CN101585388A - Inertia navigation intelligent vehicle - Google Patents

Inertia navigation intelligent vehicle Download PDF

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Publication number
CN101585388A
CN101585388A CNA2009101072576A CN200910107257A CN101585388A CN 101585388 A CN101585388 A CN 101585388A CN A2009101072576 A CNA2009101072576 A CN A2009101072576A CN 200910107257 A CN200910107257 A CN 200910107257A CN 101585388 A CN101585388 A CN 101585388A
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CN
China
Prior art keywords
car
intelligent vehicle
motor
module
inertia
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Pending
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CNA2009101072576A
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Chinese (zh)
Inventor
杨涛
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杨涛
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Application filed by 杨涛 filed Critical 杨涛
Priority to CNA2009101072576A priority Critical patent/CN101585388A/en
Publication of CN101585388A publication Critical patent/CN101585388A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

Abstract

The present invention relates to a kind of electric walk instead instrument, especially based on the left and right sides two-wheeled self-equalizing electric intelligent car of inertia device navigation, comprising: car body, battery pack, reducing motor, wheel, deflecting bar, driver module, balance sensing module, inertial navigation module and central signal processing module etc.The present invention is the car body course that utilizes in the electron inertia device smooth operation, the car body balance is to adopt inverted pendulum principle computer controlled automatic to realize, both feet stand on the stretcher when riding, instruments such as hand steered deflecting bar handgrip is adjusted the gravity center of human body and controlled functions such as intelligent vehicle advances, retreats, brake, and the present invention can be used as that amusement, tourist district are gone sightseeing, ride instead of walk in the shopping mall, golf course is ridden instead of walk, the airport is on duty, on and off dutyly ride instead of walk, ride instead of walk in large-scale place.

