balance control;
the communication interface is connected with the visual guidance module through a signal line and communicates with the visual guidance module;
the power amplification circuit is used for converting control signals of the main control chip to the balance motor and the speed reducing motor into corresponding driving voltages to play a role in power amplification;
the encoder speed measurement pulse input interface is used for acquiring a speed measurement pulse signal of a motor encoder, acquiring the rotating speed of the motor and using the rotating speed as a feedback signal for balance control and moving direction control;
the current feedback sampling circuit is used for converting a current signal of the motor into a voltage signal through the sampling resistor, so that the main control chip can calculate the current of the motor by measuring the voltage signal.
The visual guide module is formed by connecting a card computer 12 and a camera 4 through a data line, is used for acquiring and processing images, realizes the perception of the environment and provides guide information for the movement of the unmanned bicycle in the environment.
The camera directly communicates with the card computer and is fixed above the vehicle head through the connecting piece.
The visual guidance module can be connected with a wireless local area network, and a user can write a visual guidance algorithm on the card computer in a remote login mode.
The power management module is used for converting the voltage of the battery into stable standard voltage and supplying power to the mechanical platform, the embedded control panel and the visual guidance module. The battery is connected with the input end of the power management module through a lead, and the output end of the power management module is connected with the mechanical platform, the embedded control panel and the visual guidance module.
The embedded control panel 10, the vision guide module, the power management module 11 and the battery 13 form an electric control module 1, and the electric control module is fixedly arranged at the tail part of the theme of the vehicle body through screws, nuts and copper columns.
In the present embodiment, as shown in fig. 1 and 2, the battery is fixed to the rear portion of the vehicle body by an adhesive tape, and supplies a voltage of 12.6V to the entire system. The card computer is fixed above the battery through the screw and the copper column, the embedded control panel is fixed above the card computer through the screw and the copper column, and the power management module is fixed above the embedded control panel. The power management module is connected with the battery through a wire, 12.6V voltage is converted into 5V standard voltage, and power is supplied to the card computer and the embedded control panel.
As shown in fig. 3, in this embodiment, the front wheel steering system is composed of a steering engine 2, a front fork 3, a front wheel 5 and a connecting structure, the steering engine is fixed above the middle of the vehicle body and connected with the front fork through a link mechanism, the front wheel is connected with the front fork through a bearing, and the front wheel steering system is used for controlling the steering of the unmanned bicycle.
As shown in fig. 4, in the present embodiment, the auxiliary balancing device is composed of a balancing motor 6 and a balancing flywheel 7, the balancing motor is a dc motor without a speed reducer, and is fixed in a hollow portion in the middle of the vehicle body by screws and nuts, and the balancing flywheel is fixed on an output shaft of the balancing motor by screws and nuts for increasing the rotational inertia of the output shaft of the motor. The auxiliary balancing device adjusts the balance of the vehicle body through the reaction torque provided by the balancing motor and the balancing flywheel.
As shown in fig. 5, in this embodiment, the rear wheel transmission system is composed of a reduction motor 8, a transmission belt and a rear wheel 9, and is provided at the rear of the body main body for driving the unmanned bicycle to move forward or backward.
The communication and driving relationship between the respective functional modules in the present embodiment is as shown in fig. 6. The present embodiment can manually control the movement of the system by means of the remote control and the receiver. The embedded control board undertakes the motion control tasks, including balance control and motion direction control, obtains the roll angle from the attitude sensor, and obtains the motor speed from the motor speed measuring module. The embedded control board is communicated with the card computer in a serial communication mode to obtain the target motion direction, and simultaneously controls the balance motor, the speed reducing motor and the steering engine to realize the control function. In an automatic mode, the vision guide module is responsible for environment perception and motion guide, the camera is responsible for acquiring images, and the card computer is responsible for calculating the target motion direction through the images, sending the target motion direction to the embedded control panel and guiding the unmanned bicycle experiment platform to move; under the remote control mode, the vision guide module does not work, and the movement of the unmanned bicycle experiment platform is directly controlled through the remote controller.
