CN104210594A - Two-wheeled self-balancing trolley - Google Patents
Two-wheeled self-balancing trolley Download PDFInfo
- Publication number
- CN104210594A CN104210594A CN201310219335.8A CN201310219335A CN104210594A CN 104210594 A CN104210594 A CN 104210594A CN 201310219335 A CN201310219335 A CN 201310219335A CN 104210594 A CN104210594 A CN 104210594A
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- China
- Prior art keywords
- dolly
- connecting rod
- master controller
- electric machine
- potentiometer
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Classifications
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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
- 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)
- Motorcycle And Bicycle Frame (AREA)
- Handcart (AREA)
Abstract
The invention discloses a two-wheeled self-balancing trolley. The two-wheeled self-balancing trolley comprises a trolley body (1), wheels (2) symmetrically arranged on two sides of the trolley body (1), a connecting rod (3) arranged at the central position of the trolley body (1), motors arranged in the wheels (2), a main controller (7) of the motors and motor controllers (9), wherein the main controllers (7) generate signals and transfer the signals to the motor controllers (9), the motor controllers (9) control the motors to start, the motors drive the wheels (2) to rotate, and clockwise tilting moment G*L1 produced by the trolley and ground anticlockwise friction moment F*R obtained by tires are balanced, so that the whole trolley is kept balanced. By means of the technical scheme, the main controller receives an angle signal acquired by a gyroscope sensor and synthesizes a signal of a steering potentiometer to generate two signals which are respectively transferred to the two motor controllers, and the motor controllers control the motors and drive the wheels to rotate.
Description
Technical field
The present invention relates to balance truck, particularly relate to a kind of double-wheel self-balancing dolly.
Background technology
Balanced bi-wheel vehicle is a kind of driven by power, has the personal transport carrier of homeostasis ability, the principle of the operation principles of balance truck mainly aircraft balanced, the namely self-equalizing ability (electronics is from balance system) of vehicle itself is a kind of left and right electric motor car with two wheels.But the dolly stability of general two-wheeled is difficult to keep, and especially vehicle is in motion process, be more difficult to keep stable.
Summary of the invention
The present invention is directed to deficiency of the prior art, provide and a kind ofly can stablize, improve the double-wheel self-balancing dolly of stationarity by holding signal.
In order to solve the problems of the technologies described above, the present invention is solved by following technical proposals:
A kind of double-wheel self-balancing dolly, comprise car body, wheel that symmetry is located at car body both sides, be located at car body center connecting rod, be located at motor in wheel and master controller, electric machine controller.
The forward leaning angle a of dolly that master controller will collect, corresponding friction force F is calculated by formula F × L2=G × L × sin a, wherein, G: gravity center of human body, a: vehicle leans forward focus, L: center of gravity G to the vertical distance of tire centerline, L1: gravity center of human body is to the horizontal throw of tire centerline, F: the friction force of tire faced by ground, L2: the arm of force of friction force, the i.e. radius R of tire; Master controller generates signal transmission to electric machine controller, motor controller controls electric motor starting, power wheel rotates, friction moment F × R that vehicle produces clws tilting moment G × L1 and tire acquisition ground conter clockwise balances each other, car load is made to keep balance, meanwhile, car load keeps advancing under the effect of F power.
As preferably, dolly also comprises gyro sensor, and described gyro sensor gathers the forward leaning angle of dolly.
As preferably, gyro sensor is provided with four, is evenly distributed on four angles of car body, stable with holding signal, reduces vehicle vibration and impacts the forward leaning angle gathered.
As preferably, gyro sensor is single axis gyroscope sensor.
As preferably, dolly also comprises and turns to potentiometer, turns to potentiometer to gather the turn sign of connecting rod, and by Signal transmissions to master controller, master controller adds to electric machine controller by turning to the signal of potentiometer collection, and Motor controlling machine controls power wheel and rotates.
As preferably, the form that the present invention adopts single wheel to accelerate realizes turning to, when connecting rod is to left movement, produce left diversion signal time, master controller adds to turning to the signal of potentiometer collection on right electric machine controller of taking turns, makes rightly to take turns acceleration, realizes car load and turns left; When connecting rod moves right, produce to the right diversion signal time, master controller adds on the electric machine controller of revolver by turning to the signal of potentiometer collection, revolver is accelerated, realizes car load and bend to right.
As preferably, be provided with rotating shaft below connecting rod, connecting rod is flexibly connected by rotating shaft and car body, and can rotate certain angle towards left side or right side.
As preferably, potentiometer is turned to be located in rotating shaft.
As preferably, rotating shaft can to the left or the angular range that rotates of right side be 0-15 degree.
As preferably, above connecting rod, be provided with handle, facilitate the left-right rotation of connecting rod or dolly is leaned forward.
