WO2018039911A1

WO2018039911A1 - Balancing vehicle control mechanism, control method and balancing vehicle

Info

Publication number: WO2018039911A1
Application number: PCT/CN2016/097328
Authority: WO
Inventors: 尚艳燕
Original assignee: 尚艳燕
Priority date: 2016-08-30
Filing date: 2016-08-30
Publication date: 2018-03-08

Abstract

Disclosed are a balancing vehicle control mechanism, a control method and a balancing vehicle. The balancing vehicle control mechanism comprises a handlebar (60), wherein the middle of the handlebar (60) is connected to a vehicle pole (61), the bottom of the vehicle pole (61) is connected to a vehicle body (10), outer walls of two ends of the handlebar (60) are respectively provided with one pressure sensing device; the pressure sensing devices are respectively arranged on the top end positions of the handlebar (60), and the pressure sensing device comprises a protruding block (63) and a pressure sensor (64) in contact with the protruding block (63); grooves (65) for accommodating the protruding blocks (63) are provided in the handlebar (60), and two side walls, corresponding to forward and reverse directions of the balancing vehicle, of the grooves (65) are respectively provided with one pressure sensor (64); and the protruding blocks (63) are rotatably fixed to the bottom of the grooves (65). Furthermore, a controller coupled with the pressure sensors (64) and used for driving wheels of the balancing vehicle to move is provided in the balancing vehicle.

Description

Balance car control mechanism, control method and balance car

[Technical Field]

The present invention relates to the field of balance vehicle control, and more particularly to a balance vehicle control mechanism, a control method, and a balance vehicle.

【Background technique】

Electric balance car, also called balance car, thinking car, its operation principle is mainly based on a basic principle called "dynamic stability", using the gyroscope and acceleration sensor inside the car body to detect the posture of the car body. Change, using the servo control system, accurately drive the motor to adjust accordingly to maintain the balance of the system.

There are two types of electric balance vehicles in the prior art. One type has an operating lever on the vehicle body, and the user stands on the pedal platform of the electric balance vehicle to operate the operating lever to advance, retreat and stop. Also known as "hand control." The other is that the car body is composed of two parts, and the left part and the right part are mutually rotated by the rotating mechanism, thereby realizing "foot control".

The traditional balance car needs to rely on the driver's control to maintain the balance of the vehicle during driving. Since the vehicle itself cannot maintain balance, once the driver loses balance during driving, it is extremely easy to cause danger, and even in serious cases, it may cause traffic accidents.

Patent document CN 102774453 B discloses a smart balance car system on May 20, 2015. It controls the balancing car writing by placing sensors on both ends of the handlebar. However, this method has extremely high requirements on the accuracy of the sensor and the software algorithm, and basically has no practical possibility.

[Summary of the Invention]

The technical problem to be solved by the present invention is to provide a balance vehicle control mechanism, a control method and a balance vehicle which are simple and reliable, and do not require mechanical structure control.

The object of the present invention is achieved by the following technical solutions:

According to an aspect of the invention, the invention discloses a balance vehicle control mechanism, including a handlebar, The handlebar is connected to the vehicle pole at the middle; the bottom of the handlebar is connected to the vehicle body; wherein the outer walls of the two ends of the handlebar are respectively provided with a pressure sensing device; the pressure sensing devices are respectively disposed at the top position of the handlebar, The pressure sensing device comprises a bump, a pressure sensor in contact with the bump; the handle is provided with a groove for accommodating the bump, and the groove is provided with a pressure sensor on each of the two side walls corresponding to the forward and backward directions of the balance car. The bump is rotatably fixed to the bottom of the groove; and the balance car is further provided with a controller coupled to the pressure sensor for driving the movement of the balance wheel.

According to another aspect of the invention, the present invention discloses a balance vehicle comprising the balance vehicle control mechanism of the present invention.

According to another aspect of the present invention, the present invention also discloses a control method for a balance vehicle control mechanism according to the present invention, comprising:

The inventors have found that the prior art sensors are disposed at both ends of the handlebar, perpendicular to the grip direction of the driver, which requires the hand grip to conduct pressure, so the pressure transmitted to the sensor is more severely attenuated, and the entire hand is transmitted. The comprehensive pressure of grip strength, to determine the actual intention of the driver requires a complex algorithm, the decomposition of the comprehensive grip force calculation, the algorithm is very complicated. For the above reasons, the technology has not been mass-produced yet. Compared with the prior art, the technical effect of the invention is: using a pressure sensing device located at the top of the pole, each pressure sensing device can move in two directions along the forward and backward directions of the balance car; The grip force in the front and rear directions of the hand, because the pressure sensing device is disposed on the outer wall of the handle, and is in direct contact with the hand, the sensing direction is also the same as the direction of the grip force, so that the pressure difference according to the maximum two pressure values and the corresponding pressure value The direction can drive the balance car wheel rotation, realize the balance car steering, acceleration and deceleration control, which greatly reduces the requirements of the device and the algorithm requirements. The technical solution of the invention is simple and reliable, and the implementation cost is low.

