According to the scheme, the unmanned bicycle autonomous upright automatic driving system comprises an unmanned bicycle body, a telescopic foresight support located at the front end of the bicycle body, a steering engine controlling the direction of the bicycle and a controller, and an electromagnetic sensor module/image acquisition module used for tracking is arranged at the end of the foresight support. The controller is connected with the steering engine and the electromagnetic sensor and is connected with the image acquisition module; wherein the controller receives electromotive force generated by the horizontal inductor and the vertical inductor and obtains the distance between a vehicle body and an electromagnetic wire based on the electromotive force, or the controller receives an image collected by the image collection module, obtains the distance between the vehicle body and the center of a road based on the image and meanwhile obtains the distance between the vehicle body and the center of the road based on the image. PID control of a direction ring is carried out based on the deviation value of the distance between the bicycle body and the electromagnetic wire/the distance between the bicycle body and the center of the road, steering control is carried out on a steering engine through PID control output, and autonomous upright automatic driving of the unmanned bicycle is achieved.
本发明提供了一种无人自行车自主直立自动驾驶系统,所述方案包括无人自行车主体、位于自行车主体前端的可伸缩前瞻支架、控制自行车方向的舵机及控制器,所述前瞻支架的端部设置有用于循迹的电磁传感器模块/图像采集模块,所述控制器分别与所述舵机及所述电磁传感器连接/图像采集模块;其中,所述控制器接收所述水平电感和垂直电感产生的电动势,并基于所述电动势获得车身与电磁线的距离,或,所述控制器接收所述图像采集模块采集的图像,基于所述图像获得车身到道路中心的距离,同时,基于车身与电磁线距离/道路中心距离的偏差值进行方向环的PID控制,利用所述PID控制输出对舵机进行转向控制,实现无人自行车自主直立自动驾驶。
Autonomous upright automatic driving system of unmanned bicycle
一种无人自行车自主直立自动驾驶系统
2022-06-10
Patent
Elektronische Ressource
Chinesisch
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