CN101932365A - Transporter and the controlling method thereof - Google Patents

Transporter and the controlling method thereof Download PDF

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Publication number
CN101932365A
CN101932365A CN2008800177786A CN200880017778A CN101932365A CN 101932365 A CN101932365 A CN 101932365A CN 2008800177786 A CN2008800177786 A CN 2008800177786A CN 200880017778 A CN200880017778 A CN 200880017778A CN 101932365 A CN101932365 A CN 101932365A
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CN
China
Prior art keywords
sheet material
sensor
variation
signal value
microprocessor
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CN2008800177786A
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Chinese (zh)
Inventor
朴捧馨
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Individual
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Individual
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/26—Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/12—Roller skates; Skate-boards with driving mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18181—Propulsion control with common controlling member for different functions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/01—Skateboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/80—Other vehicles not covered by groups B60Y2200/10 - B60Y2200/60
    • B60Y2200/81—Toys

Abstract

Provided is a transporter having a board base plate, a propulsion unit mounted to the board base plate to be in propulsion motion, a steering unit mounted to the board base plate to control a direction, a microprocessor controlling the propulsion unit and the steering unit, a power source unit supplying power, a board upper plate spaced a predetermined gap from an upper portion of the board base plate, the board upper plate being vertically movable according to a load applied by a driver riding thereon, and a plurality of sensors respectively disposed on a front side, a rear side, a left side, and a right side between the board base plate and the board upper plate and sensing a vertical movement of the board upper plate to respectively output signal values cor not responding to the vertical movement. The microprocessor receives the signal values and controls speed and direction based on the signal values. Thus, the driver changes each portion to which his/her weight is applied, to control the speed and direction without using a separate manual controlling device.

Description

A kind of vehicles and control method thereof
Technical field
The disclosure relates to a kind of vehicles and controls the method for these vehicles, more specifically, relate to a kind of vehicles and control the method for these vehicles, the described vehicles are suitable for utilizing sensor freely to control its speed and direction according to driver's wish, and do not need independent handheld device.
Background technology
Recently, the air pollution that causes by the tail gas of the vehicles that comprise automobile and owing to increasing and traffic jam that limited road network causes becomes more serious with respect to the volume of traffic.
In order to solve air pollution problems inherent, developed the fuel cell car that comprises the hydrogen fuel cell automobile, but not practical application.Equally, for the transport solution blockage problem, the annual work of all building new highway, enlarging existing highway and building subway, high-speed electrified line, airport and harbour, but the volume of traffic that not enough burden increases rapidly.Although also the someone advises using public transport, this is inconvenience and poor efficiency for only using the individual of public transport for activity in short range.
Therefore, be badly in need of a kind of vehicles, oneself freely taking, drive and moving under the state of taking thereon by him when the driver needs, the space that the described vehicles occupy is little, and the described vehicles are suitable for moving in short range, and do not produce waste gas.
Summary of the invention
Technical problem
Therefore, the disclosure provides the method for a kind of vehicles and these vehicles of control, and it is suitable for the wish according to the driver, utilizes sensor freely to control the speed and the direction of the vehicles, and does not need independent handheld device.
Technical scheme
In order to reach purpose of the present invention, a kind of vehicles are provided, it has: sheet material base plate (boardbase plate); Propulsion plant is installed on the sheet material base plate, to carry out ahead running; Transfer is installed on the sheet material base plate, with controlling party to; And power source, being used for supplying power, the described vehicles comprise: microprocessor is used to control propulsion plant and transfer; Sheet material upper plate (board upperplate), with the predetermined interval that is separated by, the top of sheet material base plate, described sheet material upper plate moves vertically according to the load of taking thereon that the driver applied; And a plurality of sensors, be placed on the front side between sheet material base plate and the sheet material upper plate respectively, rear side, left side and right side, and described a plurality of sensor is used for vertically moving of sensing sheet material upper plate, with output and described vertically mobile corresponding signal value respectively, wherein, microprocessor receives described signal value, and the variation at the signal value of the sensor of rear side is calculated in the interior calculating of predetermined period in the variation of the signal value of the sensor of front side with in this predetermined period, and calculate poor between the described variation, and described difference is input in the propulsion plant, to utilize the speed of controlling ahead running with the corresponding output of described difference, and described microprocessor calculates the variation of calculating in the variation of the signal value of the sensor in left side with in this predetermined period at the signal value of the sensor on right side in predetermined period, and calculate poor between the described variation, and described difference is input in the transfer, with utilize with the corresponding displacement of described difference come controlling party to.
The present invention also provides a kind of vehicles, and it has: the sheet material base plate; Propulsion plant is installed on the sheet material base plate, to carry out ahead running; Transfer is installed on the sheet material base plate, with controlling party to; And power source, being used for supplying power, the described vehicles comprise: microprocessor is used to control propulsion plant and transfer; The sheet material upper plate, with the predetermined interval that is separated by, the top of sheet material base plate, described sheet material upper plate moves vertically according to the load of taking thereon that the driver applied; And a plurality of sensors, be placed on front side or rear side and left side or right side between sheet material base plate and the sheet material upper plate respectively, and described a plurality of sensor is used for vertically moving of sensing sheet material upper plate, vertically move corresponding signal value with output respectively with described; Wherein, microprocessor receives described signal value, and in predetermined period, calculate in the front side or the variation of the signal value of the sensor of rear side, and described variation is input in the propulsion plant, to utilize the speed of controlling ahead running with the corresponding output of described variation, and described microprocessor calculates in the left side in predetermined period or the variation of the signal value of the sensor on right side, and described variation is input in the transfer, with utilize with the corresponding displacement of described variation come controlling party to.