[Description of the Drawings]

1 is a schematic structural view of a balance vehicle control mechanism according to an embodiment of the present invention;

Figure 2 is a partial enlarged view of the portion A of Figure 1;

3 is a schematic structural view of a balance car according to an embodiment of the present invention;

4 is a schematic diagram of a control method of a balance vehicle control mechanism according to an embodiment of the present invention;

Figure 5 is a plan view showing the planar structure of the balance car in the folded state of the wheel according to the embodiment of the present invention;

6 is a schematic perspective structural view of a balance car in a folded state of a wheel according to an embodiment of the present invention;

Figure 7 is a plan view showing the planar structure of the balance car in the middle of the wheel according to the embodiment of the present invention;

Figure 8 is a perspective view showing the three-dimensional structure of the balance car in the middle of the wheel according to the embodiment of the present invention;

Figure 9 is a plan view showing the planar structure of the balance car in the middle of the wheel according to the embodiment of the present invention;

Figure 10 is a perspective view showing the three-dimensional structure of the balance car in the middle of the wheel according to the embodiment of the present invention;

Figure 11 is a cross-sectional, exploded view of Figure 9 taken along line A-A;

12 is a schematic exploded view of a balance vehicle in a wheel fixing structure according to an embodiment of the present invention;

Figure 13 is a schematic view showing the structure of a wheel of an embodiment of the present invention.

Wherein: 10, car body; 11, positioning column; 12, pin body; 121, connecting column; 122, fixed column; 123, first torus; 124, spring; 20, curved groove; Hole; 22, second positioning hole; 30, support arm; 31, through hole; 311, first hole; 312, second hole; 313, second torus; 33, fixing hole; 34, notch; 36; shaft, 40; limit; 50, wheel body; 51, axle; 52, shaft; 53, round table; 54, support; 60, handlebar; 63, bumps; 64, pressure sensor; 65, groove; 66, protruding portion; 67, connecting portion.

【detailed description】

The invention discloses a balance vehicle, which comprises a balance vehicle control mechanism. The balance control mechanism includes a handlebar, the handlebar is connected to the vehicle pole in the middle; the bottom of the handlebar is connected to the vehicle body; wherein the outer walls of the two handlebars are respectively provided with a pressure sensing device; the pressure sensing devices are respectively arranged In the top position of the handlebar, the pressure sensing device comprises a bump, a pressure sensor in contact with the bump; the handle is provided with a groove for accommodating the bump, and the groove corresponds to two directions of the forward and reverse directions of the balance car. Each of the side walls is provided with a pressure sensor; the protrusion is rotatably fixed to the bottom of the groove; and the balance vehicle is further provided with a controller coupled with the pressure sensor for driving the movement of the balance wheel.

According to another aspect of the present invention, the present invention also discloses a balance vehicle control according to the present invention. Control methods of the system, including:

Reading the pressure values of the two pairs of pressure sensing devices;

Obtaining the two maximum pressure values and their corresponding pressure sensing devices;

The balance wheel is driven to rotate according to the pressure difference between the two maximum pressure values and the direction of the two pressure values.

In the description of the present invention, it is to be understood that the terms "center", "lateral", "upper", "lower", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship of the "bottom", "inside", "outside" and the like is based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of describing the present invention and simplifying the description, and does not indicate or imply the indicated device. Or the components must have a particular orientation, are constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention. Moreover, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" and "second" may include one or more of the features either explicitly or implicitly. In the description of the present invention, "a plurality" means two or more unless otherwise stated. In addition, the term "comprises" and its variations are intended to cover a non-exclusive inclusion.

In the description of the present invention, it should be noted that the term "an" is used unless otherwise specifically stated and defined. "Install", "connect", "connect" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, It can also be indirectly connected through an intermediate medium, which can be internal to the two elements. The specific meaning of the above terms in the present invention can be understood by a person of ordinary skill in the art.

