||This thesis is to develop a auto-following function with folding electrical tricycle bike, not only with the quick and easy folding mechanism, and collapsed after the user automatically accompanied by a certain distance behind.
The development of an approach test were two different types of folding electrical tricycle, the first version of the prototype car for the first three spots, after all non-electric tricycle pedal features about the car by turning wheel differential , front wheel with caster. After the second edition of three prototype design is adopted, the first two rounds with power and can be turned, the rear foot is the same general way to make the car move can be walked on. In this paper, is located in the chassis with automatic tracking control system, the single-chip microcontroller of Microchip PIC18F452 was used as the core of control system ultrasonic sensors, combined with a group of radio transceivers constructed Yi Taodifferent velocities ranging system, in order to get mobile carriers and users of measuring the relative relationship between the fuzzy thinking and then thinking to control the wheel hub motors to reach the auto-following function. In addition, together with infrared distance sensors to build the car to avoid obstacles function.
This study has successfully developed an auto-following function with folding electrical tricycle bike, folding can be used after 1.26 m / sec automatically follow the user about one meter behind, turning radius must be greater than 2.25m, and can avoid obstacles.