CN103895770A - All-around self-balancing electric monocycle - Google Patents
All-around self-balancing electric monocycle Download PDFInfo
- Publication number
- CN103895770A CN103895770A CN201410149106.8A CN201410149106A CN103895770A CN 103895770 A CN103895770 A CN 103895770A CN 201410149106 A CN201410149106 A CN 201410149106A CN 103895770 A CN103895770 A CN 103895770A
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- China
- Prior art keywords
- monocycle
- main wheel
- flywheel
- master controller
- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K1/00—Unicycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses an all-around self-balancing electric monocycle. The all-around self-balancing electric monocycle comprises a master controller, a flywheel and a main wheel. The master controller comprises a single-chip microcomputer, gyroscopes and accelerometers, wherein the gyroscopes and the accelerometers are in communication connection with the single-chip microcomputer. The flywheel comprises a flywheel set and a flywheel motor. The main wheel comprises a main wheel tire and a main wheel motor. The flywheel motor is controlled by the master controller to drive the flywheel set to be matched with the main wheel to achieve left-right balance of the electric monocycle, and the main wheel motor is controlled by the master controller to drive the main wheel tire to control the electric monocycle to move forwards and backwards. According to the all-around self-balancing electric monocycle, the left-right balance of the monocycle is achieved, a user directly gets on the monocycle without practice after the monocycle is started, the monocycle cannot topple over, the learning difficulty of the monocycle is completely changed, and great advantages and different experience are brought for the user; the speed is controlled through an induction center, the user can quickly learn how to ride the monocycle, and safety of the rider is guaranteed; the monocycle is as stable as a sedan car, and is small in size, environmentally friendly and safe, and a rechargeable battery is utilized to supply power to the monocycle.
Description
Technical field
The present invention relates to a kind of wheelbarrow, specifically Self-balancing electronic wheelbarrow.
Background technology
Immediate with the application on the market is at present self-balancing wheelbarrow before and after, based on 3 gyroscopes and an accelerometer, and a motor, a singlechip controller forms, and by sensor, the fore-and-aft direction of Single-chip Controlling motor rotates and reverse; It only has a wheel, human body fore-and-aft direction self-equalizing, and machine can not fall down after opening, but human body left and right directions needs people to control for going, and needs to practise balance as study riding bicycle, looks for sensation.
Existing wheelbarrow, human body left and right directions needs manual control, just as we learn bicycle, need to learn in advance for a long time, product just looks like bicycle and small passenger car with the product that we will invent at present, is sitting in the balance that needs to control human body left and right directions on bicycle, otherwise can throws, unlike being sitting in automobile the inside, do not worry that car left and right directions topples over.
Wheelbarrow is as a new product, and product is because study is very difficult at present, and market outlook are not fine, and masses' self-distrust is controlled.Purchasing power is poor, not to masses take real convenience and safety.
Summary of the invention
The object of the invention is the deficiency existing for prior art, a kind of Self-balance electric vehicle of the equilibrium problem that has solved wheelbarrow left and right directions is provided.
For achieving the above object, the technical solution used in the present invention is one Self-balancing electronic wheelbarrow all around, comprises master controller, flywheel and main wheel; Gyroscope and accelerometer that described master controller comprises micro controller system and is connected with single chip communication; Described flywheel comprises flywheel wheels and fly-wheel motor; Described main wheel comprises main wheel tire and main wheel motor; Described main controller controls fly-wheel motor flywheel driven wheels coordinate main wheel to grasp the left and right balance of battery-driven car, and described main controller controls main wheel driven by motor main wheel tire is grasped moving forward and backward of battery-driven car.
Described gyroscope has six, wherein controls fly-wheel motor for three, controls main wheel motor for other three.
Described acceleration/accel, in respect of two, is controlled respectively fly-wheel motor and main wheel motor.
On master controller, be also provided with fender, make wiring board and two motor isolation at master controller place, make wheel in rotation process, be unlikely to affect wire and the serviceability of circuit card.
Flywheel has the pendulum of a left and right directions, and by the rotation of fly-wheel motor, the left and right directions of controlling pendulum swings up and down, and just looks like that the long bamboo pole of that root held in the player hand of tight-wire walking is the same, the balance of control left and right directions.
The application has two brushless motors, i.e. main wheel motor on fore-and-aft direction, and the fly-wheel motor on left and right directions, adopts 32 bit processor processing.The application's core is the cooperation control between master controller, flywheel and main wheel three.The cooperation control wheelbarrow of micro controller system, gyroscope, accelerometer and the main wheel on master controller moves forward and backward, micro controller system on master controller gathers by gyroscope and accelerometer cireular frequency and the angle that dolly advances, adopt Kalman filtering algorithm processing, finally control speed and the balance of dolly.Left right balanced realization is according to the cireular frequency of gyroscope and accelerometer collection flywheel, accelerometer gathers the angle of flywheel, micro controller system is according to the data that collect, relative position in conjunction with the pedestal mark of current flywheel with respect to the main motor shaft heart, utilize spatial coordinates transitionmatrix algorithmic technique, Kalman filtering algorithm, complementary filter algorithm etc. are controlled the sense of motion of flywheel and main wheel.For example, in the time that wheelbarrow is toppled over to the right, micro controller system is according to the data that collect, flywheel is rotated to the left, and main wheel direction turns slightly to the right simultaneously, and rotational angle, the speed etc. of flywheel and main wheel calculates according to above-mentioned several algorithms, wheelbarrow neither can be toppled over front and back like this, can swaying style yet, facilitate user to get on or off the bus, ensure safety.