Sensor can comprise at least a in pressure sensor, optical pickocff and the magnetic sensor.Pressure sensor can be placed on has predetermined diameter and from the inboard of the extended shell of sheet material base plate (housing) with have predetermined diameter and from the inboard of the extended shell of sheet material upper plate, and the compression spring with predetermined elasticity coefficient can be placed on around the described shell.And, optical pickocff can comprise light emitting members and light-receiving member, described light emitting members can be placed between sheet material base plate and the sheet material upper plate, described light-receiving member can be placed on and the corresponding position of light emitting members, and the barrier plate with the inclined surface that is connected with the sheet material upper plate can be placed between light emitting members and the light-receiving member.And, magnetic sensor can be placed between sheet material base plate and the sheet material upper plate, described magnetic sensor comprises: steel plate, comprise the upper end that is connected with the sheet material upper plate and with the be separated by lower end of predetermined space, described upper end, described lower surface is connected to described upper end and with the sheet material base plate, described steel plate has predetermined magnetic conductivity, to form magnetic circuit; And Hall element, be placed on the lower end of steel plate.
The present invention also provides a kind of method of controlling the vehicles, and the described vehicles comprise: sheet material; Propulsion plant is installed on the sheet material, to carry out ahead running; Microprocessor is used to control propulsion plant; And a plurality of sensors, be placed on the front side and the rear side of sheet material respectively, and described a plurality of sensor sensing respectively rides in the load that the driver applied on the sheet material, output and the corresponding signal value of load that is sensed respectively then, described method comprises: by at the sensor of front side with at the sensor of rear side output signal value respectively, and signal value is transferred to microprocessor; By the microprocessor receives signals value, and in predetermined period, calculate in the variation of the signal value of the sensor of front side and in this predetermined period, calculate variation, and calculate poor between the described variation at the signal value of the sensor of rear side; By microprocessor described difference is input in the propulsion plant, to drive propulsion plant; And, when described difference greater than zero the time, utilize with the corresponding output of described difference ahead running is quickened; And, when described difference equals zero, keep the speed of ahead running identical with the speed of before predetermined period, determining; And, when described difference less than zero the time, utilize with the corresponding output of described difference ahead running is slowed down.
The present invention also provides a kind of method of controlling the vehicles, and the described vehicles comprise: sheet material; Transfer is installed on the sheet material, with controlling party to; Microprocessor is used to control transfer; And a plurality of sensors, be placed on the left side and the right side of sheet material respectively, and described a plurality of sensor sensing respectively rides in the load that the driver applied on the sheet material, output and the corresponding signal value of load that is sensed respectively then, described method comprises: by at the sensor in left side with at the sensor on right side output signal value respectively, and signal value is transferred to microprocessor; By the microprocessor receives signals value, and in predetermined period, calculate in the variation of the signal value of the sensor in left side and in this predetermined period, calculate variation, and calculate poor between the described variation at the signal value of the sensor on right side; By microprocessor described difference is input in the transfer, to drive transfer; And, when described poor non-zero, utilize with the corresponding displacement of described difference to change described direction; And, when described difference equals zero, keep described direction identical with the direction of before described predetermined period, determining.
The present invention also provides a kind of method of controlling the vehicles, and the described vehicles comprise: sheet material; Propulsion plant is installed on the sheet material, to carry out ahead running; Microprocessor is used to control propulsion plant; And at least one sensor, be placed on the front side or the rear side of sheet material, and described sensor sensing rides in the load that the driver applied on the sheet material, output and the corresponding signal value of load that is sensed then, described method comprises: by at the sensor of front side or in the sensor output signal value of rear side, and signal value is transferred to microprocessor; By the microprocessor receives signals value, and the variation of in predetermined period, calculating described signal value; And, by microprocessor described variation is input in the propulsion plant, to drive propulsion plant; And, when described variation greater than zero the time, utilize with the corresponding output of described variation ahead running is quickened; And, when described variation equals zero, keep the speed of ahead running identical with the speed of before described predetermined period, determining; And, when described variation less than zero the time, utilize with the corresponding output of described variation ahead running is slowed down.
The present invention also provides a kind of method of controlling the vehicles, and the described vehicles comprise: sheet material; Transfer is installed on the sheet material, with controlling party to; Microprocessor is used to control transfer; And at least one sensor, be placed on the left side or the right side of sheet material, and described sensor sensing rides in the load that the driver applied on the sheet material, output and the corresponding signal value of load that is sensed then, described method comprises: by at the sensor in left side or in the sensor output signal value on right side, and signal value is transferred to microprocessor; By the microprocessor receives signals value, and the variation of the signal value of calculating sensor in predetermined period; By microprocessor described variation is input in the transfer, to drive transfer; And, when described variation non-zero, utilize with the corresponding displacement of described variation to change described direction; And, when described variation equals zero, keep described direction identical with the direction of before described predetermined period, determining.
Calculate described variation and can comprise by microprocessor and multiply by the described variation that calculates, and described constant can at random be set, be used for controlling the sensitivity of the vehicles with control with predetermined constant.