According to technical scheme of the present invention, gyro sensor gathers the forward leaning angle a of dolly, and by Signal transmissions to master controller; Potentiometer is turned to gather the turn sign of handle, and by Signal transmissions to master controller; Master controller receives the angle signal that gyro sensor gathers, and comprehensively turns to potentiometric signal, generates two signals and passes to two electric machine controllers respectively, controls power wheel and rotates.
Accompanying drawing explanation
Fig. 1 is the structural representation of double-wheel self-balancing dolly of the present invention.
Fig. 2 is the front view of Fig. 1.
Fig. 3 is the birds-eye view of Fig. 1.
Fig. 4 is the left view of Fig. 1.
Fig. 5 is the motion state diagram that dolly leans forward.
Fig. 6 is the force analysis figure of Fig. 5.
Fig. 7 is electrical schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail:
As Figure 1-4, double-wheel self-balancing dolly of the present invention comprises car body 1, is located at the wheel 2 of car body 1 both sides, the connecting rod 3 be connected, is located at handle 4 and master controller 7 above connecting rod 3, turns to potentiometer 6, gyro sensor 8, electric machine controller 9 with car body 1.
The structural representation of dolly left-right rotation of the present invention as shown in Figure 2, bold portion is dolly normal condition, left side and the dotted portion on right side be the connecting rod of dolly respectively to left pivot movement and the state of rotating to the right, the angle that connecting rod can rotate to the left is 0-15 degree, and right side is also like this.Be provided with handle 4 above connecting rod 3, below is provided with rotating shaft 5, and connecting rod 3 is connected to the center of car body 1 by rotating shaft 5, is provided with and turns to potentiometer 6 in rotating shaft 5, for gathering the turn sign of handle 4.
Wheel 2 symmetry on both sides is located at the both sides of car body 1, motor is controlled by electric machine controller 9, power wheel 2 rotates, and master controller 7 and electric machine controller 9 are located at right side and the left side of car body 1 respectively, and the electric machine controller 9 in left side controls the motor be arranged in two wheels 2 respectively.
Gyro sensor 8 is evenly distributed on four angles of car body 1, when car body 1 leans forward, adopts four single axis gyroscope sensors to gather forward leaning angle a, can holding signal stable, reduces the impact that vehicle vibration causes forward leaning angle.
As shown in Figure 7, gyro sensor 8 gathers the forward leaning angle a of dolly, and by Signal transmissions to master controller 7; Potentiometer 6 is turned to gather the turn sign of handle 4, and by Signal transmissions to master controller 7; Master controller 7 receives the angle signal that gyro sensor 8 gathers, and comprehensively turns to the signal of potentiometer 6, generates two signals and passes to two electric machine controllers 9 respectively, controls wheel 2 and rotates.
Solid line shown in Fig. 5 is the state of dolly horizontal positioned, dotted line is the state of dolly entirety when leaning forward, Figure 6 shows that the force analysis figure of dolly, vehicle remains dynamical equilibrium, master controller 7 gathers different angle a, by formula F × L2=G × L × sin a draw correspond friction force F.
Wherein, a: vehicle leans forward focus, L: center of gravity G to the vertical distance of tire centerline, G: gravity center of human body, L1: gravity center of human body to the horizontal throw of tire centerline, F: ground in the face of the friction force of tire, L2: the arm of force of friction force, the i.e. radius R of tire.
Principle analysis: when people's bench over, will produce a clws tilting moment G × L1 to vehicle, now electric motor starting, and tire obtains the friction moment F × R of ground conter clockwise, make car load keep balance, and meanwhile, car load keeps advancing under the effect of F power.
: G × L1=F × L2=G × L × sin a
From above formula, the sine value of F and a is directly proportional, and when angle a is larger, F is larger, and Vehicle Speed is faster.
The form that adopts single wheel to accelerate realizes turning to, when handle is moved left, produce left diversion signal time, the signal turning to potentiometer 6 to gather adds on right electric machine controller 9 of taking turns by master controller 7, makes rightly to take turns acceleration, realizes car load and turns left.
In a word, the foregoing is only preferred embodiment of the present invention, all equalizations done according to the present patent application the scope of the claims change and modify, and all should belong to the covering scope of patent of the present invention.
Claims (9)
1. a double-wheel self-balancing dolly, comprise car body (1), wheel (2) that symmetry is located at car body (1) both sides, be located at car body (1) center connecting rod (3), be located at motor in wheel (2) and master controller (7), electric machine controller (9), it is characterized in that:
The forward leaning angle a of dolly that master controller will collect, corresponding friction force F is calculated by formula F × L2=G × L × sin a, wherein, G: gravity center of human body, a: vehicle leans forward focus, L: center of gravity G to the vertical distance of tire centerline, L1: gravity center of human body is to the horizontal throw of tire centerline, F: the friction force of tire faced by ground, L2: the arm of force of friction force, the i.e. radius R of tire;
Master controller (7) generates signal transmission to electric machine controller (9), electric machine controller (9) controls electric motor starting, power wheel (2) rotates, friction moment F × R that vehicle produces clws tilting moment G × L1 and tire acquisition ground conter clockwise balances each other, and makes car load keep balance.
