CN205737908U - A kind of Segway Human Transporter - Google Patents
A kind of Segway Human Transporter Download PDFInfo
- Publication number
- CN205737908U CN205737908U CN201620394607.7U CN201620394607U CN205737908U CN 205737908 U CN205737908 U CN 205737908U CN 201620394607 U CN201620394607 U CN 201620394607U CN 205737908 U CN205737908 U CN 205737908U
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- electronic gyroscope
- wheel
- module
- motor
- car body
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Abstract
The utility model discloses a kind of Segway Human Transporter, including car body, also include the first electronic gyroscope module, second electronic gyroscope module, the controller being arranged on car body and body-sensing steering mechanism, and it is arranged on motor and the wheel of vehicle bottom, described first electronic gyroscope module is for the angle of inclination of perception car body relative level, described second electronic gyroscope module is for the angle of inclination of perception body-sensing steering mechanism relative level, the outfan of described first electronic gyroscope module and the outfan of the second electronic gyroscope module are connected with the input of controller respectively；The outfan of described controller is connected with the input of motor, and described motor is used for driving vehicle wheel rotation.Utilizing the differential seat angle of two electronic gyroscope to drive motor, and then advance, retreat and turning etc., people's foot cycling when can more conform to human engineering with dipping and heaving, and convenient and reasonable in design, Consumer's Experience is good.Can be widely applied to scooter field.
Description
Technical field
This utility model relates to scooter, is specially a kind of Segway Human Transporter.
Background technology
Number of patent application is the patent of invention of 201510528738.X, and it carrys out the turning intention of perception people with being arranged on two, left and right pedal pressure below sensor.People's health turning when banking to extrude, and makes both sides produce pressure differential.Through reality test, this device is because comparison of riding is stiff, and people can feel under the weather, Consumer's Experience is bad, and pedal relative to car body almost without motion, two feet station of people are onboard, sole can not swing up and down with heel, is inconvenient for, it is therefore necessary to improves.
Utility model content
In order to solve above-mentioned technical problem, the purpose of this utility model is to provide the Segway Human Transporter of a kind of better user experience.
This utility model be the technical scheme is that a kind of Segway Human Transporter, including car body, also include the first electronic gyroscope module, second electronic gyroscope module, the controller being arranged on car body and body-sensing steering mechanism, and it is arranged on motor and the wheel of vehicle bottom, described first electronic gyroscope module is for the angle of inclination of perception car body relative level, described second electronic gyroscope module is for the angle of inclination of perception body-sensing steering mechanism relative level, the outfan of described first electronic gyroscope module and the outfan of the second electronic gyroscope module are connected with the input of controller respectively；The outfan of described controller is connected with the input of motor, and described motor is used for driving vehicle wheel rotation.
As the first preferred embodiment of this utility model, described body-sensing steering mechanism includes that a steering wheel, described steering wheel are arranged on a connecting rod, and described connecting rod is connected with car body；Described second electronic gyroscope module is positioned at inside steering wheel；Utilize the difference at angle of inclination of the first electronic gyroscope module and the second electronic gyroscope module to control scooter motion.
As this utility model the second preferred embodiment, described body-sensing steering mechanism includes two pedals being arranged on car body；It is mounted on flexible member below described each pedal, described second electronic gyroscope module includes two electronic gyroscope, being respectively left electronic gyroscope and right electronic gyroscope, described left electronic gyroscope and right electronic gyroscope lay respectively at below two pedals；For according to left electronic gyroscope and right electronic gyroscope respectively difference with the angle of inclination of the first electronic gyroscope control the motion of scooter.
As the improvement of this utility model the second preferred embodiment, described flexible member includes at least two spring.
As the improvement of technique scheme, described wheel at least three.
Further, two of which wheel is embedded with motor.
Further, be not embedded with motor wheel it include universal wheel and/or directional wheel.
Further, described scooter also includes that power management module, described power management module are connected with controller.