In this embodiment, the visual guidance module specifically comprises a raspberry pi 3B type card computer and a CSI camera, the camera is connected to a camera bus of the card computer through a flexible flat cable, an ubuntu16.04 operating system and a Python environment are installed on the card computer, image processing is realized through an OpenCV library function, and a visual guidance module is formed to realize environment perception based on vision.
In this embodiment, the embedded control board specifically adopts STM32F103C8T6 as main control chip, adopts MPU6050 module as attitude sensor, adopts four blocks BTN7960S to build two ways H bridge power amplifier circuit and is used for driving balance motor and gear motor respectively, inputs PWM pulse signal through main control chip to the control line of steering wheel and is used for controlling the angle of turning to. The programming of the embedded controller adopts a cross compiling mode, and the compiled binary codes are downloaded to Flash of the main control chip through an ST-Link interface through C language programming under a Windows platform.
Fig. 7 is a flowchart of the operation procedure of the present embodiment. After each module finishes startup initialization, program circulation is entered under the trigger condition of a timer of a main control chip of the embedded control panel, and the period is 2 ms. The method specifically comprises the following steps:
the various states and variables of the reading system are first measured: measuring roll angle theta (t) and roll angular velocity of unmanned bicycle experimental platform by gyroscope
Measuring the rotation speed omega of a balancing motor by a motor encoderb(t) and vehicle speed v (t), reading the estimated value of the roll angle balance point from the memory
And a critical vehicle speed v for determining controller switching0Receiving the target movement direction delta sent by the card computer0(t) of (d). For delta0And (t) setting, namely setting through a remote controller instruction when the unmanned bicycle experiment platform is in a remote control mode, and obtaining through calculating a path tracking deviation in a visual guidance mode when the unmanned bicycle experiment platform is in an automatic mode.
Comparing the vehicle speed v (t) with a critical vehicle speed v0The controller is switched to a size of 0.1 m/s.
At v (t) > v0Under the condition (1), the balance is maintained and the motion direction is controlled only by controlling the steering engine angle delta (t), and firstly, a target steering angle delta is setd(t), and then calculating the target roll angle theta according to the following formulac(t)：
Among the three constants, b is 0.16, g is 9.81, and h is 0.08.
Turning off the balance motor, and calculating the roll angle deviation theta according to the following formulae(t) steering engine steering angle δ (t):
wherein k isp＝26.0，ki＝2.4，kd＝8.5
V is more than or equal to 0 and less than or equal to v (t)0Under the condition, in order to control the motion direction of the unmanned bicycle experiment platform, the steering angle of the steering engine is set to follow the target steering angle delta (t) ═ deltad(t) controlling the input voltage u of the balancing motor according to the following formulam1(t)：
Wherein k is1＝63.2，k2＝12.0，k32.5 is a parameter set manually. Theta (t) is a roll angle,
is the roll angular velocity, omegabAnd (t) is the rotating speed of the balance motor.
Is an estimate of the roll angle balance point, calculated dynamically during operation according to the following formula:
wherein λ is12.5 and λ21.0 is a parameter set manually.
It should also be noted that in this specification, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An unmanned bicycle experiment platform with a balance flywheel and a vision guide module is characterized by comprising a mechanical platform, an embedded control panel, a vision guide module, a power management module and a battery;
the mechanical platform comprises a vehicle body main body, a front wheel steering system, an auxiliary balancing device, a rear wheel driving system and fixing and connecting structures among all the components;
the embedded control panel, the vision guide module, the power management module and the battery form an electric control module which is fixedly arranged at the tail part of the vehicle body main body through screws, nuts and copper columns;
the visual guide module is used for acquiring and processing images, realizing the perception of the environment and providing guide information for the movement of the unmanned bicycle experiment platform in the environment;
and the power supply management module is used for converting the voltage of the battery into stable standard voltage and supplying power to the mechanical platform, the embedded control panel and the visual guidance module.