Beneficial effect
As mentioned above, according to the disclosure, a kind of vehicles and the method for controlling these vehicles are suitable for the wish according to the driver, utilize to comprise that the simple structure of sensor freely controls the speed and the direction of the vehicles, and do not need independent handheld device.Therefore, the described vehicles and the method for controlling these vehicles are suitable for when the driver needs, and oneself freely take, drive and move by him to occupy little space, driver under the state of taking thereon, and be suitable in short range, moving, and do not produce waste gas.
Description of drawings
Fig. 1 is the schematic diagram of diagram according to the vehicles of an exemplary embodiment.
Fig. 2 is the side view of the vehicles shown in Figure 1.
Fig. 3 is the part enlarged drawing of Fig. 2, and diagram is used for the exemplary configurations according to the sensor of the system of an exemplary embodiment.
Fig. 4 A to Fig. 4 C is the profile of diagram according to the optical pickocff of another exemplary embodiment, and described optical pickocff is placed on four sides between sheet material base plate and the sheet material upper plate.
Fig. 5 A and Fig. 5 B are the profile of diagram according to the magnetic sensor of another exemplary embodiment, and described magnetic sensor is placed on four sides between sheet material base plate and the sheet material upper plate.
Fig. 6 is a flow chart, the acceleration of the diagram control vehicles according to an illustrative embodiment of the invention and the method for retarded motion.
Fig. 7 is a flow chart, and diagram is according to the method for the side-to-side movement of the control vehicles of the exemplary embodiment of Fig. 6.
Fig. 8 is a flow chart, and diagram is the acceleration of the control vehicles of another exemplary embodiment and the method for retarded motion according to the present invention.
Fig. 9 is a flow chart, and diagram is according to the method for the side-to-side movement of the control vehicles of the exemplary embodiment of Fig. 8.
The specific embodiment
Hereinafter, describe specific embodiment with reference to the accompanying drawings in detail.
Can comprise according to the vehicles of the present disclosure the vehicles of various prior aries particularly, comprising the stand-type vehicles, the driver stand on it and drives.This stand-type vehicles mainly are the roller templates, and its available engine drives.
Fig. 1 and Fig. 2 diagram are according to the vehicles 1 of comprising of an exemplary embodiment of plate shaped sheet material base plate 10.
See figures.1.and.2, the vehicles 1 comprise sheet material base plate 10.The driver stands on the sheet material base plate 10, and his/her both feet or pin are placed on the top of sheet material base plate 10, to drive a conveyance.Sheet material base plate 10 can be oval, super-elliptical, rectangle or circular, but is not limited to these shapes.Ideally, sheet material base plate 10 is super-elliptical shapes.
Comprise the deflecting roller (Steering wheels) 12 of one wheel pairs and comprise that the propelling wheel 14 of one wheel pairs is installed in the downside of sheet material base plate 10.And, battery 16, be used to make the steering gear 18 that deflecting roller 12 turns to and be used to drive the downside that the propelling driver 20 that advances wheel 14 is placed on sheet material base plate 10.Connect the power supply of battery 16 as steering gear 18 and propelling driver 20.And controller 40 is installed in the downside of sheet material base plate 10, and predetermined microprocessor (being called hereinafter, " microprocessor ") is arranged in the controller 40.The microprocessor 40 that drives by the battery 16 as power supply receives the output of sensor 32a, 32b, 32c and the 32d that will describe after a while, then, based on the output control propelling driver 20 that receives and the input current of steering gear 18, control acceleration, deceleration, left-hand rotation and the right-hand rotation of the vehicles 1 thus.
The upside of sheet material base plate 10 is provided with sheet material upper plate 22.The driver is placed on his/her both feet on the sheet material upper plate 22, to drive a conveyance on one's feet.Support member 26 and 28 with horizontal opening 24 extends downwards from the front-end and back-end of sheet material upper plate 22, insert the horizontal opening 24 of support members 26 and 28 from the extended coupling unit in the front-end and back-end of sheet material base plate 10 30, so that make sheet material base plate 10 and sheet material upper plate 22 coupled to each other.In this, it is desirable to sheet material base plate 10 and sheet material upper plate 22 is allowed to move vertically in limited scope.For this reason, in the present embodiment, the vertical size of horizontal opening 24 makes sheet material upper plate 22 to move vertically with respect to sheet material base plate 10 in limited scope greater than the thickness of the coupling unit 30 of sheet material base plate 10.
Sensor 32a, 32b, 32c and 32d are placed between sheet material base plate 10 and the sheet material upper plate 22.Here, according to present embodiment, sensor 32a, 32b, 32c and 32d are placed on front side, rear side, left side and the right side between sheet material base plate 10 and the sheet material upper plate 22 respectively, to form four-sensor system (referring to Fig. 1).Perhaps, according to another embodiment, in sensor 32a, 32b, 32c and 32d, sensor 32a can be placed on the front side or a sensor 32b can be placed on rear side, and sensor 32c can be placed on the left side or a sensor 32d can be placed on the right side, to form double-sensor system.Perhaps, according to another embodiment, in sensor 32a, 32b, 32c and 32d, a sensor 32a can be placed on the front side, or a sensor 32b can be placed on rear side, or a sensor 32c can be placed on the left side, or a sensor 32d can be placed on the right side, to form the single-sensor system.