The terminology used herein is for the purpose of describing the particular embodiments, The singular forms "a", "an", It is also to be understood that the terms "comprising" and """ Other features, integers, steps, operations, units, components, and/or combinations thereof.

The invention will now be further described with reference to the accompanying drawings 1-13 and preferred embodiments.

According to an aspect of the invention, the present invention discloses a balance vehicle control mechanism including a handlebar 60, the handlebar 60 being connected to the vehicle pole 61 in the middle; the bottom of the axle 61 is coupled to the vehicle body; wherein the handlebar 60 Each of the outer walls of the two ends is provided with a pressure sensing device; the pressure sensing devices are respectively disposed at the top end of the handlebar 60, the pressure sensing device includes a protrusion 63, a pressure sensor 64 in contact with the protrusion 63; There is a groove 65 for accommodating the protrusion 63. The groove 65 is provided with a pressure sensor 64 on each of the two side walls corresponding to the forward and backward directions of the balance car; the protrusion 63 is rotatably fixed to the bottom of the groove 65; Also provided within the balancing vehicle is a controller coupled to the pressure sensor 64 for driving the movement of the balance wheel.

Specifically, the protrusion 63 includes a protrusion 66 protruding from the surface of the groove 65; a connecting portion 67 rotatably and fixedly coupled to the bottom of the groove 65; a pressure sensor 64 is disposed on each side of the connecting portion 67; An elastic member 62 is disposed on both sides of the protruding portion 66. The pressure sensor 64 is in contact with the two sides of the connecting portion 67 at the bottom. When the connecting portion 67 swings back and forth, different pressure sensors 64 are respectively triggered, and the controller can sense different directions of the pressure values, thereby controlling the steering wheel to turn, advance or Back. Of course, the pressure sensing device can have other structural forms, and details are not described herein again.

The embodiment also discloses a balance vehicle wheel fixing structure. The balance vehicle includes a vehicle body 10. The bottom of the vehicle body 10 is provided with a support arm 30, and one end of the support arm 30 is rotatably fixed to the bottom of the vehicle body 10. , The other end is rotatably fixed to the wheel; the support arm 30 is provided with a through hole 31, and the through hole 31 is provided with a pin body 12 movable along the through hole 31, and the bottom of the body 10 is further provided with a pin body 12 engaging the first positioning hole 21 and the second positioning hole 22, when the support arm 30 is rotated to the unfolded state, the pin body 12 is engaged with the first positioning hole 21; when the support arm 30 is rotated to the contracted state, The pin body 12 cooperates with the second positioning hole 22 .

The pin body 12 includes a connecting post 121, and a fixing post 122 connected to the end of the connecting post 121; the cross-sectional width of the fixing post 122 is larger than the cross-sectional width of the connecting post 121; the connecting post 122 forms a joint with the connecting post 121. The first annular surface 123; correspondingly, the through hole 31 includes a first hole 311 adapted to the connecting post 121, and a second hole 312 adapted to the fixing post 122; the first hole 311 and the second hole 312 The connecting portion forms a second annular surface 313; the connecting post 121 is sleeved with a spring 124; the two ends of the spring 124 are respectively positioned by the first annular surface 123 and the second annular surface 313. Due to the presence of the spring 124, the pin body 12 will always abut against the plane of the bottom of the body. Once rotated to the position of the first positioning hole 21 or the second positioning hole 22, the pin body 12 is automatically embedded into the first positioning by the spring 124 elastic force. In the hole 21 or the second positioning hole 22, automatic positioning can be realized without manual intervention.

The wheel includes a wheel body 50 and an axle 51 component; the axle 51 component includes a shaft body 52 having one end penetrating the wheel body 50 and the other end being provided with an adapter portion; the adapter portion is opposite to the axle body 52 One side is provided with a support portion 54 movably connected to the connecting member; the support portion 54 is rotatably fixed to the support arm 30. Generally, the axles 51 are relatively thin, and it is not easy to realize a rotatable fixing structure. The contact portion can increase the contact area of the rotating shaft 36. On the one hand, it is easy to fix with the connecting member, and on the other hand, the wheel is deployed. The side of the vehicle body 10 is in contact with and positioned to improve stability when the wheel is running. The adapter portion is a circular table 53; the support portion 54 is fixed at a position where the circular table 53 is offset from the axis. The support portion 54 is offset from the axis. When the balance vehicle is in operation, the support portion 54 naturally runs to the lowest point due to gravity and human body pressure, forming a steady-state positioning structure. At this time, the disc portion above the support portion 54 has More area is in contact with the side of the vehicle body 10, so that the wheel has a disc in the vertical direction, and the horizontal position has a bottom connecting member. The double-sided support can effectively disperse the weight of the wheel and is more stable and durable.