The beneficial effects of the utility model are: Segway Human Transporter of the present utility model, utilize the differential seat angle of two electronic gyroscope to drive motor, and then advance, retreat and turning etc., overcome the problem that comparison of riding is stiff, Consumer's Experience is bad of prior art, because being mounted with elastomer, people station can be similar to the same sole and heel on foot onboard and swing up and down, in the middle of the process that utilization swings, pedal is relative to the feature of the angled change of car body, it more conforms to human engineering, convenient and reasonable in design, Consumer's Experience is good.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings detailed description of the invention of the present utility model is described further:
Fig. 1 is the structural representation of an embodiment of this utility model Segway Human Transporter；
Fig. 2 is the pedal internal structure schematic diagram of an embodiment of this utility model Segway Human Transporter；
Fig. 3 is the module connection diagram of an embodiment of this utility model Segway Human Transporter；
Fig. 4 is the schematic diagram of another embodiment of this utility model Segway Human Transporter；
Fig. 5 is the schematic diagram of the tricycle structure of this utility model Segway Human Transporter one embodiment.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can be mutually combined.
Electronic gyroscope, the electronic component of a kind of energy perception self angular velocity of rotation.Because it has this characteristic, it is arranged on product, and the data of its output are integrated calculating the angle that object turns over.
Electron acceleration is calculated as a kind of device measuring acceleration magnitude, have single shaft, twin shaft and three axles etc..Each axial acceleration magnitude can be obtained easily by the data reading it, again by trigonometric function and interspace analytic geometry scheduling algorithm it is known that the angle that turns over of device, merge the data of electronic gyroscope output, in addition filtering algorithm again, the angle that object turns over accurately can be obtained.
The controller that this utility model is mentioned is all the controller with common microcomputer singlechip as core, and it can process the electrical signal data of input, it is also possible to output data, can also carry out the mathematical operation of complexity inside it.It is write different programs and can realize different functions.The angle of inclination that this utility model is mentioned is all the angle of inclination of the horizontal level relatively set.
A kind of Segway Human Transporter, including the motor being arranged on bottom scooter and wheel, is arranged on two pedals above car body, the electronic gyroscope being arranged on car body and controller, is separately mounted to the spring below the electronic gyroscope above two pedals and controller and two pedals.
As first embodiment of the present utility model, with reference to Fig. 1, for the structural representation of an embodiment of this utility model Segway Human Transporter.This scooter includes the near front wheel 1, off-front wheel 2, off hind wheel 3, left-hand tread plate 4 and right-hand tread plate 5.Wherein, described scooter at least two wheels are provided with electric motor, and wheel quantum count can be four.
Preferably, the wheel of described scooter can be universal wheel, it is also possible to be directional wheel.Utilize the difference at the electronic gyroscope in car body and the electronic gyroscope angle of inclination on pedal as the foundation driving motor to travel.Pedal can relative vehicle body swing with the electronic gyroscope installed on the footrests.
With reference to Fig. 2, for the pedal internal structure schematic diagram of another embodiment of this utility model Segway Human Transporter.This scooter includes the near front wheel 1, off-front wheel 2, off hind wheel 3, left-hand tread plate 4 and right-hand tread plate 5.Wherein, two springs 6 are at least installed below each pedal.Having one in front and one in back two springs 6 below two pedals, can down be pressed, the electronic gyroscope installed inside pedal moves up and down with pedal.Same pedal is made different size of extruding force at front and back position, two springs 6 can be allowed to be extruded, so that pedal has an angle of inclination relative to car body by different power.
With reference to Fig. 3, it it is the module connection diagram of an embodiment of this utility model Segway Human Transporter.It includes controller, electronic gyroscope module and motor module；The described outfan of electronic gyroscope module is connected with the input of controller；The outfan of described controller is connected with the input of motor module；It also includes that power management module, described power management module are connected with controller.Wherein, described electronic gyroscope module includes the first electronic gyroscope module, the second electronic gyroscope module, described first electronic gyroscope module is used for perception body movement state, described second electronic gyroscope module is for the kinestate of perception body-sensing steering mechanism, described controller is arranged on car body, described motor module is the motor being arranged on vehicle bottom, and described motor is used for driving vehicle wheel rotation.
Having one in front and one in back two springs below two pedals, can down be pressed, the electronic gyroscope installed inside pedal moves up and down with pedal.Same pedal is made different size of extruding force at front and back position, two springs can be allowed to be extruded, so that pedal has an angle of inclination relative to car body by different power.