Description

Inertia navigation intelligent vehicle
Technical field
The present invention relates to a kind of electric walk instead instrument, specifically is a kind of left and right sides two-wheel electric intelligent vehicle by inertia device navigation and micro computer automatic guidance balance.
Background technology
Along with the in short supply day by day and global greenhouse effect problem of primary energy, regenerative resource is because expensive low efficiency can't get large-area applications, and the electric vehicle of energy-conserving and environment-protective becomes following mainstream development direction gradually.
For short distance traffic and the crowd who rides instead of walk, the general-duty vehicle are electric motor car with two wheels and bicycle at present, though traditional electric motor car with two wheels or bicycle can be ridden instead of walk, but owing to distribute before and after two wheels, it exists, and floor area is big, problems such as very flexible are ridden in the large and small space of turn inside diameter radius.
(application number: 200710130309.2) " automatic balanced electric bicycle " is a kind of left and right sides two-wheeled self-balanced battery-driven car to Chinese invention patent, two-wheeled is distributed in the bicyclist left and right sides, car body is provided with bar and the handgrip that turns to usefulness, relevant control circuit and storage battery also are installed, but mainly there is following defective in it:
1. this invention is not provided with vehicle heading stabilization system or two-wheeled synchronization system, because distributing about being, wheel adds that vehicle exercises the ground-surface uncertainty, the rolling resistance of two wheels had nothing in common with each other during vehicle was advanced, if single wheel runs into the increase of obstacle rolling resistance of wheel in riding, and the opposite side road surface is smooth, to go into car body turns to naturally to running into obstacle one side, the fast more natural turning velocity of riding speed is also just fast more, and the bicyclist will fall down under unguarded situation and cause safety misadventure.
So 2. can not dismantle, cause transportation to carry inconvenience because of being provided with cable in the deflecting bar.
3. problems such as remote manipulation and guard against theft and alarm system are not set.
Summary of the invention
The present invention seeks to release a kind of left and right sides two-wheeled self-equalizing electric intelligent car that utilizes wireless technology and inertia device to stablize the vehicle ' course, have that the road surface adaptive capacity is strong, advantages such as coursekeeping, voyage are far away, safe, self-equalizing, night flight or navigation illumination, radio operation.
The technology of the present invention is characterized as to achieve these goals:
Inertia navigation intelligent vehicle comprises: car body, wheel, reducing motor, battery pack, steering swivel system, stretcher, light equipment, inertial navigation sensing module, driver module, human induction switch, remote controller, remote control receiver module, guard against theft and alarm system, balance sensing module, central signal processing module etc.Its principal character is: adopt inertia device to realize the inertia navigation intelligent vehicle coursekeeping that travels, the course of travelling comprises and moves ahead, retreats, brakes, and also is provided with night running light equipment and radio operation equipment and guard against theft and alarm system.
The technical solution adopted in the present invention is:
1. two independently are controlled by central signal processing module and lateral arrangement respectively and two wheels of disalignment bonded assembly, and wheel links with affiliated reducing motor output shaft respectively.
2. reducing motor is two gear reduction motors or planetary reduction gear motor, motor is for having brush or brshless DC motor, be individually fixed in the car body affiliated motor room (a) and motor room (b), with the capable structure in aggregates of car body, output shaft is big on same axis and places in the opposite direction outside car body the right and left, and motor lines links with affiliated driver module respectively.
3. battery pack is two groups; be installed in respectively in Vehicular body front battery chamber (a) and battery chamber, rear portion (b); its battery pack is that lithium cell or iron lithium phosphate battery strings compose in parallel; also be provided with the battery pack protection plate in the battery chamber; fender is provided with super-charge super-discharge protection, overcurrent protection, overheat protector, and battery pack mouth driver module power input, voltage transitions in switch, protector and car body link.
4. steering swivel system is by turning to pedestal, Hall element, permanent magnet, deflecting bar, handgrip etc. to form, steering procedure is to be finished by two wheel differentials, the differential degree be by the central signal processing module follow according to Vehicle Speed and Hall element and permanent magnet apart from determine, ready-packaged joint is adopted with turning to pedestal in the deflecting bar bottom, conveniently fast disassembling and installation, and can length adjustment and locked lengths, the deflecting bar top also is provided with handgrip.
5. the place ahead, car body top is provided with the pedestal that turns to that turns to usefulness, turns to pedestal to be provided with the light equipment of night flight or navigation usefulness, and light equipment is controlled by central authorities' letter processing module and remote controller.
6. vehicle body upper portion is provided with the stretcher that is used to support human body, and stretcher the right and left is equipped with mudwing, and the stretcher below is provided with the human detection switch and links with the central signal processing module; Also be provided with electric panel room (a), electric panel room (b) that electrical equipment is installed on the car body, wherein electric panel room (a) is positioned in the middle of two motor rooms and two battery chambers, electric panel room (b) is between vehicle body upper portion two stretchers, and electric panel room (b) top also is provided with status indicator lamp, electric weight indicator lamp, switch, button etc.
7. driver module is two covers, two reducing motors of difference individual drive, and driver module has the rotating power-handling capability of motor and has overcurrent protection and current-limiting function.
8. the inertial navigation sensing module comprises: angular velocity sensor, filter, amplifier, A/D converter, microprocessor etc., angular velocity sensor measurement axis and car body horizontal surface are greatly to becoming vertical relation, and be fixed in electric panel room (a) or the electric panel room (b), angular velocity sensor output signal and the proportional relation of car body left rotation and right rotation acceleration/accel, signal is adjusted two wheel moments after filtering, amplification, A/D conversion, integration, little processing computing, stablize the vehicle ' course.
Inertia navigation intelligent vehicle in the process of moving, single wheel run into obstacle or single wheel resistance ratios opposite side resistance increase (as a wheel on the meadow wheel in smooth road), the car body nature turns to the big side of resistance, car body is diverted to naturally and makes one of inertial navigation sensing module output and the directly proportional voltage signal of steering angle, the big more voltage signal of nature steering angle is also just high more or low more, this voltage signal overall balance sensing module signal, after the little processing of central signal processing module, increase the big single wheel moment of resistance or reduce the little single wheel moment of resistance, quickly recover to the course of inertial navigation sensing module appointment along with the adjustment car body of wheel moment.
