The invention is applicable to the technical field of single-wheel robots, and provides a self-balancing unmanned bicycle which comprises a bicycle body, a front fork is arranged at the front end of the bicycle body, a front wheel is rotatably arranged at the bottom end of the front fork, a motor is arranged in a cavity, a momentum wheel is arranged at the output end of the motor, and a control system is arranged on the bicycle body. According to the self-balancing unmanned bicycle, all parameters are displayed in all directions in a waveform and graph mode in a high-section-frequency, multi-coupling, independent display and LED display screen arrangement mode, the self-balancing unmanned bicycle mainly uses a single-chip microcomputer as a control system, the position and posture of the self-balancing unmanned bicycle are continuously detected through a gyroscope, a posture sensor and the like, detected data are subjected to feedback processing through a PID algorithm, feedback signals are transmitted to a momentum wheel of a motor, front-back balance of a vehicle body is continuously kept by changing instructions such as the rotating speed and the rotating direction of the momentum wheel and further by means of the running inertia of the momentum wheel, and secondary development, gravity sensing remote control and two-hand remote control modes are supported.
本发明适用于独轮机器人技术领域,提供了一种自平衡无人单车,包括车体,所述车体前端设有前叉,所述前叉底端转动设有前轮,所述空腔内设有电机,所述电机输出端设有动量轮,所述车体上设有控制系统。本发明的一种自平衡无人单车,以高节次,多耦合,配备独显、LED显示屏,以波形和图形的方式全方位显示各个参数,该自平衡无人单车主要以单片机作为控制系统,利用陀螺仪、姿态传感器等不断检测自平衡无人单车位姿,将检测到的数据通过PID算法进行反馈处理,将反馈的信号下达至电机动量轮,通过改变动量轮的转速、转向等指令,进而借助动量轮的运行惯性,不断保持车体前后的平衡,支持二次开发,支持重力感应遥控和双手遥控模式。
Self-balancing unmanned bicycle
一种自平衡无人单车
2022-01-28
Patent
Electronic Resource
Chinese