CN202806968U - Self-balance electric manned monocycle - Google Patents
Self-balance electric manned monocycle Download PDFInfo
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- CN202806968U CN202806968U CN 201220149766 CN201220149766U CN202806968U CN 202806968 U CN202806968 U CN 202806968U CN 201220149766 CN201220149766 CN 201220149766 CN 201220149766 U CN201220149766 U CN 201220149766U CN 202806968 U CN202806968 U CN 202806968U
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Abstract
The utility model relates to a self-balance electric manned monocycle. The monocycle includes a frame, a handle, a seat, pedals, a wheel, a wheel hub motor, a controller, and a battery. The controller includes a monocycle body posture sensing system, a monocycle body posture control system, and a motor driving system. The monocycle body posture sensing system is responsible for detecting the back-forth inclined angle and inclined speed of the monocycle body in real time, the monocycle body posture control system figures out the compensation inclined gradient by means of the balancing algorithm based on the detected monocycle body inclined value, and the motor driving system controls the wheel hub motor to output corresponding torque toward the inclined direction of the monocycle body, thereby driving the wheel to move forward in the inclined direction of the monocycle body. The monocycle provided is simple in structure and light in weight, the self-balance during the back-forth riding is realized through the controller and the motor, and the balance during the left-right riding is realized by the body gravity center adjustment of a driver based on the riding inertia, thus, the monocycle provided greatly simplifies the difficulty of riding and is easy to learn and master; moreover, the monocycle provided maintains the riding fun, and improves the riding speed and the riding mileage.
Description
Technical field:
The utility model relates to a kind of electric unicycle, a kind of middle fore-and-aft direction self-equalizing of advancing particularly, and left and right directions relies on the electronic manned monocycle of driver's manual control balance.
Background technology:
Nearly 20 years because the development of semiconductor technology, especially the raising of microprocessor operational performance, and the maturation of semiconductor transducer technology, the thing that past much can't accomplish in automation field, the operational performance of computer system, nowadays a lot of technology have obtained significant progress, and for example, the inverted pendulum device of making according to shifting balance theory is achieved.
Pure mechanical wheelbarrow is a kind of device of riding that is difficult to learn, difficulty is greater than ordinary bicycle, when riding, must control anterior-posterior balance and left and right sides balance, so needing long arduous training can grasp, and the medium velocity of advancing is low, runs not farly, and this also is the major reason that this motion is difficult to popularize.But just can realize the Self-balance manned electric single-wheel truck system of similar inverted pendulum device by mounted motor and controller.
The utility model content:
The purpose of this utility model is to overcome the deficiency of above-mentioned pure mechanical wheelbarrow, provide a kind of on the fore-and-aft direction of advancing wheelbarrow be to rely on controller and motor to come self-balancing, left and right directions is relied on the inertia of advancing to realize the Self-balancing electronic manned monocycle of balance by adjusting centre of body weight by the driver, thereby greatly simplified the difficulty of riding, and do not lose the enjoyment of riding of wheelbarrow, also improved moving velocity and travelled distance.
The purpose of this utility model is achieved through the following technical solutions:
A kind of Self-balancing electronic manned monocycle, comprise vehicle frame, handle, vehicle seat, stretcher, wheel, wheel hub motor, controller and battery pack, described controller comprises car body attitude induction system, car body attitude control system and motor driven systems, and described car body attitude induction system comprises the acceleration induction chip of a single shaft micro mechanical structure, gyroscope and a Kalman filtering algorithm unit of a single shaft micro mechanical structure.
What described acceleration induction chip and gyroscope detected respectively car body tilts forward and back angle and pitch velocity in real time, described Kalman filtering algorithm unit merges the two detected value and filters out other noise datas, the actual value that obtains tilting of car body is transferred to the car body attitude control system, described car body attitude control system uses balanced algorithm to calculate the compensating for tilt amount according to this true tilting value, export corresponding moment of torsion through motor driven systems control wheel hub motor to the tilting of car body direction, drive wheel and advance to the tilting of car body direction.
Described handle is installed in the vehicle frame front side, and described wheel is installed in the vehicle frame bottom, and described vehicle seat is installed in vehicle frame top, and described controller and battery pack are installed on the vehicle frame.
Also comprise a pair of stretcher connecting element that is installed in respectively both sides, vehicle frame bottom, described stretcher is provided with left and right two, it is installed in rotation on the corresponding stretcher connecting element by bearing pin, and described wheel hub motor also is installed on the stretcher connecting element by its axis.
Also comprise a pair of auxiliary wheel, described auxiliary wheel removably is fixedly mounted on respectively the front side of left and right two stretchers.
Comprise that also one is installed in the rear handle of vehicle frame rear side.