Two feet of people stand on two pedals respectively, the when that people travelling forward, just two heels are slightly lifted, make pedal turn forward relative to car body.The when that people being to be fallen back, just two soles are slightly lifted, make pedal tilt backwards relative to car body.The when of turning to the left, left foot ball of foot the most slightly lifts, or right crus of diaphragm heel the most slightly lifts simultaneously.When to be bent to right, right crus of diaphragm ball of foot the most slightly lifts, or left foot heel the most slightly lifts simultaneously.Whole driving process is similar to the process that people walks.
In this embodiment system at least three electronic gyroscope, i.e. car body one, on the pedal of left and right each one.The angle of inclination GT deducting gyroscope on car body with the angle of inclination GL of gyroscope on the pedal of the left side obtains the left-hand tread plate rotational angle GLC relative to car body, the foundation travelled as left front motor, the angle of inclination GT deducting gyroscope on car body with the angle of inclination GR of gyroscope on the pedal of the right obtains the right-hand tread plate rotational angle GRC relative to car body, the foundation travelled as right front motor, i.e. there are GLC=GL-GT, GRC=GR-GT.It should be noted that electronic gyroscope is the inclined relatively set when, its angle of inclination is point positive and negative, and such as orientation top rake is just, tilts backwards as bearing, and not tilting is 0.So GLC and GRC is likely to be positive number it could also be possible that negative.As GLC(or GRC) when be positive number, controller drives motor to rotate forward, and works as GLC(GRC) when be negative, controller drives motor to rotate backward, and | GLC | (or | GRC |) is the biggest, and electric machine rotation is the fastest.The correspondence respectively that rotates and reverse of motor moves forward and backward.
The when that people travelling forward, just two heels slightly being lifted, make pedal turn forward relative to car body, at this time GLC and GRC is positive number, and motor rotates forward, and car travels the most forward.Travel principle also same backward.The when of turning to the left, left foot ball of foot the most slightly lifts, or right crus of diaphragm heel the most slightly lifts simultaneously, and at this time GRC > GLC(GLC may be negative), the speed that the right motor rotates forward is greater than the left side, and car is just toward turning left.Also same toward right-hand rotation principle.
As this utility model the second embodiment, with reference to Fig. 4.Described scooter is included on car body 8 holds up a steering wheel 9 by support bar 7, and installation electronic gyroscope calculates angle of inclination inside steering wheel 9.The angle of inclination difference utilizing two or more electronic gyroscope is come as the foundation driving car motion.One of them electronic gyroscope is arranged in car body 8, and another electronic gyroscope is arranged on inside steering wheel 9.By the angle of inclination of the electronic gyroscope inside steering wheel 9 with the difference at the angle of inclination of electronic gyroscope in car body 8 as according to the motion controlling scooter.
Steering wheel 9 can after support bar 7 swings and looses one's grip can automatic homing, want car when go ahead, steering wheel 9 is toward forward swing;Want car when fall back, steering wheel 9 is put backward.Want the past left-hand rotation of car, then steering wheel is moved toward 9 left swings.Then steering wheel 9 is turned right swing toward turning right.Electric control theory is the same with installation electronic gyroscope on the footrests, is all the differential seat angle utilizing two gyroscopes, and principle is ibid.
With reference to Fig. 5, for the schematic diagram of the tricycle structure of this utility model Segway Human Transporter one embodiment.This scooter includes car body 8, front-wheel 11, off hind wheel 10, left-hand tread plate 4 and right-hand tread plate 5, and its wheel is 3, and front-wheel 1 is driven pulley, and trailing wheel has two, and wherein off hind wheel 10 is provided with electric motor.
Electric motor is positioned in two wheels of trailing wheel, and described wheel can be directional wheel and/or universal wheel.
The electronic gyroscope used in this utility model is that three axle electronic gyroscope and three axle electronics accelerometers are made in the device inside a chip, and this device is referred to as electronic gyroscope.
Segway Human Transporter of the present utility model, utilize the differential seat angle of two electronic gyroscope to drive motor, and then advance, retreat and turning etc., overcoming the problem that comparison of riding is stiff, Consumer's Experience is bad of prior art, because being mounted with elastomer, people station can be similar to the same sole and heel on foot onboard and swing up and down, in the middle of the process that utilization swings, pedal is relative to the feature of the angled change of car body, it more conforms to human engineering, and convenient and reasonable in design, Consumer's Experience is good.