2. The unmanned bicycle experiment platform with the balance flywheel and the vision guide module as claimed in claim 1, wherein the front wheel steering system comprises a steering engine, a front fork, a front wheel and a connecting structure, is arranged at the front part of the body main body and is used for controlling the unmanned bicycle experiment platform to steer;
the auxiliary balancing device comprises a balancing motor and a balancing flywheel and is used for providing a balancing control moment to keep the balance of the vehicle body; the balance motor is fixed in the hollow part in the middle of the vehicle body through screws and nuts, and the balance flywheel is fixed on an output shaft of the balance motor through a coupler, the screws and the nuts;
the rear wheel steering system comprises a speed reducing motor, a transmission structure and a rear wheel, is arranged at the rear part of the vehicle body main body and is used for driving the unmanned bicycle experiment platform to move forwards or backwards;
the balance motor and the speed reducing motor are both provided with magnetic encoders for measuring the rotating speed.
3. The unmanned bicycle experimental platform with the balance flywheel and the vision guide module as claimed in claim 2, wherein the embedded control board comprises a main control chip, an attitude sensor, a motor control module and a communication interface; the embedded control panel downloads the compiled codes to the main control chip for operation in a cross compiling mode, so that motion control is realized;
the main control chip is used for executing sensor signal processing and motion control tasks, including balance control of the unmanned bicycle experiment platform and moving direction control in the environment;
the attitude sensor is used for measuring the roll angle of the unmanned bicycle experiment platform, and simultaneously transmits measured data to the main control chip as a feedback signal of balance control.
4. The unmanned bicycle experimental platform with the balance flywheel and the vision guidance module as claimed in claim 3, wherein the motor control module comprises a power amplification circuit, an encoder tachometer pulse input interface and a current feedback sampling circuit;
the power amplification circuit is used for converting control signals of the main control chip to the balance motor and the speed reducing motor into corresponding driving voltages to play a role in power amplification;
the encoder speed pulse input interface is used for acquiring speed pulse signals of magnetic encoders of the two motors, acquiring the rotating speeds of the balance motor and the speed reduction motor as feedback signals for balance control and moving direction control;
the current feedback sampling circuit is used for converting current signals of the balance motor and the speed reduction motor into voltage signals through the sampling resistor, so that the main control chip can calculate the current magnitude of the balance motor and the speed reduction motor through measuring the voltage signals.
5. The unmanned bicycle experimental platform with the balance flywheel and the vision guidance module as claimed in claim 3, wherein the communication interface is connected with the vision guidance module through a signal line and communicates with the vision guidance module.
6. The unmanned bicycle experimental platform with the balance flywheel and the vision guidance module as claimed in claim 1, wherein the vision guidance module is formed by connecting a card computer and a camera through a data line;
the camera directly communicates with the card computer, and the camera is fixed above the vehicle head of the vehicle body main body through the connecting piece.
7. The unmanned bicycle experimental platform with the balance flywheel and the vision guidance module as claimed in claim 6, wherein the vision guidance module can be connected to a wireless local area network, and a user can write a vision guidance algorithm on a card computer in a remote login manner.
8. The unmanned bicycle experiment platform with the balance flywheel and the vision guidance module as claimed in claim 6, wherein in the electric control module, the battery is fixed at the tail of the bicycle body through an adhesive tape, the card computer is fixed above the battery through a screw and a copper column, the embedded control panel is fixed above the card computer through a screw and a copper column, and the power management module is fixed above the embedded control panel.
9. The unmanned bicycle experimental platform with the balance flywheel and the vision guidance module as claimed in claim 1, wherein the battery is connected with the input end of the power management module through a wire, and the output end of the power management module is connected with the mechanical platform, the embedded control panel and the vision guidance module.
10. The unmanned bicycle experiment platform with the balance flywheel and the vision guidance module as claimed in claim 1, wherein the unmanned bicycle experiment platform moves in the environment in two modes, namely an automatic mode and a remote control mode, in the automatic mode, the unmanned bicycle experiment platform autonomously moves in the environment in a vision guidance mode, and in the remote control condition, the movement of the unmanned bicycle experiment platform is controlled through a remote controller.
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