The beneficial effects of the utility model are: simplified the difficulty of riding, make the easier study of driver and grasp, kept the enjoyment that wheelbarrow is ridden, riding speed and travelled distance have been increased, not only can be used as the peoperty of actor performance acrobatics, and can become amusement and leisure and the short distance walking-replacing tool of being accepted by masses.Simultaneously, battery efficiency is high, and precise control is reliable, and because only have a motor, so simple in structure, volume is little, and is lightweight.
Description of drawings:
The below is described in further detail the utility model with reference to the accompanying drawings.
Fig. 1 is the perspective view of the utility model Self-balancing electronic manned monocycle, and among the figure, vehicle seat is in released state, and the car body screened housing is not illustrated.
Fig. 2 is the schematic block circuit diagram of the utility model Self-balancing electronic manned monocycle.
The specific embodiment:
As shown in Figure 1, the described a kind of Self-balancing electronic manned monocycle of the utility model embodiment comprises vehicle frame 1, handle 2, vehicle seat 3, stretcher 4, wheel 5, wheel hub motor 6, controller 7 and battery pack 8.Handle 2 is installed in vehicle frame 1 front side, and wheel 5 is installed in vehicle frame 1 bottom, and vehicle seat 3 is installed in vehicle frame 1 top, and controller 7 and battery pack 8 are installed on the vehicle frame 1.Also comprise a pair of stretcher connecting element 9 that is installed in respectively both sides, vehicle frame 1 bottom, stretcher 4 is provided with left and right two, it is installed in rotation on the corresponding stretcher connecting element 9 by bearing pin 10, when wheelbarrow does not use or during packing and transporting, can be with stretcher 4 inside foldings, thereby reduce the box volume of wheelbarrow, wheel hub motor 6 also is installed on the stretcher connecting element 9 by its axis.
Also comprise a pair of auxiliary wheel 11, it removably is fixedly mounted on respectively the front side of left and right two stretchers 4, thereby stands like the legs of a tripod with wheel 5 formation, is convenient to beginner's operation practice, and this can be dismantled to auxiliary wheel 11 for skilled operation person, with the increase enjoyment of riding.During packing and transporting, these will be with stretcher 4 inside foldings to auxiliary wheel 11, and further to reduce the box volume of wheelbarrow, structure design is very reasonable.
Comprise that also one is installed in the rear handle 12 of vehicle frame 1 rear side, so that carry or can be portable when carrying wheelbarrow.
As shown in Figure 2, controller 7 comprises car body attitude induction system 71, car body attitude control system 72 and motor driven systems 73.Car body attitude induction system 71 comprises the acceleration induction chip 711 of a single shaft micro mechanical structure, gyroscope 712 and a Kalman filtering algorithm unit 713 of a single shaft micro mechanical structure.Acceleration induction chip 711 can be sensed any acceleration/accel on the single shaft, wherein comprise acceleration due to gravity, when the inductive axis of chip and the run-off the straight of gravity vertical axis, acceleration due to gravity can produce one-component at inductive axis, can calculate the number of degrees of inductive axis and gravity vertical axis angle, the i.e. angle of inclination of car body according to trigonometric function.But because car body runs into the acceleration/accel of various directions in the middle meeting of advancing, these acceleration/accels all can produce one-component at inductive axis, so when wheelbarrow travels, rely on separately the detected value of acceleration induction chip 711 can not obtain true angle of inclination.This car body attitude induction system 71 has used again the gyroscope 712 of a single shaft micro mechanical structure for this reason, and the inductive axis of the inductive axis of gyroscope 712 and acceleration induction chip 711 is overlapping, so just can detect the pitch velocity of car body.The tilting of car body angle that Kalman filtering algorithm unit 713 degree of will speed up induction chips 711 and gyroscope 712 detect and tilting of car body speed merge and filter out other noise datas, the actual value that obtains tilting of car body is transferred to car body attitude control system 72, car body attitude control system 72 uses balanced algorithm to calculate the compensating for tilt amount according to this true tilting value, export corresponding moment of torsion through motor driven systems 73 control wheel hub motors 6 to the tilting of car body direction, drive wheel 5 and advance to the tilting of car body direction.
As mentioned above, the balanced algorithm of car body attitude control system 72 utilizations can adopt PID (ratio, integration, differential) algorithm.Simultaneously, because operand is larger, so controller 7 is selected the core processor as control system based on the high speed processor Psoc5 of arm kernel.Battery pack 8 is used for store electrical energy, gives in the controller 7 and respectively provides electric energy with electric device.
Above-described embodiment is only for illustration of the utility model; and be not limitation of the utility model; the those of ordinary skill in relevant technologies field; in the situation that does not break away from spirit and scope of the present utility model; can also make a variety of changes and modification; therefore all technical schemes that are equal to also belong to category of the present utility model, and scope of patent protection of the present utility model should be limited by each claim.