And sensor 32a, 32b, 32c and 32d can comprise the combination of pressure sensor, magnetic sensor, optical pickocff or these sensors.Here, this pressure sensor can comprise at least one in the following sensor: mechanical pressure sensor, and it comprises the full dome of elasticity (elastic full dome) formula, diaphragm type and bell-jar pressure sensor; Electric pressure sensor, it comprises capacitance-type pressure sensor, have the piezoresistive pressure sensor of deformeter, have the piezoelectric pressure indicator of organic or inorganic piezoelectric element, linear variable difference transformer (LVDT) and inductance coil formula pressure sensor; Pressure resistance type or capacitive semiconductor pressure sensor; And the combination of the sensor.According to another embodiment, this magnetic sensor can comprise at least one in the magnetoresistor (ferromagnetic material magneto resistance device) of magnetic head, Hall element, semiconductor or ferromagnetic material.And according to another exemplary embodiment, this optical pickocff can comprise at least one in photodiode, phototriode, image sensor module, integrated optoelectronic circuit, cadmium sulfide (CdS) photocell and the photo-coupler.
Fig. 3 is the profile of diagram according to the pressure sensor of an exemplary embodiment, and described pressure sensor is as sensor 32a, 32b, 32c and the 32d of four sides between sheet material base plate 10 and sheet material upper plate 22.
With reference to Fig. 3, pressure sensor 32a, 32b, 32c and 32d are placed in shell 34 and the shell 36, shell 34 has minor diameter and extends from sheet material base plate 10, shell 36 has major diameter and extends from sheet material upper plate 22, and the compression spring 38 with predetermined elasticity coefficient be placed on shell 34 and 36 around.Here, with reference to Fig. 1, the driver stands in the top of sheet material upper plate 22 with his/her both feet or single pin, and will be applied at least one side in front side, rear side, left side and the right side of sheet material upper plate 22 with the corresponding pressure of his/her body weight with double-legged or single pin wittingly.Therefore, each pressure sensor 32a, 32b, 32c and 32d sense in real time by 22 applied pressures of sheet material upper plate, the voltage of output pressure is data signal by the A/D converter (not shown) with described voltage transitions then, more described signal is transferred to microprocessor 40.Then, microprocessor 40 receives output voltages, periodically checks described voltage, and with the movement instruction (that is, quicken, slow down, turn left and turn right and move) of predetermined algorithm identification of driver.Afterwards, microprocessor 40 is input to corresponding instruction signal (that is, input current) and advances driver 20 and/or steering gear 18, with the control vehicles 1, thereby the vehicles 1 is moved according to driver's wish.Describe this control method in detail with reference to Fig. 6 to Fig. 9.
Fig. 4 A to Fig. 4 C is the profile of diagram according to the optical pickocff of another exemplary embodiment, described optical pickocff for example: sensor 32a, 32b, 32c and 32d are placed on four sides between sheet material base plate 10 and sheet material upper plate 22.
With reference to Fig. 4 A to Fig. 4 C, optical pickocff 32a, 32b, 32c and 32d are suitable for obtaining changing proportional voltage output with light quantity, and optical pickocff 32a, 32b, 32c and 32d comprise light emitting members 42 and light-receiving member 44.Light emitting members 42 is placed between sheet material base plate 10 and the sheet material upper plate 22, and light-receiving member 44 is placed on and light emitting members 42 corresponding positions.Barrier plate 48 with the inclined surface 46 that is set on the sheet material upper plate 22 is placed between light emitting members 42 and the light-receiving member 44.Move vertically by the inclined surface 46 that makes barrier plate 48, the light quantity that light-receiving member 44 receives changes, and provide and the proportional voltage output of the variation of light quantity, wherein, described inclined surface 46 carries out vertically moving with respect to moving of sheet material base plate 10 according to sheet material upper plate 22.Therefore, as mentioned above, voltage is converted into data signal by the A/D converter (not shown), and is transferred in the microprocessor 40.Then, microprocessor 40 receives output voltages, periodically checks described voltage, and with the movement instruction (that is, quicken, slow down, turn left and turn right and move) of predetermined algorithm identification of driver.Afterwards, microprocessor 40 is input to corresponding instruction signal (that is, input current) and advances driver 20 and/or apparatus 18, with the control vehicles 1, thereby the vehicles 1 is moved according to driver's wish.Describe this control method in detail with reference to Fig. 6 to Fig. 9.
Fig. 5 A and Fig. 5 B are the profile of diagram according to the magnetic sensor of another exemplary embodiment, described magnetic sensor for example: sensor 32a, 32b, 32c and 32d are placed on four sides between sheet material base plate 10 and sheet material upper plate 22.
With reference to Fig. 5 A and Fig. 5 B, magnetic sensor 32a, 32b, 32c and 32d receive with the increase of magnetic flux and reduce proportional voltage output, and are placed between sheet material base plate 10 and the sheet material upper plate 22.Upper end 50 and lower end 52 are spaced by breach, and are facing with each other, to form the steel plate 54 of " C " shape.Steel plate 54 is formed by the elastomeric material with high magnetic permeability, to form magnetic circuit.Hall element 58 is placed on the upper end 50 and the lower end 52 in the lower end 52 that forms breach.When the upper end 50 of steel plate 54 by moving downward of sheet material upper plate 22 during near the lower end 52 faced, breach narrows down, and the magnetoresistance of magnetic circuit reduces, and the magnetic linkage of Hall element 58 increases, thereby generates and the proportional voltage of magnetic flux at the output of Hall element 58.Therefore, magnetic sensor 32a, 32b, 32c and 32d produce with the increase of magnetic flux and reduce proportional voltage output, and, as mentioned above, is data signal by the A/D converter (not shown) with voltage transitions, and described signal is transferred in the microprocessor 40.Then, microprocessor 40 receives output voltages, periodically checks described voltage, and with the movement instruction (that is, quicken, slow down, turn left and turn right and move) of predetermined algorithm identification of driver.Afterwards, microprocessor 40 is input to corresponding instruction signal (that is, input current) and advances driver 20 and/or steering gear 18, with the control vehicles 1, thereby the vehicles 1 is moved according to driver's wish.Describe this control method in detail with reference to Fig. 6 to Fig. 9.