Beneficial effect: the invention solves the equilibrium problem of wheelbarrow left and right directions, user does not need exercise, after starting the machine, directly gets on the bus, and can not topple over, and thoroughly changes the learning difficulty of car, brings huge overflowing to user, brings different experience.By induction center control rate, make user can learn rapidly the wheelbarrow of riding, and ensured bicyclist's safety.Make wheelbarrow have the steady of small passenger car, volume is little simultaneously, uses chargeable battery power supply, environmental protection, safety.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is STRUCTURE DECOMPOSITION figure of the present invention;
Fig. 3 is circuit block diagram of the present invention;
Fig. 4 is driving circuit figure of the present invention;
Fig. 5 is sensor circuit figure of the present invention;
Fig. 6 is governor circuit figure of the present invention.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, further illustrate the present invention, the present embodiment is implemented under take technical solution of the present invention as prerequisite, should understand these embodiment and only be not used in and limit the scope of the invention for the present invention is described.
As shown in Figure 1-2, one is Self-balancing electronic wheelbarrow all around, comprises master controller 1, flywheel 2 and main wheel 3, fender 8, shell 9 and stretcher 10.
Six gyroscopes and two accelerometers that wherein master controller 1 comprises micro controller system and is connected with single chip communication; Flywheel 2 comprises flywheel wheels 4 and fly-wheel motor 5; Main wheel 3 comprises main wheel tire 6 and main wheel motor 7; Master controller 1 is controlled fly-wheel motor 5 flywheel driven wheels 4 and is coordinated main wheel 3 to grasp the left and right balance of battery-driven car, and master controller 1 is controlled main wheel motor 7 and driven main wheel tire 6 to grasp moving forward and backward of battery-driven car.
As shown in Fig. 3-6, the left right balanced realization of the present invention is according to the cireular frequency of gyroscope and accelerometer collection left and right flywheel, accelerometer gathers the angle of flywheel, micro controller system is according to the data that collect, relative position in conjunction with the pedestal mark of current flywheel with respect to the main motor shaft heart, utilize spatial coordinates transitionmatrix algorithmic technique, Kalman filtering algorithm, complementary filter algorithms etc. are controlled the sense of motion of flywheel and main wheel, for example, in the time that wheelbarrow is toppled over to the right, micro controller system is according to the data that collect, flywheel is rotated to the left, main wheel direction turns slightly to the right simultaneously, the rotational angle of flywheel and main wheel, speed etc. calculate according to above-mentioned several algorithms, wheelbarrow neither can be toppled over front and back like this, can swaying style yet.
Claims (4)
1. a Self-balancing electronic wheelbarrow all around, is characterized in that: comprise master controller (1), flywheel (2) and main wheel (3); Gyroscope and accelerometer that described master controller (1) comprises micro controller system and is connected with single chip communication; Described flywheel (2) comprises flywheel wheels (4) and fly-wheel motor (5); Described main wheel (3) comprises main wheel tire (6) and main wheel motor (7); Described master controller (1) is controlled fly-wheel motor (5) flywheel driven wheels (4) and is coordinated main wheel (3) to grasp the left and right balance of battery-driven car, and described master controller (1) is controlled main wheel motor (7) and driven main wheel tire (6) to grasp moving forward and backward of battery-driven car.
2. one Self-balancing electronic wheelbarrow all around according to claim 1, is characterized in that: described gyroscope has six, wherein controls fly-wheel motors (5) for three, controls main wheel motors (7) for other three.
3. one Self-balancing electronic wheelbarrow all around according to claim 1, is characterized in that: described acceleration/accel, in respect of two, is controlled respectively fly-wheel motor (5) and main wheel motor (7).