The bottom of the vehicle body 10 is provided with an arcuate groove 20, and the first positioning hole 21 and the second positioning hole 22 are They are respectively disposed at both ends of the curved groove 20. The curved groove 20 guides the pin body 12, that is, defines the range of rotation of the entire support arm 30, and avoids excessive rotation of the wheel to cause the wheel to collide with other components.

The bottom of the vehicle body 10 is further provided with an arc-shaped limiting portion 40; when the wheel is in a folded state, the inner side surface is in contact with the top of the limiting portion 40. One end of the support arm 30 fixed to the axle 51 is provided with a notch 34; the other end is an arc portion 35; the notch 34 is provided with a rotating shaft 36; the supporting portion 54 is embedded in the notch 34 and sleeved with the rotating shaft 36. Due to the avoidance structure of the notch 34, the entire rotating structure is relatively small, which is advantageous for reducing the balance of the vehicle body 10. The side of the limiting portion 40 facing the support arm 30 is an inner curved surface, which can be avoided when the curved portion 35 of the support arm 30 rotates.

The top portion of the limiting portion 40 has the highest position for contacting the inner side surface of the wheel; the two sides of the intermediate portion are inclined surfaces extending to the bottom of the vehicle body 10. After the wheel is folded, the wheel is rotated through the inclined surface, and is rotated to the middle of the top portion of the limiting portion 40 to be tightened, and the folded wheel is positioned by the tensioned stress, without complicated buckle structure, the implementation is simple, and the fixing is firm, and the sliding is not afraid of sliding. .

The fixing arm 30 is provided with a fixing hole 33 at one end of the supporting arm 30; the bottom of the vehicle body 10 is provided with a positioning post 11 adapted to the fixing hole 33; the supporting arm 30 is realized by the cooperation of the fixing hole 33 and the positioning post 11 The bottom of the vehicle body 10 is rotatably fixed. The positioning post 11 can be realized with a screw.

According to another aspect of the present invention, the embodiment further discloses a control method for a balance vehicle control mechanism according to the present invention, comprising:

S11. Read pressure values of two pairs of pressure sensing devices;

S12. Obtain the two largest pressure values and their corresponding pressure sensing devices;

S13. Driving the balance wheel according to the pressure difference of the two maximum pressure values and the direction of the two pressure values.

There are basically three cases in which the pressure difference between the two pressure values having the largest absolute value and the direction of the corresponding pressure value drive the rotation of the balance wheel.

If the corresponding pressure values are in the same direction and both are in the forward direction of the balance car, the balance car is controlled to decelerate. When the balance car is too fast, in inertia and instinct, the driver's hands will pull the handlebars backwards, that is, in the balance car. The pressure of the two pressure sensing devices in the forward direction will be large, and the balance car will be decelerated to ensure safe driving.

If the corresponding pressure values are in the same direction and both are in the direction of the balance car receding, the balance car is controlled to accelerate. When the driver needs to control the balance car acceleration, the driver will tend to use two-handed carts for habits and instincts, that is, the pressure of the two pressure sensing devices in the direction of the reverse direction of the balance car will be greater, and the balance car will be accelerated. .

If the corresponding pressure value is reversed, the balance car is controlled to turn in the direction of the pressure sensing device whose pressure value is in the forward direction of the balance car, and the steering angle is controlled according to the pressure difference. Specifically, the pressure in the forward direction of the right direction is greater than the reverse pressure; the pressure in the forward direction of the left side is less than the reverse pressure; at this time, the two selected maximum pressure values are respectively the pressure value in the right forward direction and the left backward direction. The pressure value, at this time, the pressure value is the direction of the pressure sensing device in the direction of the balance car is the right side, at this time the control balance car turns right; otherwise, the balance car is controlled to turn left.

The above is a further detailed description of the present invention in connection with the specific preferred embodiments, and the specific embodiments of the present invention are not limited to the description. It will be apparent to those skilled in the art that the present invention may be made without departing from the spirit and scope of the invention.