Fig. 6 is a flow chart, and diagram is according to the acceleration of the control vehicles 1 of an exemplary embodiment and the method for retarded motion.
At first, in operation S601, when the driver opens the power switch (not shown) of the vehicles 1, the output valve V of preceding side senser 32a and back side senser 32b 32aAnd V 32bInitial value be reset to zero by microprocessor 40.
Then, in operation S602,, the variation (that is, input value) that changes according to driver's wish is sensed in real time by preceding side senser 32a and back side senser 32b, then output valve V 32aAnd V 32bExported in real time, be transferred to microprocessor 40 afterwards.
Then, in operation S603,, calculate in predetermined period or in real time the output valve V that is transmitted by microprocessor 40 32aAnd V 32bWith the previous value V that transmits 32a_oldAnd V 32b_oldBetween poor Δ V separately 32aWith Δ V 32b, calculate difference Δ V then 32aWith Δ V 32bBetween poor Δ V 32a-Δ V 32b
In this, in operation S604, Δ V is on duty 32a-Δ V 32bDuring greater than " 0 ", in operation S605, from following equation 1, calculate input current value " I ", be entered into then and advance driver 20, advance the output of driver 20, thereby the vehicles 1 are quickened with increase by microprocessor 40.In this, the driver utilizes microprocessor 40 that the value k of equation 1 is set wittingly 32a, 32b, be controlled to be the variation that in the past side senser 32a and back side senser 32b receive with the output sensitivity that freely will advance driver 20.
I=I Old+ k 32a, 32b(Δ V 32a-Δ V 32b) (equation 1)
(wherein, I OldBe previous input current value, k 32a, 32bBe the control constant)
In operation S606, Δ V is on duty 32a-Δ V 32bWhen equaling " 0 ", the operation S607 in, by microprocessor 40 with previous input current value I OldBe input in the propelling driver 20, thereby make the vehicles 1 uniform motion.
Δ V is on duty 32a-Δ V 32bDuring less than " 0 ", in operation S608, from following equation 2, calculate input current value " I ", be entered into then and advance driver 20, reducing to advance the output of driver 20, thereby the vehicles 1 are slowed down by microprocessor 40.In this, the driver is provided with k as stated above 32a, 32b
I=I Old-k 32a, 32b(Δ V 32b-Δ V 32a) (equation 2)
Then, in operation S609,, so just carry out aforesaid operations S602 to S608 continuously by microprocessor 40 as long as power switch remains on " unlatching " state.
Fig. 7 is a flow chart, and diagram is according to the method for the left-hand rotation and the motion of turning right of the control vehicles 1 of the exemplary embodiment of Fig. 6.
At first, in operation S701, when the driver opens the power switch (not shown) of the vehicles 1, the output valve V of left side sensor 32c and right sensor 32d 32cAnd V 32dInitial value be reset to zero by microprocessor 40.
Then, in operation S702, the variation (that is, input value) that changes according to driver's wish is sensed in real time by left side sensor 32c and right sensor 32d, then output valve V 32cAnd V 32dExported in real time, be transferred to microprocessor 40 afterwards.
Then, in operation S703, calculate the output valve V that is transmitted in the given time or in real time by microprocessor 40 32cAnd V 32dValue V with previous transmission 32c_oldAnd V 32d_oldBetween poor Δ V separately 32cWith Δ V 32d, calculate difference Δ V then 32cWith Δ V 32dBetween poor Δ V 32c-Δ V 32d
In this, in operation S704, Δ V is on duty 32c-Δ V 32dDuring greater than " 0 ", in operation S705, from following equation 3, calculate input current value " I ", be entered into then in the steering gear 18 by microprocessor 40, thus with predetermined angle towards the left side or the right side guiding vehicles 1.In this, the predetermined angle of control makes itself and input current value " I " proportional.And the driver utilizes microprocessor 40 that the value k of equation 3 is set wittingly 32c, 32d, freely the output sensitivity of steering gear 18 is controlled to be the variation that receives from left side sensor 32c and right sensor 32d.
I=I Old+ k 32c, 32d(Δ V 32c-Δ V 32d) (equation 3)
In operation S706, Δ V is on duty 32c-Δ V 32dWhen equaling " 0 ", the operation S707 in, by microprocessor 40 with previous input current value I OldBe input in the steering gear 18, thereby the vehicles 1 are moved along the direction identical with previous direction.
Δ V is on duty 32c-Δ V 32dDuring less than " 0 ", in operation S708, from following equation 4, calculate input current value " I " by microprocessor 40, then with its input, thereby with predetermined angle towards the left side or the right side guiding vehicles 1.In this, the predetermined angle of control makes itself and input current value " I " proportional, and the driver is provided with k as stated above 32c, 32d
I=I Old-k 32c, 32d(Δ V 32d-Δ V 32c) (equation 4)
Then, in operation S709,, so just carry out aforesaid operations S702 to S708 continuously by microprocessor 40 as long as power switch remains on " unlatching " state.
