CN220181005U

CN220181005U - Unmanned bicycle mechanical structure based on competition

Info

Publication number: CN220181005U
Application number: CN202320760484.4U
Authority: CN
Inventors: 舒峥先; 郭禹锐; 刘柯男; 史颖刚; 刘利
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2023-04-07
Filing date: 2023-04-07
Publication date: 2023-12-15
Anticipated expiration: 2033-04-07

Abstract

The utility model discloses an unmanned bicycle mechanical structure, which comprises a bicycle body, wherein a self-balancing adjusting module, a steering module and a forward module are arranged on the bicycle body; the self-balancing adjusting module is used for automatically adjusting the balance of the bicycle, the steering module is used for changing the forward direction of the bicycle, and the forward module is used for making the bicycle forward.

Description

Unmanned bicycle mechanical structure based on competition

Technical Field

The utility model belongs to the technical field of unmanned teaching, and particularly relates to a competition-based mechanical structure of an unmanned bicycle.

Background

The unmanned bicycle item is a sub-item of intelligent automobile competition for college students, and competition rules are as follows: in a stationary balance race, the unmanned bicycle needs to be kept stationary for 1 minute during the race, the ground on which the bicycle is positioned is required to be flat, and any supporting object cannot be placed on the periphery. In the straight running competition, the front wheel of the bicycle is positioned outside the track area and kept in static balance for two seconds, then the front wheel of the bicycle runs straight on the track with the total length of 10m and the width of 20cm, and human intervention is not needed after the bicycle moves for 1 m. When the bicycle is used for autonomous obstacle avoidance, the bicycle starts from the starting area, passes through the field with the total length of 20m and alternately shuttles 3-5 obstacles in the middle, and then reaches the ending area, as shown in fig. 6.

According to the competition rules, in order to complete the competition tasks, an unmanned bicycle must be designed, and the unmanned bicycle should have the functions of self-balancing adjustment, motion control, target identification and autonomous obstacle avoidance. The existing experimental equipment is few in experimental equipment specially aiming at bicycle competition, the designed bicycle cannot well meet competition requirements, students cannot understand competition, and it is necessary to design an unmanned bicycle for competition teaching and demonstration.

Disclosure of Invention

The utility model aims to provide a mechanical structure of an unmanned bicycle based on competition, which can realize the functions of self-balancing adjustment, motion control, target identification, autonomous obstacle avoidance and the like.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the unmanned bicycle mechanical structure based on competition comprises a bicycle main body, wherein a self-balancing adjusting module, a steering module and a forward moving module are arranged on the bicycle main body;

the self-balancing adjusting module comprises a momentum driving stator, a momentum driving rotor, a brushless motor and an inertia wheel, wherein the momentum driving stator is fixed on a fixed frame of a bicycle frame, one end of the momentum driving rotor is connected with the momentum driving stator, the other end of the momentum driving rotor is fixedly provided with the brushless motor, and an output shaft of the brushless motor is connected with the inertia wheel through a flywheel pad; the side surface of the momentum driving stator is provided with a gyroscope, the state of the current bicycle is measured through the gyroscope, and the forward and reverse rotation of the brushless motor and the rotating speed thereof are controlled through the state, so that the balance of the bicycle is regulated;

the steering module comprises a steering engine and a synchronous wheel, the synchronous wheel is fixedly arranged on a steering shaft of the bicycle main body, the synchronous wheel is connected with an output shaft of the steering engine through a belt, and the steering engine works to drive the synchronous wheel to rotate so as to drive the steering shaft to rotate, so that the steering of the bicycle is realized;

the front module comprises a rear wheel driving stator, a rear wheel driving rotor and a brushless direct current motor, wherein the rear wheel driving stator is fixedly arranged on a frame of a bicycle main body and is close to the position of a rear wheel, one end of the rear wheel driving rotor is fixedly arranged on the rear wheel driving stator, the other end of the rear wheel driving rotor is of a U-shaped structure, an opening of the U-shaped structure is provided with the brushless direct current motor, the side face of the brushless direct current motor is in contact with the rear wheel of the bicycle main body, the brushless direct current motor works to drive the brushless direct current motor to rotate, and then rotating friction force is generated between the rear wheel and the brushless direct current motor, and the rear wheel is rotated to realize the front of the bicycle.