Claims

A balance vehicle control mechanism includes a handlebar, the handlebar is connected to the vehicle pole in the middle; the bottom of the handlebar is connected to the vehicle body; wherein the outer wall of each of the handlebars is provided with a pressure sensing device; The device is respectively disposed at a top position of the handlebar, the pressure sensing device includes a bump, a pressure sensor in contact with the bump; the handle is provided with a groove for accommodating the bump, and the groove and the forward and backward directions of the balance car A corresponding pressure sensor is disposed on each of the two side walls; the protrusion is rotatably fixed to the bottom of the groove; and the balance vehicle is further provided with a controller coupled to the pressure sensor for driving the movement of the balance wheel.
The balance control mechanism according to claim 1, wherein the projection comprises a protrusion protruding from the surface of the groove; a connection portion rotatably and fixedly coupled to the bottom of the groove; and each of the connection portions is provided with a seat a pressure sensor; elastic members are disposed on both sides of the protruding portion.
The balance vehicle control mechanism according to claim 1, wherein the bottom of the vehicle body is provided with a support arm, one end of the support arm is rotatably fixed to the bottom of the vehicle body, and the other end is rotatably fixed to the wheel; a through hole is provided, and a pin body movable along the through hole is disposed in the through hole, and the bottom of the vehicle body is further provided with a first positioning hole and a second positioning hole that cooperate with the pin body, and the support arm rotates to the unfolding In the state, the pin body cooperates with the first positioning hole; when the support arm rotates to the contracted state, the pin body cooperates with the second positioning hole.
The balance control mechanism according to claim 3, wherein the pin body comprises a connecting post, a fixing post connected to the end of the connecting post; the fixing post has a cross-sectional width greater than a cross-sectional width of the connecting post; Forming a first annular surface at the junction of the fixing post and the connecting post; correspondingly, the through hole includes a first hole adapted to the connecting post, and a second hole adapted to the fixing post; the first hole and the second hole Forming a second annular surface; the connecting post is sleeved with a spring; the two ends of the spring are respectively positioned by the first annular surface and the second annular surface;

The wheel comprises a wheel body and an axle component; the axle component comprises a shaft body, the shaft body has one end penetrating the wheel body, and the other end is provided with an adapter portion; the adapter portion is opposite to the shaft body and is provided with a support portion to which the connecting member is movably connected; the support portion and the support arm are rotatably fixed; the transfer portion is a circular table; The support portion is fixed at a position where the circular table is offset from the axis;

One end of the support arm fixed to the axle is provided with a notch; the other end is an arc-shaped portion; the shaft is provided with a rotating shaft; and the supporting portion is embedded in the notch and sleeved with the rotating shaft.
The balance control mechanism according to claim 3, wherein the bottom of the vehicle body is provided with an arcuate groove, and the first positioning hole and the second positioning hole are respectively disposed at two ends of the arcuate groove; The bottom of the vehicle body is further provided with an arc-shaped limiting portion; when the wheel is in a folded state, the inner side surface is in contact with the top of the limiting portion; the top portion of the limiting portion has the highest position for contacting the inner side of the wheel. The two sides of the middle portion are inclined surfaces extending to the bottom of the vehicle body; the support arm is provided with a fixing hole at one end opposite to the wheel; the bottom of the vehicle body is provided with a positioning post adapted to the fixing hole; The cooperation of the hole and the positioning post is rotatably fixed to the bottom of the vehicle body.
A control method for a balance vehicle control mechanism according to claim 1, wherein each of the pressure sensing devices includes two pressure values corresponding to the forward and reverse directions of the balance vehicle; the method includes:

Reading the pressure values of the two pressure sensing devices;

Obtain the two largest pressure values and their corresponding directions;

The balance car wheel is driven to rotate according to the pressure difference between the two pressure values having the largest absolute value and the direction corresponding to the pressure value.
The control method according to claim 6, wherein the method of driving the balance wheel rotation according to the pressure difference of the two pressure values having the largest absolute value and the direction of the corresponding pressure value comprises:

If the corresponding pressure values are in the same direction and both are in the forward direction of the balance car, the balance car is controlled to decelerate.
The control method according to claim 6, wherein the method of driving the balance wheel rotation according to the pressure difference of the two pressure values having the largest absolute value and the direction of the corresponding pressure value comprises:

If the corresponding pressure values are in the same direction and both are in the direction of the balance car receding, the balance car is controlled to accelerate.
The control method according to claim 6, wherein the method of driving the balance wheel rotation according to the pressure difference of the two pressure values having the largest absolute value and the direction of the corresponding pressure value comprises:

If the corresponding pressure value is reversed, the balance car is controlled to turn in the direction of the pressure sensing device whose pressure value is in the forward direction of the balance car, and the steering angle is controlled according to the pressure difference.
A balance vehicle comprising the balance vehicle control mechanism of claim 1.