As mentioned above, according to described exemplary embodiment, can according to from the front side, the output valve of sensor 32a, 32b, 32c and the 32d output on rear side, left side, right side controls acceleration, deceleration, left-hand rotation and the right-hand rotation campaign of the vehicles 1.And, according to another exemplary embodiment, purpose of the present disclosure can utilize double-sensor system to realize, side senser 32a or back side senser 32b before described double-sensor system comprises, and left side sensor 32c or right sensor 32d, which will be described below.
Fig. 8 is a flow chart, and diagram is according to the acceleration of the control vehicles 1 of another exemplary embodiment and the method for retarded motion.As mentioned above, side senser 32a or back side senser 32b before comprising according to the sensor of this exemplary embodiment, and left side sensor 32c or right sensor 32d, described sensor is positioned on the sheet material upper plate 10, to realize double-sensor system.
At first, in operation S801, when the driver opens the power switch (not shown) of the vehicles 1, the output valve V of preceding side senser 32a or back side senser 32b 32aOr V 32bInitial value be reset to zero by microprocessor 40.
Then, in operation S802, the variation (that is, input value) that changes according to driver's wish is sensed in real time by preceding side senser 32a or back side senser 32b, then output valve V 32aOr V 32bExported in real time, be transferred to microprocessor 40 afterwards.
Then, in operation S803, calculate the output valve V that is transmitted in the given time or in real time by microprocessor 40 32aOr V 32bValue V with previous transmission 32a_oldOr V 32b_oldBetween poor Δ V 32aWith Δ V 32b
In this, in operation S804, Δ V is on duty 32aOr Δ V 32bDuring greater than " 0 ", in operation S805, from following equation 5, calculate input current value " I ", be entered into then and advance driver 20, advance the output of driver 20, thereby the vehicles 1 are quickened with increase by microprocessor 40.In this, as mentioned above, the driver utilizes microprocessor 40 that the value k of equation 5 is set wittingly 32aOr k 32b, being controlled to be in the past with the output sensitivity that freely will advance driver 20, side senser 32a comes with the variation that back side senser 32b receives.
I=I Old+ (k 32aOr k 32b) * (Δ V 32aOr Δ V 32b) (equation 5)
(wherein, I OldBe previous input current value, k 32aOr k 32bBe the control constant)
In operation S806, Δ V is on duty 32aOr Δ V 32bWhen equaling " 0 ", the operation S807 in, by microprocessor 40 with previous input current value I OldBe input in the propelling driver 20, thereby make the vehicles 1 uniform motion.
Δ V is on duty 32aOr Δ V 32bDuring less than " 0 ", in operation S808, from following equation 6, calculate input current value " I ", be entered into then and advance driver 20, reducing to advance the output of driver 20, thereby the vehicles 1 are slowed down by microprocessor 40.In this, the driver is provided with k as stated above 32aOr k 32b
I=I Old+ (k 32aOr k 32b) * (Δ V 32aOr Δ V 32b) (equation 6)
Then, in operation S809,, so just carry out aforesaid operations S802 to S808 continuously by microprocessor 40 as long as power switch remains on " unlatching " state.
Fig. 9 is a flow chart, and diagram is according to the method for the left-hand rotation and the motion of turning right of the control vehicles 1 of the exemplary embodiment of Fig. 8.
At first, in operation S901, when the driver opens the power switch (not shown) of the vehicles 1, the output valve V of left side sensor 32c or right sensor 32d 32cOr V 32dInitial value be reset to zero by microprocessor 40.
Then, in operation S902, the variation (that is, input value) that changes according to driver's wish is sensed in real time by left side and right sensor 32c or 32d, then output valve V 32cOr V 32dExported in real time, be transferred to microprocessor 40 afterwards.
Then, in operation S903, calculate the output valve V that is transmitted in the given time or in real time by microprocessor 40 32cOr V 32dValue V with previous transmission 32c_oldOr V 32d_oldBetween poor Δ V 32cOr Δ V 32d
In this, in operation S904, Δ V is on duty 32cOr Δ V 32dDuring greater than " 0 ", in operation S905, from following equation 7, calculate input current value " I ", be entered into then in the steering gear 18 by microprocessor 40, thus with predetermined angle towards the left side or the right side guiding vehicles 1.In this, the predetermined angle of control makes itself and input current value " I " proportional.And the driver utilizes microprocessor 40 that the value k of equation 7 is set wittingly 32cOr k 32d, freely the output sensitivity of steering gear 18 is controlled to be the variation that receives from left side sensor 32c and right sensor 32d.
I=I Old+ (k 32cOr k 32d) * (Δ V 32cOr Δ V 32d) (equation 7)
In operation S906, Δ V is on duty 32cOr Δ V 32dWhen equaling " 0 ", the operation S907 in, by microprocessor 40 with previous input current value I OldBe input in the steering gear 18, thereby the vehicles 1 are moved along the direction identical with previous direction.
Δ V is on duty 32cOr Δ V 32dDuring less than " 0 ", in operation S908, from following equation 8, calculate input current value " I " by microprocessor 40, then with its input, thereby with predetermined angle towards the left side or the right side guiding vehicles 1.In this, the predetermined angle of control makes itself and input current value " I " proportional, and the driver is provided with k as stated above 32cOr k 32d
I=I Old+ (k 32cOr k 32d) * (Δ V 32cOr Δ V 32d) (equation 8)
Then, in operation S909,, so just carry out aforesaid operations S902 to S908 continuously by microprocessor 40 as long as power switch remains on " unlatching " state.