Further, a rubber layer is arranged on the side face of the brushless direct current motor.

The bicycle provided by the utility model can realize the functions of self-balancing adjustment, motion control, target identification, autonomous obstacle avoidance and the like of the bicycle in a set competition scene according to competition rules, has lower penetration cost and simple and convenient operation, is particularly suitable for teaching and competition, and is easy for students to carry out secondary research and development and study.

Drawings

Fig. 1 is a schematic structural view of the present utility model.

FIG. 2 is a schematic diagram of a self-balancing module according to the present utility model.

Fig. 3 is a schematic view of a steering module structure according to the present utility model.

Fig. 4 is a schematic diagram of a forward module structure according to the present utility model.

FIG. 5 is a schematic diagram of the connection relationship of the present utility model.

Fig. 6 is a schematic diagram of an unmanned bicycle racing field layout.

The marks in the figure: 10. a bicycle body; 20. a self-balancing adjustment module; 21. a momentum-driven stator; 22. momentum drives the mover; 23. a flange bearing; 24. a brushless motor; 25. an inertia wheel; 30. a steering module; 31. a synchronizing wheel; 32. steering engine; 33. a belt; 40. a forward module; 41. a rear wheel drive stator; 42. the rear wheel drives the rotor; 43. a flange bearing; 44. a brushless DC motor; 51. a laser radar; 52. a depth camera; 60. a light sensor.

Detailed Description

As shown in fig. 1, the present embodiment provides an unmanned bicycle comprising a bicycle body 10, a self-balancing adjustment module 20, a steering module 30, a forward movement module 40, a positioning module, an environment sensing module and a control module, which are mounted on the bicycle body 10.

The bicycle body 10 adopts a conventional bicycle, which includes a frame, and front wheels, rear wheels, handlebars, etc. mounted on the frame, and the present embodiment does not change the structure of the bicycle, and enables the bicycle to realize unmanned running only by mounting the bicycle on modules of different functions.

The self-balancing adjustment module 20 is used for automatically adjusting the balance of the bicycle, and can keep the bicycle in static balance under the condition that the forward movement module 40 does not work; as shown in fig. 2, it includes a momentum-driven stator 21, a momentum-driven mover 22, a brushless motor 24, and an inertia wheel 25. The momentum driving stator 21 is fixed on a fixed frame of the bicycle frame 10, a flange bearing 23 is transversely arranged on the momentum driving stator 21, one end of the momentum driving rotor 22 is connected with the flange bearing 23, a brushless motor 24 is fixedly arranged at the other end of the momentum driving rotor, and an output shaft of the brushless motor 24 is connected with an inertia wheel 25 through a flywheel pad. A gyroscope is installed on one side of the flange bearing 23, the state of the current bicycle is measured through the gyroscope, and the forward and reverse rotation of the brushless motor 24 and the rotating speed of the brushless motor are controlled through the state, so that the balance of the bicycle is adjusted.

The steering module 30 is used for controlling the direction of the bicycle, i.e. the bicycle turns left, turns right or goes forward in the running process, as shown in fig. 3, and comprises a steering engine 32 and a synchronizing wheel 31, wherein the synchronizing wheel 31 is fixedly arranged on a steering shaft of a bicycle main body, the synchronizing wheel 31 is connected with an output shaft of the steering engine 32 through a belt 33, and the steering engine 32 works to drive the synchronizing wheel 31 to rotate so as to drive the steering shaft to rotate, thereby realizing the steering of the bicycle.

The front driving module 40 is used for driving the bicycle to move forward, as shown in fig. 4, and comprises a rear wheel driving stator 41, a rear wheel driving rotor 42 and a brushless direct current motor 44, wherein the rear wheel driving stator 41 is fixedly arranged on a frame of the bicycle main body 10 and is close to the position of the rear wheel, one end of the rear wheel driving rotor 42 is connected with the rear wheel driving stator 41 through a flange bearing 43, the other end of the rear wheel driving rotor is of a U-shaped structure, the opening of the U-shaped structure is provided with the brushless direct current motor 44, the side surface of the brushless direct current motor 44 is contacted with the rear wheel of the bicycle main body, the side surface of the brushless direct current motor 44 is provided with a rubber layer, the friction force between the brushless direct current motor 44 and the rear wheel is increased while the motor is protected, the brushless direct current motor 44 works to drive the rear wheel to rotate, and further the rear wheel rotates to realize the front of the bicycle.