4. one Self-balancing electronic wheelbarrow all around according to claim 1, is characterized in that: on master controller (1), be also provided with fender (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410149106.8A CN103895770A (en) | 2014-04-15 | 2014-04-15 | All-around self-balancing electric monocycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410149106.8A CN103895770A (en) | 2014-04-15 | 2014-04-15 | All-around self-balancing electric monocycle |
Publications (1)
| Publication Number | Publication Date |
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| CN103895770A true CN103895770A (en) | 2014-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410149106.8A Pending CN103895770A (en) | 2014-04-15 | 2014-04-15 | All-around self-balancing electric monocycle |
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| CN (1) | CN103895770A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527909A (en) * | 2015-01-15 | 2015-04-22 | 南京快轮智能科技有限公司 | Barycenter controlling hollow single wheel self-balancing electromobile without spoke and controlling method thereof |
| CN104773239A (en) * | 2015-04-09 | 2015-07-15 | 李威 | Left-and-right self-balancing electric wheelbarrow |
| CN105691503A (en) * | 2016-01-19 | 2016-06-22 | 深圳车泰斗科技有限公司 | Non-falling electric monocycle |
| CN106143742A (en) * | 2016-08-01 | 2016-11-23 | 广东奥星智能科技有限公司 | A kind of universal balance wheelbarrow |
| CN106627894A (en) * | 2016-12-15 | 2017-05-10 | 广州中国科学院先进技术研究所 | Two-wheeled longitudinal self-balancing robot and control system |
| EP3246234A1 (en) * | 2016-05-17 | 2017-11-22 | Honggui Lin | Electro-mechanical gyro-balanced unicycle |
| CN117080932A (en) * | 2023-06-06 | 2023-11-17 | 东北电力大学 | Self-balancing wheel type line inspection robot for power transmission line splicing sleeve |
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| CN102079348A (en) * | 2010-12-03 | 2011-06-01 | 北京工业大学 | Self-balance manned monocycle system and control method thereof |
| CN102245397A (en) * | 2008-11-04 | 2011-11-16 | 本田技研工业株式会社 | Friction-type drive device and omnidirectional movable body using same |
| US8219308B2 (en) * | 2010-02-02 | 2012-07-10 | Leeser Karl F | Monowheel type vehicle |
| CN102642584A (en) * | 2012-04-11 | 2012-08-22 | 浙江易力车业有限公司 | Self-balancing electric manned monocycle |
| CN103552645A (en) * | 2013-11-03 | 2014-02-05 | 南京莱格威智能机器有限公司 | Single-wheel self-balancing electric vehicle capable of realizing wireless communication |
| CN203806063U (en) * | 2014-04-15 | 2014-09-03 | 上海万硅电子有限公司 | Longitudinally and horizontally self-balancing electric monocycle |
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2014
- 2014-04-15 CN CN201410149106.8A patent/CN103895770A/en active Pending
Patent Citations (6)
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| CN102245397A (en) * | 2008-11-04 | 2011-11-16 | 本田技研工业株式会社 | Friction-type drive device and omnidirectional movable body using same |
| US8219308B2 (en) * | 2010-02-02 | 2012-07-10 | Leeser Karl F | Monowheel type vehicle |
| CN102079348A (en) * | 2010-12-03 | 2011-06-01 | 北京工业大学 | Self-balance manned monocycle system and control method thereof |
| CN102642584A (en) * | 2012-04-11 | 2012-08-22 | 浙江易力车业有限公司 | Self-balancing electric manned monocycle |
| CN103552645A (en) * | 2013-11-03 | 2014-02-05 | 南京莱格威智能机器有限公司 | Single-wheel self-balancing electric vehicle capable of realizing wireless communication |
| CN203806063U (en) * | 2014-04-15 | 2014-09-03 | 上海万硅电子有限公司 | Longitudinally and horizontally self-balancing electric monocycle |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527909A (en) * | 2015-01-15 | 2015-04-22 | 南京快轮智能科技有限公司 | Barycenter controlling hollow single wheel self-balancing electromobile without spoke and controlling method thereof |
| CN104527909B (en) * | 2015-01-15 | 2016-10-05 | 南京快轮智能科技有限公司 | By the hollow Self-balance electric vehicle of single wheel without spoke and the control method thereof of gravity's center control |
| CN104773239A (en) * | 2015-04-09 | 2015-07-15 | 李威 | Left-and-right self-balancing electric wheelbarrow |
| CN105691503A (en) * | 2016-01-19 | 2016-06-22 | 深圳车泰斗科技有限公司 | Non-falling electric monocycle |
| EP3246234A1 (en) * | 2016-05-17 | 2017-11-22 | Honggui Lin | Electro-mechanical gyro-balanced unicycle |
| CN106143742A (en) * | 2016-08-01 | 2016-11-23 | 广东奥星智能科技有限公司 | A kind of universal balance wheelbarrow |
| CN106143742B (en) * | 2016-08-01 | 2019-01-25 | 袁霞 | A kind of universal balance wheelbarrow |
| CN106627894A (en) * | 2016-12-15 | 2017-05-10 | 广州中国科学院先进技术研究所 | Two-wheeled longitudinal self-balancing robot and control system |
| CN117080932A (en) * | 2023-06-06 | 2023-11-17 | 东北电力大学 | Self-balancing wheel type line inspection robot for power transmission line splicing sleeve |
| CN117080932B (en) * | 2023-06-06 | 2024-01-23 | 东北电力大学 | Self-balancing wheel type line inspection robot for power transmission line splicing sleeve |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140702 |