As mentioned above, according to this exemplary embodiment, preceding side senser 32a or back side senser 32b, and left side sensor 32c or right sensor 32d formation double-sensor system.Can control acceleration, deceleration, left-hand rotation and the right-hand rotation campaign of the vehicles 1 according to the output valve of double-sensor system.
Although the described vehicles and the method for controlling these vehicles are described with reference to embodiment particularly, be not limited thereto.Therefore, those skilled in the art can easily understand, and are not exceeding under the situation of the spirit and scope of the present invention that limited by accompanying Claim, can carry out various modifications and variations to the present invention.For example, according to an embodiment, steering gear 18 can comprise and is used to control the independent microprocessor that turns to function.In this case, the microprocessor 40 of the vehicles 1 calculates each operation (S705 of Fig. 7, S707 and S708, and the S905 of Fig. 9, S907 and S908) in input current value " I ", and will calculate the result by A/D converter and be converted to data signal, in the microprocessor with described signal input redirect device 18, turn to function then with execution.

Claims (12)

1. vehicles have: the sheet material base plate; Propulsion plant is installed on the described sheet material base plate, to carry out ahead running; Transfer is installed on the described sheet material base plate, with controlling party to; And power source, being used for supplying power, the described vehicles comprise:
Microprocessor is used to control described propulsion plant and described transfer;
The sheet material upper plate, with the predetermined interval that is separated by, the top of described sheet material base plate, described sheet material upper plate moves vertically according to the load of taking thereon that the driver applied; And
A plurality of sensors, be placed on front side, rear side, left side and right side between described sheet material base plate and the described sheet material upper plate respectively, and described a plurality of sensor is used for vertically moving of the described sheet material upper plate of sensing, with output and the described vertical corresponding signal value that moves respectively;
Wherein, described microprocessor receives described signal value, and in predetermined period, calculate in the variation of the described signal value of the described sensor of described front side and in this predetermined period, calculate variation at the described signal value of the described sensor of described rear side, and calculate poor between the described variation, and described difference is input in the described propulsion plant, utilizing the speed of controlling described ahead running with the corresponding output of described difference, and
Described microprocessor calculates the variation of calculating in the variation of the described signal value of the described sensor in described left side with in this predetermined period at the described signal value of the described sensor on described right side in predetermined period, and calculate poor between the described variation, and described difference is input in the described transfer, with utilize with the corresponding displacement of described difference come controlling party to.
2. vehicles have: the sheet material base plate; Propulsion plant is installed on the described sheet material base plate, to carry out ahead running; Transfer is installed on the described sheet material base plate, with controlling party to; And power source, being used for supplying power, the described vehicles comprise:
Microprocessor is used to control described propulsion plant and transfer;
The sheet material upper plate, with the predetermined interval that is separated by, the top of described sheet material base plate, described sheet material upper plate moves vertically according to the load of taking thereon that the driver applied; And
A plurality of sensors, be placed on described front side or described rear side and described left side or described right side between described sheet material base plate and the described sheet material upper plate respectively, and described a plurality of sensor is used for vertically moving of the described sheet material upper plate of sensing, with output and the described vertical corresponding signal value that moves respectively;
Wherein, described microprocessor receives described signal value, and calculating is in the variation of the described signal value of the described sensor of described front side or described rear side in predetermined period, and described variation is input in the described propulsion plant, utilizing the speed of controlling described ahead running with the corresponding output of described variation, and
Described microprocessor calculates the variation at the described signal value of the described sensor on described left side or described right side in predetermined period, and described variation is input in the described transfer, with utilize with the corresponding displacement of described variation come controlling party to.
3. the vehicles according to claim 1 and 2, wherein, described sensor comprises at least one in pressure sensor, optical pickocff and the magnetic sensor.
4. the vehicles according to claim 3, wherein, described pressure sensor is placed on has predetermined diameter and from the inboard of the extended shell of described sheet material base plate with have predetermined diameter and from the inboard of the extended shell of described sheet material upper plate, and the compression spring with predetermined elasticity coefficient is placed on around the described shell.
5. the vehicles according to claim 3, wherein, described optical pickocff comprises light emitting members and light-receiving member, described light emitting members is placed between described sheet material base plate and the described sheet material upper plate, described light-receiving member is placed on and the corresponding position of described light emitting members, and the barrier plate with the inclined surface that is connected with described sheet material upper plate is placed between described light emitting members and the described light-receiving member.
6. the vehicles according to claim 3, wherein, described magnetic sensor is placed between described sheet material base plate and the described sheet material upper plate, and described magnetic sensor comprises:
Steel plate, comprise the upper end that is connected with described sheet material upper plate and with the be separated by lower end of predetermined space, described upper end, described lower surface is connected to described upper end and with described sheet material base plate, described steel plate has predetermined magnetic conductivity, to form magnetic circuit; And
Hall element is placed on the lower end of described steel plate.