The positioning module is used for collecting obstacle information of a competition site and comprises a laser radar 51 and a depth camera 52, wherein the laser radar 51 is arranged on a frame of a bicycle, particularly can be arranged on a cross rod of the bicycle frame 10, the depth camera 52 is arranged on a handlebar of the bicycle, and the depth camera 52 and the laser radar 51 can monitor the position and the distance of the obstacle and feed back the position and the distance information of the obstacle to the control module.

The environment sensing module is used for detecting whether objects affecting safe walking of the bicycle exist on two sides of the bicycle, specifically, two light sensors 60 are adopted, and the two light sensors 60 are installed on a frame of the bicycle.

As shown in fig. 5, the control module comprises an industrial personal computer, a single-chip microcomputer module, a motor driving module, a steering engine driving module and a communication module, wherein the industrial personal computer is connected with the laser radar 51, the depth camera 52, the single-chip microcomputer module and the communication module, and the single-chip microcomputer module is connected with the motor driving module, the steering engine driving module, the gyroscope and the photoelectric sensor; the motor drive module is connected with brushless motor 24 and brushless direct current motor 44, steering engine drive module is connected with steering engine 32, and communication module adopts wireless communication module, and this embodiment specifically adopts the wiFi module, is connected with remote terminal through communication module, realizes sending a remote terminal with the information that gathers, looks over the map that bicycle gesture information and industrial computer built in real time, simultaneously, remote terminal can drive the traveling of dolly to main control unit input control signal.

When the bicycle is in static balance race, when the bicycle is inclined, the self-balancing adjusting module 20 starts to work, after the gyroscope collects the inclination angle information of the bicycle, the information is sent to the singlechip module, the singlechip module processes the inclination angle information and transmits the information to the motor driving module through serial communication, the brushless motor 24 works to drive the inertia wheel 25 to rotate, angular momentum in the opposite direction with the inclination of the bicycle is provided, the bicycle is restored to the balance state again, and the bicycle enters into a linear running race after being balanced for one minute.

When the running is in competition, the self-balancing adjustment module 20 starts to work, the bicycle is kept balanced in the starting area for two seconds, then the singlechip module sends information to the motor driving module, the motor driving module controls the brushless direct current motor 44 of the advancing module 40 to start to work, the motor driving module drives the bicycle to advance through friction with the rear wheel, the singlechip module controls the brushless direct current motor 44 to stop running after the running is carried out for 10m, and the competition enters into autonomous obstacle avoidance competition.

The autonomous obstacle avoidance racing track is provided with 3-5 obstacles on a straight line, before the front movement starts, the laser radar 51 scans the position of the obstacle, information is transmitted to the industrial personal computer through a data line, the industrial personal computer 71 processes the data and then transmits the data to the singlechip module through serial port communication, the singlechip module controls the front movement module 40 to work after receiving the signal, when the signal is operated to an obstacle position, the bicycle position information is compared with the obstacle information obtained by scanning, the main control chip controls the steering engine 32 to work, the steering engine 32 rotates to control the bicycle faucet to rotate through the synchronous wheel 31 to steer, after the steering is completed, the laser radar 51 measures the distance between the position and the obstacle position, the bicycle compares the position according to the position and the obstacle scanning position, the specific information of the position is determined, the steering engine 32 controls the bicycle to return to the straight movement direction again, all obstacle avoidance operations are sequentially completed, and finally the bicycle runs to a destination area.

The foregoing is merely a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any modification and substitution based on the technical scheme and the inventive concept provided by the present utility model should be covered in the scope of the present utility model.

Claims

1. The utility model provides an unmanned bicycle mechanical structure based on contest, includes bicycle main part, its characterized in that: the bicycle main body is provided with a self-balancing adjusting module, a steering module and a forward module;

2. A racing based unmanned bicycle mechanical according to claim 1, wherein: the side of the brushless direct current motor is provided with a rubber layer.