The present invention's driving of standing of behaving, push the remote-controlled unlatching inertia navigation intelligent vehicle of source switch button on the remote controller when desiring to ride, treat that software startup completion status indicator lamp lights, both feet can stand on the stretcher, human induction switch closure when a pin or two pin are stepped on stretcher, the central signal processing module begins driver module is controlled, the driver module drive motor carries out balance, so that the driver can not fall, when the gravity center of human body moves forward, central signal processing module overall balance sensing module incoming signal and inertial navigation sensing module incoming signal, drive left wheel and right wheel required speed and moment of accelerating respectively, big more speed in angle of inclination and acceleration/accel moment are also just big more.Center of gravity recedes when the driver will brake or retreat, and the central signal processing module is carried out balance according to the detected tilt quantity of balance sensing module and the speed control motor that moves ahead with opposite moment or retreated.Can be when the driver need turn by the operation of handgrip, export one different with the proportional signal control of operational ton left and right sides two-wheeled turn to, rotating speed and moment, two-wheeled contrarotation or single-wheel rotation is that differential rotates in the same way when reaching setting speed when moving velocity is zero.
Riding finishes can push that the guard against theft and alarm system button opens or closes guard against theft and alarm system on the remote controller, guard against theft and alarm system is opened rear wheel and is in the resistance braking state, make this car be difficult to be dragged, touch this car as the people, guard against theft and alarm system will send sound and light alarm.
Can push when riding inertia navigation intelligent vehicle night that the light equipment button opens or closes light equipment on the remote controller.
Can push during up and down than escarpment that the auxiliary mode button opens or closes auxiliary mode on the remote controller, open behind the auxiliary mode this car and just have nobody the self-balancing function of standing, as long as control the angle that tilts forward and back of deflecting bar, just can control the advancing of this car, retreat, stop, turning etc., make vehicle more light than escarpment up and down.
Brief Description Of Drawings
Fig. 1 is a contour structures scheme drawing of the present invention
Fig. 2 is a car body lateral plan of the present invention
Fig. 3 is a car body interior layout scheme drawing of the present invention
Fig. 4 is an embodiment of the invention inertial navigation module signal flow graph
Fig. 5 is a control system block scheme of the present invention
The specific embodiment
The present invention is described in further detail (but being not limited only to this embodiment) below in conjunction with drawings and Examples:
Profile agent structure of the present invention as shown in Figure 1, car body 1 the right and left is provided with wheel 2a, 2b and mudwing 4a, 4b, car body 1 top is provided with stretcher 7a, 7b, also is provided with electric panel room 11b between stretcher 7a, the 7b, and the centre is provided with and turns to pedestal 9, deflecting bar 5 and handgrip 6.
Mudwing 4a, 4b adopt screw retention at car body 1 the right and left, can dismantle during transportation.Stretcher 7a, 7b below is respectively equipped with human induction switch, and its effect is to detect vehicle-state, and detection mode is a gravity, and the switch closure vehicle is opened equilibrium function, disconnects then closing equilibrium function.Electric panel room 11b mainly installs balance sensing module and inertial navigation module, and the top is provided with source switch, indicator lamp etc., and the rear portion also is provided with red night flight or navigation Warning light (not shown).Handgrip 6 is fixed on the top of deflecting bar 5, deflecting bar 5 lower ends are adopted the movable joint (not shown) to be fixed on and are turned on the pedestal 9, can pull down deflecting bar 5 in case of necessity to save the space, deflecting bar adjustable length and lockable length are driven with the people who is fit to different heights.Turn to also to be provided with light equipment 8 on the pedestal 9, the open and close of light equipment are controlled by remote controller.
As Fig. 2 car body 1 shown in Figure 3 by function greatly to being divided into motor room, electric panel room 11a, the 10a of battery chamber, 10b.In the motor room under reducing motor 3a, 3b are separately fixed at, reducing motor is brushless pagoda gear reduction motor, the motor center axle is lower than power take-off shaft, and power take-off shaft stretches to outside car body 1 the right and left, and wheel 2a, 2b center are separately fixed on reducing motor 3a, the 3b power take-off shaft.On the driver module under motor power-supply wire is connected in the electric panel room 11a respectively.The 10a of battery chamber, 10b are equipped with the battery pack that some lithium cell connection in series-parallel become; battery voltage is as the criterion to be fit to motor driven voltage; battery capacity is followed according to battery chamber's volume and need be selected; also be respectively equipped with the battery pack protection plate in the battery chamber, functions such as battery pack is not overcharged to protect, not overdischarge, equalizing charge, overcurrent protection.
Fig. 5 shows control system composition block scheme of the present invention, and its kernel control module is: the inertial navigation sensing module, and the balance sensing module, the central signal processing module all is solidified with corresponding software in the module.
Travel course navigation of the present invention is to have utilized the direction of gyroscope high speed revolution to specify the property principle, Fig. 4 is shown to be embodiment inertial navigation module signal flow graph, angular velocity sensor adopts the micro mechanical structure electronic gyroscope in the module, the electronic gyroscope measurement axis is vertical with car body installs, so that detect car body left rotation and right rotation acceleration/accel, this kind angular velocity sensor only could output signal when angular acceleration changes, obtain the gyrostatic direction of physics and specify property, output signal need carry out just obtaining the direction similar to the physics gyroscope after integral operation and the respective handling to the time and specify property.The driver is not independently controlling under the car body turning situation, and car body changes because of certain reason causes course and inertial navigation module to point to, and the car body course will be pointed to inertial navigation module and produce an angle, and the size of angle is represented car body course drift size.This angle changes into the voltage signal of electric 0-5V, 2.5V be neutral some signal, scaling up vehicle wheel rotational speed with this voltage signal input central signal processing module and compare the slow moment of opposite side vehicle wheel rotational speed or reduce the moment of vehicle wheel rotational speed greater than the opposite side vehicle wheel rotational speed, is to adjust moment zero this moment just to finish up to car body course and inertial navigation module sensing angle.
The navigation of vehicle ' course is a continuously dynamic process, the course changes wheel course correction moment at the beginning with regard to startup as long as travel, going off course, big wheel correction moment is also just big more more, gets back to inertial navigation module up to car body and specifies course correction moment just to finish.