2. dolly according to claim 1, is characterized in that: dolly also comprises gyro sensor (8), and described gyro sensor (8) gathers the forward leaning angle of dolly.
3. dolly according to claim 2, is characterized in that: gyro sensor (8) is provided with four, is evenly distributed on four angles of car body (1).
4. the dolly according to Claims 2 or 3, is characterized in that: gyro sensor (8) is single axis gyroscope sensor.
5. dolly according to claim 1, it is characterized in that: dolly also comprises and turns to potentiometer (6), potentiometer (6) is turned to gather the turn sign of connecting rod (3), and by Signal transmissions to master controller (7), the signal turning to potentiometer (6) to gather is added to electric machine controller (9) by master controller (7).
6. dolly according to claim 5, it is characterized in that: the form that dolly adopts single wheel (2) to accelerate realizes turning to, when connecting rod (3) is to left movement, produce left diversion signal time, the signal turning to potentiometer (6) to gather adds on right electric machine controller (9) of taking turns by master controller (7), make rightly to take turns acceleration, realize car load and turn left; When connecting rod (3) moves right, produce to the right diversion signal time, the signal turning to potentiometer (6) to gather adds on the electric machine controller (9) of revolver by master controller (7), and revolver is accelerated, and realizes car load and bends to right.
7. dolly according to claim 1, it is characterized in that: connecting rod (3) below is provided with rotating shaft (5), connecting rod (3) is flexibly connected by rotating shaft (5) and car body (1), and can rotate certain angle towards left side or right side.
8. dolly according to claim 7, is characterized in that: rotating shaft (5) to the left or right side rotate angular range be 0-15 degree.
9. dolly according to claim 1, is characterized in that: connecting rod (3) top is provided with handle (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310219335.8A CN104210594A (en) | 2013-06-03 | 2013-06-03 | Two-wheeled self-balancing trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310219335.8A CN104210594A (en) | 2013-06-03 | 2013-06-03 | Two-wheeled self-balancing trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104210594A true CN104210594A (en) | 2014-12-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310219335.8A Pending CN104210594A (en) | 2013-06-03 | 2013-06-03 | Two-wheeled self-balancing trolley |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107077139A (en) * | 2016-02-25 | 2017-08-18 | 深圳市创客工场科技有限公司 | Intelligent robot |
| EP3210868A1 (en) | 2016-02-26 | 2017-08-30 | Suprimmo SA | Transportation vehicle |
| CN109178177A (en) * | 2018-10-31 | 2019-01-11 | 深圳市未来狗科技有限公司 | A kind of multimode steering Self-balance electric vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2592496Y (en) * | 2002-11-20 | 2003-12-17 | 中国科学技术大学 | Self-balancing two-wheel electric cycle |
| US20050121866A1 (en) * | 1999-06-04 | 2005-06-09 | Deka Products Limited Partnership | Control of a personal transporter based on user position |
| CN201610202U (en) * | 2009-10-21 | 2010-10-20 | 吕子民 | Two-wheeled self-balancing electric vehicle |
| CN101980094A (en) * | 2010-11-03 | 2011-02-23 | 北京理工大学 | Balancing device, method and two-wheeled robot |
| CN103057635A (en) * | 2011-10-21 | 2013-04-24 | 邹帆 | Bestriding type self-balancing two-wheeled electric car |
-
2013
- 2013-06-03 CN CN201310219335.8A patent/CN104210594A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050121866A1 (en) * | 1999-06-04 | 2005-06-09 | Deka Products Limited Partnership | Control of a personal transporter based on user position |
| CN2592496Y (en) * | 2002-11-20 | 2003-12-17 | 中国科学技术大学 | Self-balancing two-wheel electric cycle |
| CN201610202U (en) * | 2009-10-21 | 2010-10-20 | 吕子民 | Two-wheeled self-balancing electric vehicle |
| CN101980094A (en) * | 2010-11-03 | 2011-02-23 | 北京理工大学 | Balancing device, method and two-wheeled robot |
| CN103057635A (en) * | 2011-10-21 | 2013-04-24 | 邹帆 | Bestriding type self-balancing two-wheeled electric car |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107077139A (en) * | 2016-02-25 | 2017-08-18 | 深圳市创客工场科技有限公司 | Intelligent robot |
| EP3210868A1 (en) | 2016-02-26 | 2017-08-30 | Suprimmo SA | Transportation vehicle |
| CN109178177A (en) * | 2018-10-31 | 2019-01-11 | 深圳市未来狗科技有限公司 | A kind of multimode steering Self-balance electric vehicle |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141217 |
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| WD01 | Invention patent application deemed withdrawn after publication |