The invention discloses a self-balancing unmanned bicycle based on rotor wings. The self-balancing unmanned bicycle comprises a sensor module, a handlebar balance control module, a bicycle tail balance control module, a bicycle tail motion control module, a classification processing module and a power supply device. The modules can be combined into a self-balancing subsystem and an unmanned subsystem according to functions, the self-balancing subsystem collects position and posture data of the bicycle through a sensor, the original dumping moment is balanced by adjusting the rotating direction and the rotating speed of a rotor wing, and therefore self-balancing of the bicycle in various states, especially in the low-speed running process is achieved; the unmanned subsystem completes automatic path planning according to a machine learning algorithm, and steering and speed regulation are achieved by adjusting the rotating speed of a handlebar rotor and the inclination angle of a vehicle tail rotor blade. The rotor wing device works based on the structure of a daily general bicycle, has the characteristics of convenience in mounting and dismounting, light structure, high function expansibility and the like, and provides a new thought for solving the self-balancing unmanned driving problem of the bicycle.
本发明公开了一种基于旋翼的自平衡无人驾驶自行车,该自平衡无人驾驶自行车包括传感器模块、车把平衡控制模块、车尾平衡控制模块、车尾运动控制模块、分类处理模块和供电装置。各模块按功能可组合为自平衡和无人驾驶两个子系统:自平衡子系统利用传感器采集自行车位姿数据,通过调节旋翼转向和转速平衡原有倾倒力矩,从而实现自行车在多种状态尤其是低速行驶下的自平衡;无人驾驶子系统根据机器学习算法完成自动路径规划,分别调节车把旋翼转速和车尾旋翼叶片倾角实现转向与调速。本发明采用的旋翼装置基于日常通用自行车的结构进行工作,具有安装拆卸方便、结构轻巧、功能拓展性强等特点,为解决自行车自平衡无人驾驶问题提供了新思路。
Self-balancing unmanned bicycle based on rotor wings
一种基于旋翼的自平衡无人驾驶自行车
2023-07-14
Patent
Electronic Resource
Chinese
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