Claims (10)

1. inertia navigation intelligent vehicle comprises: car body, wheel, reducing motor, battery pack, steering swivel system, stretcher, light equipment, inertial navigation sensing module, driver module, human induction switch, remote controller, remote control receiver module, guard against theft and alarm system, balance sensing module, central signal processing module etc., its principal character is: adopt inertia device to realize the intelligent vehicle coursekeeping that travels, the course of travelling comprises and moves ahead, retreats, brakes, and also is provided with night running light equipment and radio operation equipment and guard against theft and alarm system.
2. inertia navigation intelligent vehicle as claimed in claim 1 is characterized by: two independently are controlled by central signal processing module and lateral arrangement respectively and two wheels of disalignment bonded assembly, and wheel links with affiliated reducing motor output shaft respectively.
3. inertia navigation intelligent vehicle as claimed in claim 1, it is characterized by: reducing motor is two gear reduction motors or planetary reduction gear motor, motor is for having brush or brshless DC motor, be individually fixed in the car body affiliated motor room (a) and motor room (b), with the capable structure in aggregates of car body, output shaft is big on same axis and places in the opposite direction outside car body the right and left, and motor lines links with affiliated driver module respectively.
4. inertia navigation intelligent vehicle as claimed in claim 1; it is characterized by: battery pack is two groups; be installed in respectively in Vehicular body front battery chamber (a) and battery chamber, rear portion (b); its battery pack is that lithium cell or iron lithium phosphate battery strings compose in parallel; also be provided with the battery pack protection plate in the battery chamber; fender is provided with super-charge super-discharge protection, overcurrent protection, overheat protector, and battery pack mouth driver module power input, voltage transitions in switch, protector and car body link.
5. inertia navigation intelligent vehicle as claimed in claim 1, it is characterized by: steering swivel system is by turning to pedestal, Hall element, permanent magnet, deflecting bar, handgrip etc. to form, steering procedure is to be finished by two wheel differentials, the differential degree be by the central signal processing module follow according to Vehicle Speed and Hall element and permanent magnet apart from determine; Ready-packaged joint is adopted with turning to pedestal in deflecting bar bottom, conveniently fast disassembling and installation, and can length adjustment and locked lengths, the deflecting bar top also is provided with handgrip.
6. as claim 1 and the described inertia navigation intelligent vehicle of claim 5, it is characterized by: the place ahead, car body top is provided with and turns to the basic Cuo of turning to of usefulness, turns to pedestal to be provided with the light equipment of night flight or navigation usefulness, and light equipment is controlled by central authorities' letter processing module and remote controller.
7. inertia navigation intelligent vehicle as claimed in claim 1 is characterized by: vehicle body upper portion is provided with the stretcher that is used to support human body, and stretcher the right and left is equipped with mudwing, and the stretcher below is provided with the human detection switch and links with the central signal processing module; Also be provided with electric panel room (a), electric panel room (b) that electrical equipment is installed on the car body, wherein electric panel room (a) is positioned in the middle of two motor rooms and two battery chambers, electric panel room (b) is between vehicle body upper portion two stretchers, and electric panel room (b) top also is provided with status indicator lamp, electric weight indicator lamp, switch, button etc.
8. inertia navigation intelligent vehicle as claimed in claim 1 is characterized by: driver module is two covers, two reducing motors of difference individual drive, and driver module has the rotating power-handling capability of motor and has overcurrent protection and current-limiting function.
9. inertia navigation intelligent vehicle as claimed in claim 1, it is characterized by: the inertial navigation sensing module comprises: angular velocity sensor, filter, amplifier, A/D converter, microprocessor etc., angular velocity sensor measurement axis and car body horizontal surface are greatly to becoming vertical relation, and be fixed in electric panel room (a) or the electric panel room (b), angular velocity sensor output signal and the proportional relation of car body left rotation and right rotation acceleration/accel, signal is adjusted two wheel moments after filtering, amplification, A/D conversion, integration, little processing computing, stablize the vehicle ' course.
10. inertia navigation intelligent vehicle as claimed in claim 1 is characterized by: this car is provided with remote controller and guard against theft and alarm system, and button comprises on the remote controller: source switch button, guard against theft and alarm system button, light equipment button, auxiliary mode button etc.
CNA2009101072576A 2009-05-12 2009-05-12 Inertia navigation intelligent vehicle Pending CN101585388A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103970141A (en) * 2014-05-30 2014-08-06 芜湖蓝宙电子科技有限公司 Miniature intelligent upright vehicle embedded control system and method for teaching
CN104590457A (en) * 2015-01-22 2015-05-06 宁波联拓思维电子科技有限公司 Control system of electric monocycle
CN104856408A (en) * 2015-04-29 2015-08-26 无锡市崇安区科技创业服务中心 Trunk of automatic control device based on runner direction
CN105223963A (en) * 2015-11-14 2016-01-06 曹巧君 A kind of self-balancing dual-purpose shoe based on Control System of Inverted Pendulum
CN106005180A (en) * 2014-09-15 2016-10-12 常州爱尔威智能科技有限公司 Self-balancing dual-wheel electric vehicle with externally mounted motors
CN108974219A (en) * 2018-09-20 2018-12-11 河南联合力达新能源科技有限公司 It is a kind of for the mechanical from brake gear of balance car