7. method of controlling the vehicles, the described vehicles comprise: sheet material; Propulsion plant is installed on the described sheet material, to carry out ahead running; Microprocessor is used to control described propulsion plant; And a plurality of sensors, be placed on the front side and the rear side of described sheet material respectively, and described a plurality of sensor sensing respectively rides in the load that the driver applied on the described sheet material, output and the corresponding signal value of load that is sensed respectively then, and described method comprises:
By exporting described signal value respectively, and described signal value is transferred to described microprocessor at the described sensor of described front side with at the described sensor of described rear side;
By described microprocessor receives signals value, and in predetermined period, calculate in the variation of the described signal value of the described sensor of described front side and in this predetermined period, calculate variation, and calculate poor between the described variation at the described signal value of the described sensor of described rear side; And
By microprocessor described difference is input in the described propulsion plant, to drive described propulsion plant; And
When described difference greater than zero the time, utilize with the corresponding output of described difference ahead running is quickened; And
When described difference equals zero, keep the speed of ahead running identical with the speed of before described predetermined period, determining; And
When described difference less than zero the time, utilize with the corresponding output of described difference ahead running is slowed down.
8. method of controlling the vehicles, the described vehicles comprise: sheet material; Transfer is installed on the described sheet material, with controlling party to; Microprocessor is used to control described transfer; And a plurality of sensors, be placed on the left side and the right side of described sheet material respectively, and described a plurality of sensor sensing respectively rides in the load that the driver applied on the described sheet material, output and the corresponding signal value of load that is sensed respectively then, and described method comprises:
By exporting described signal value respectively, and described signal value is transferred to described microprocessor at the described sensor in described left side with at the described sensor on described right side;
Receive described signal value by described microprocessor, and in predetermined period, calculate in the variation of the described signal value of the described sensor in described left side and in described predetermined period, calculate variation, and calculate poor between the described variation at the described signal value of the described sensor on described right side; And
By described microprocessor described difference is input in the described transfer, to drive described transfer; And
When described poor non-zero, utilize with the corresponding displacement of described difference to change described direction; And
When described difference equals zero, keep described direction identical with the direction of before described predetermined period, determining.
9. method of controlling the vehicles, the described vehicles comprise: sheet material; Propulsion plant is installed on the described sheet material, to carry out ahead running; Microprocessor is used to control described propulsion plant; And at least one sensor, be placed on the front side or the rear side of described sheet material, and described sensor sensing rides in the load that the driver applied on the described sheet material, output and the corresponding signal value of load that is sensed then, described method comprises:
By exporting described signal value, and described signal value is transferred to described microprocessor at the described sensor of described front side or at the described sensor of described rear side;
Receive described signal value by described microprocessor, and in predetermined period, calculate the variation of described signal value; And
By described microprocessor described variation is input in the described propulsion plant, to drive described propulsion plant; And
When described variation greater than zero the time, utilize with the corresponding output of described variation described ahead running is quickened;
When described variation equals zero, keep the speed of ahead running identical with the speed of before described predetermined period, determining; And
When described variation less than zero the time, utilize with the corresponding output of described variation described ahead running is slowed down.
10. method of controlling the vehicles, the described vehicles comprise: sheet material; Transfer is installed on the described sheet material, with controlling party to; Microprocessor is used to control described transfer; And at least one sensor, be placed on the left side or the right side of described sheet material, and described sensor sensing rides in the load that the driver applied on the described sheet material, output and the corresponding signal value of load that is sensed then, described method comprises:
By exporting described signal value, and described signal value is transferred to described microprocessor at the described sensor in described left side or at the described sensor on described right side;
By described microprocessor receives signals value, and the variation of the signal value of calculating sensor in predetermined period;
By described microprocessor described variation is input in the described transfer, to drive described transfer; And
When described variation non-zero, utilize with the corresponding displacement of described variation to change described direction; And
When described variation equals zero, keep described direction identical with the direction of before described predetermined period, determining.
11. according to any described method in the claim 7 to 10, wherein, calculate described variation and comprise by described microprocessor and multiply by the described variation that calculates, and described constant at random is set, be used to control the sensitivity of the described vehicles with control with predetermined constant.
12. according to any described method in the claim 7 to 10, wherein, described sensor comprises at least one in pressure sensor, optical pickocff and the magnetic sensor.
CN2008800177786A 2007-05-28 2008-05-27 Transporter and the controlling method thereof Pending CN101932365A (en)

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KR1020070051258A KR100833338B1 (en) 2007-05-28 2007-05-28 Transporter and the controlling method thereof
PCT/KR2008/002946 WO2008147091A1 (en) 2007-05-28 2008-05-27 Transporter and the controlling method thereof

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CN105523128A (en) * 2016-01-14 2016-04-27 常州爱尔威智能科技有限公司 Electric balance car and steering control method thereof
CN105539165A (en) * 2015-12-22 2016-05-04 浙江易力车业有限公司 Gravity sensor control system of electric scooter
CN108434709A (en) * 2018-06-05 2018-08-24 北京小米移动软件有限公司 Skateboard control method and slide plate

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CN105169687B (en) * 2015-09-18 2017-12-12 深圳车泰斗科技有限公司 A kind of Segway Human Transporter and its driving method with pressure sensitive system
CN105539165A (en) * 2015-12-22 2016-05-04 浙江易力车业有限公司 Gravity sensor control system of electric scooter
CN105523128A (en) * 2016-01-14 2016-04-27 常州爱尔威智能科技有限公司 Electric balance car and steering control method thereof
CN108434709A (en) * 2018-06-05 2018-08-24 北京小米移动软件有限公司 Skateboard control method and slide plate
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