Claims (5)
1. Self-balancing electronic manned monocycle, comprise vehicle frame, handle, vehicle seat, stretcher, wheel, wheel hub motor, controller and battery pack, it is characterized in that: described controller comprises car body attitude induction system, car body attitude control system and motor driven systems, and described car body attitude induction system comprises the acceleration induction chip of a single shaft micro mechanical structure, gyroscope and a Kalman filtering algorithm unit of a single shaft micro mechanical structure.
2. described a kind of Self-balancing electronic manned monocycle according to claim 1, it is characterized in that: described handle is installed in the vehicle frame front side, and described wheel is installed in the vehicle frame bottom, and described vehicle seat is installed in vehicle frame top, and described controller and battery pack are installed on the vehicle frame.
3. described a kind of Self-balancing electronic manned monocycle according to claim 1 and 2, it is characterized in that: also comprise a pair of stretcher connecting element that is installed in respectively both sides, vehicle frame bottom, described stretcher is provided with left and right two, it is installed in rotation on the corresponding stretcher connecting element by bearing pin, and described wheel hub motor also is installed on the stretcher connecting element by its axis.
4. described a kind of Self-balancing electronic manned monocycle according to claim 3, it is characterized in that: also comprise a pair of auxiliary wheel, described auxiliary wheel removably is fixedly mounted on respectively the front side of left and right two stretchers.
5. described a kind of Self-balancing electronic manned monocycle according to claim 1 and 2 is characterized in that: comprise that also one is installed in the rear handle of vehicle frame rear side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220149766 CN202806968U (en) | 2012-04-11 | 2012-04-11 | Self-balance electric manned monocycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220149766 CN202806968U (en) | 2012-04-11 | 2012-04-11 | Self-balance electric manned monocycle |
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| Publication Number | Publication Date |
|---|---|
| CN202806968U true CN202806968U (en) | 2013-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220149766 Expired - Fee Related CN202806968U (en) | 2012-04-11 | 2012-04-11 | Self-balance electric manned monocycle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103407528A (en) * | 2013-07-24 | 2013-11-27 | 钟淑娣 | Self-balancing electric monocycle with extendable handlebars |
| CN104494751A (en) * | 2014-12-25 | 2015-04-08 | 李陈 | Self-balancing monocycle with automatic gravity center regulation function |
| CN104527876A (en) * | 2014-12-25 | 2015-04-22 | 李陈 | Self-balancing monocycle with gravity-center self-adjusting function |
| CN104527877A (en) * | 2014-12-25 | 2015-04-22 | 李陈 | Self-balancing wheelbarrow with gravity center self-adjusting function |
| CN104760644A (en) * | 2015-04-14 | 2015-07-08 | 上海理工大学 | Electric monocycle |
| CN104477052B (en) * | 2014-12-05 | 2016-08-17 | 浙江大学 | A kind of control method of Self-balance manned electric unicycle |
| CN106080903A (en) * | 2014-12-25 | 2016-11-09 | 李陈 | A kind of intelligent electric wheelbarrow |
| KR101963973B1 (en) * | 2017-10-11 | 2019-03-29 | 이태홍 | An auxiliary support device for running the electric wheel on the railway |
-
2012
- 2012-04-11 CN CN 201220149766 patent/CN202806968U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103407528A (en) * | 2013-07-24 | 2013-11-27 | 钟淑娣 | Self-balancing electric monocycle with extendable handlebars |
| CN104477052B (en) * | 2014-12-05 | 2016-08-17 | 浙江大学 | A kind of control method of Self-balance manned electric unicycle |
| CN104494751A (en) * | 2014-12-25 | 2015-04-08 | 李陈 | Self-balancing monocycle with automatic gravity center regulation function |
| CN104527876A (en) * | 2014-12-25 | 2015-04-22 | 李陈 | Self-balancing monocycle with gravity-center self-adjusting function |
| CN104527877A (en) * | 2014-12-25 | 2015-04-22 | 李陈 | Self-balancing wheelbarrow with gravity center self-adjusting function |
| CN106080903A (en) * | 2014-12-25 | 2016-11-09 | 李陈 | A kind of intelligent electric wheelbarrow |
| CN106080874A (en) * | 2014-12-25 | 2016-11-09 | 李陈 | A kind of self-balancing wheelbarrow with center of gravity self-regulating function |
| CN106080902A (en) * | 2014-12-25 | 2016-11-09 | 李陈 | A kind of intelligent electric wheelbarrow |
| CN104760644A (en) * | 2015-04-14 | 2015-07-08 | 上海理工大学 | Electric monocycle |
| CN104760644B (en) * | 2015-04-14 | 2017-03-08 | 上海理工大学 | A kind of electric unicycle |
| KR101963973B1 (en) * | 2017-10-11 | 2019-03-29 | 이태홍 | An auxiliary support device for running the electric wheel on the railway |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130320 Termination date: 20200411 |