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103970141A (en) * 2014-05-30 2014-08-06 芜湖蓝宙电子科技有限公司 Miniature intelligent upright vehicle embedded control system and method for teaching
CN103970141B (en) * 2014-05-30 2016-07-27 芜湖蓝宙电子科技有限公司 A kind of teaching upright car embedded control system of micro intelligence and method thereof
CN106005155B (en) * 2014-09-15 2017-06-23 常州爱尔威智能科技有限公司 A kind of external motor type self-balancing two-wheeled electrocar
CN106005180A (en) * 2014-09-15 2016-10-12 常州爱尔威智能科技有限公司 Self-balancing dual-wheel electric vehicle with externally mounted motors
CN106005155A (en) * 2014-09-15 2016-10-12 常州爱尔威智能科技有限公司 Self-balancing dual-wheel electric vehicle with externally mounted motors
CN104590457A (en) * 2015-01-22 2015-05-06 宁波联拓思维电子科技有限公司 Control system of electric monocycle
CN104856408A (en) * 2015-04-29 2015-08-26 无锡市崇安区科技创业服务中心 Trunk of automatic control device based on runner direction
CN105223963A (en) * 2015-11-14 2016-01-06 曹巧君 A kind of self-balancing dual-purpose shoe based on Control System of Inverted Pendulum
CN108974219A (en) * 2018-09-20 2018-12-11 河南联合力达新能源科技有限公司 It is a kind of for the mechanical from brake gear of balance car
CN108974219B (en) * 2018-09-20 2020-07-24 嘉兴众衡电气科技有限公司 Mechanical self-braking device for balance car

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Open date: 20091125