It is above preferable enforcement of the present utility model is illustrated, but the invention is not limited to described embodiment, those of ordinary skill in the art also can make all equivalent variations or replacement on the premise of this utility model spirit, and deformation or the replacement of these equivalents are all contained in the application claim limited range.
Claims (8)
1. a Segway Human Transporter, including car body, it is characterized in that: also include the first electronic gyroscope module, second electronic gyroscope module, the controller being arranged on car body and body-sensing steering mechanism, and it is arranged on motor and the wheel of vehicle bottom, described first electronic gyroscope module is for the angle of inclination of perception car body relative level, described second electronic gyroscope module is for the angle of inclination of perception body-sensing steering mechanism relative level, the outfan of described first electronic gyroscope module and the outfan of the second electronic gyroscope module are connected with the input of controller respectively；The outfan of described controller is connected with the input of motor, and described motor is used for driving vehicle wheel rotation.
Segway Human Transporter the most according to claim 1, it is characterised in that: described body-sensing steering mechanism includes that a steering wheel, described steering wheel are arranged on a connecting rod, and described connecting rod is connected with car body；Described second electronic gyroscope module is positioned at inside steering wheel；Utilize the difference at angle of inclination of the first electronic gyroscope module and the second electronic gyroscope module to control scooter motion.
Segway Human Transporter the most according to claim 1, it is characterised in that: described body-sensing steering mechanism includes two pedals being arranged on car body；It is mounted on flexible member below described each pedal, described second electronic gyroscope module includes two electronic gyroscope, being respectively left electronic gyroscope and right electronic gyroscope, described left electronic gyroscope and right electronic gyroscope lay respectively at below two pedals；For according to left electronic gyroscope and right electronic gyroscope respectively difference with the angle of inclination of the first electronic gyroscope control the motion of scooter.
Segway Human Transporter the most according to claim 3, it is characterised in that: described flexible member includes at least two spring.
5. according to the Segway Human Transporter described in any one of Claims 1-4, it is characterised in that: described wheel at least three.
Segway Human Transporter the most according to claim 5, it is characterised in that: two of which wheel is embedded with motor.
Segway Human Transporter the most according to claim 6, it is characterised in that: be not embedded with motor wheel it include universal wheel and/or directional wheel.
Segway Human Transporter the most according to claim 7, it is characterised in that: described scooter also includes that power management module, described power management module are connected with controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620394607.7U CN205737908U (en) | 2016-04-29 | 2016-04-29 | A kind of Segway Human Transporter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620394607.7U CN205737908U (en) | 2016-04-29 | 2016-04-29 | A kind of Segway Human Transporter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205737908U true CN205737908U (en) | 2016-11-30 |
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ID=57372014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620394607.7U Withdrawn - After Issue CN205737908U (en) | 2016-04-29 | 2016-04-29 | A kind of Segway Human Transporter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205737908U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947074A (en) * | 2016-04-29 | 2016-09-21 | 深圳车泰斗科技有限公司 | Electric scooter |
| CN106515947A (en) * | 2016-12-29 | 2017-03-22 | 杭州畅动智能科技有限公司 | Control method and system for longitudinal two-wheeled sensor control vehicle |
| CN107961526A (en) * | 2017-11-30 | 2018-04-27 | 北京小米移动软件有限公司 | Skid and its rotating direction control method, device |
-
2016
- 2016-04-29 CN CN201620394607.7U patent/CN205737908U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947074A (en) * | 2016-04-29 | 2016-09-21 | 深圳车泰斗科技有限公司 | Electric scooter |
| CN106515947A (en) * | 2016-12-29 | 2017-03-22 | 杭州畅动智能科技有限公司 | Control method and system for longitudinal two-wheeled sensor control vehicle |
| CN106515947B (en) * | 2016-12-29 | 2019-01-11 | 杭州畅动智能科技有限公司 | The control method and control system of a kind of body-sensing longitudinal direction cart |
| CN107961526A (en) * | 2017-11-30 | 2018-04-27 | 北京小米移动软件有限公司 | Skid and its rotating direction control method, device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161130 Effective date of abandoning: 20190215 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20161130 Effective date of abandoning: 20190215 |