CN104527909B - By the hollow Self-balance electric vehicle of single wheel without spoke and the control method thereof of gravity's center control - Google Patents
By the hollow Self-balance electric vehicle of single wheel without spoke and the control method thereof of gravity's center control Download PDFInfo
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Abstract
The present invention relates to the hollow Self-balance electric vehicle of single wheel without spoke of a kind of gravity's center control, it is characterized in that, described electric motor car includes electric motor car body and is arranged on the shell outside electric motor car, described electric motor car body includes vehicle frame and is arranged on the pedal of vehicle frame both sides, transmission component, support component and control circuit it is provided with in described vehicle frame, described control circuit is by by the change of center of gravity before and after detection operator and then moving forward and backward by motor control vehicle, realizing turn inside diameter by body inclination.Whole Technical Design is ingenious, after joint compact, cost is relatively low, this balance car profile is unique hollow " ring rail " shape, and hollow profile defines natural gripping space, additionally need not design handle and handle for balance car, the most comfortable experience of riding can be brought to bicyclist.
Description
Technical field
The present invention relates to a kind of electric motor car, be specifically related to the hollow Self-balance electric vehicle of single wheel without spoke of a kind of gravity's center control, belong to Self-balance electric vehicle technical field.
Background technology
Double-wheel self-balancing electric motor car has occurred in various occasion of riding instead of walk, but traditional Double-wheel self-balancing electric motor car needs bicyclist to use gravity's center control anterior-posterior balance, turns to hand control.Causing body construction complicated, volume is relatively big, and portability is substantially reduced；In order to solve this technical problem, those skilled in the art is also constantly attempting, Self-balance electric vehicle new on market is the most more complicated, all uses wheel hub motor to provide power, causes car body volume bigger, heavier-weight, portability is substantially reduced, relatively costly, and detachable maintaining bothers, therefore, a kind of new technical scheme of exigence solves this technical problem.
Summary of the invention
For the problem solving above-mentioned existence, the invention discloses the hollow Self-balance electric vehicle of single wheel without spoke of a kind of gravity's center control, this equipment is a kind of simple in construction, Self-balance electric vehicle safe and reliable, easy to use, with low cost, by microprocessor by before and after the detection left side of operator and right side center of gravity change so that by the left of controlling respectively and right motor, finally realize the advance of vehicle, retreat, turn left and turn right.
To achieve these goals, technical scheme is as follows, a kind of hollow Self-balance electric vehicle of single wheel without spoke of gravity's center control, it is characterized in that, described electric motor car includes electric motor car body and is arranged on the shell outside electric motor car, described electric motor car body includes vehicle frame and is arranged on the pedal of vehicle frame both sides, transmission component, support component and control circuit it is provided with in described vehicle frame, described control circuit is by by the change of center of gravity before and after detection operator and then moving forward and backward by motor control vehicle, realizing turn inside diameter by body inclination.Whole Technical Design is ingenious, after joint compact, cost is relatively low, this balance car profile is unique hollow " ring rail " shape, and hollow profile defines natural gripping space, additionally need not design handle and handle for balance car, the most comfortable experience of riding can be brought to bicyclist.
As a modification of the present invention, described transmission component include motor, synchronous pulley, the Timing Belt that is arranged on the synchronous pulley helical gear coaxial with synchronous pulley, without spoke barrel, be arranged on without the helical teeth ring gear on spoke barrel, power is passed to helical gear by synchronous pulley and Timing Belt by motor, and helical gear engages with without the helical teeth ring gear on spoke barrel and imparts power to without spoke barrel.This technical scheme passes through twice deceleration transmission, and rotating speed is reduced to required scope；Increase moment of torsion, it is ensured that the enough power needed for traveling simultaneously.This technical scheme uses the motor of small volume to replace the wheel hub motor of heaviness, greatly alleviates the weight of car body；The drive disk assembly of small volume can be totally placed in below pedal, and the thickness above pedal is only 8cm, the smallest and the most exquisite convenient；This technical scheme uses without spoke barrel, motor and transmission component is placed in hub interior, significantly reduces vehicle body volume；Concurrently form hollow " ring rail " profile of uniqueness；This technical scheme uses double reduction mechanism, it is provided that stable gait of march and powerful moment of torsion；This technical scheme uses gear and the ring gear meshed gears kind of drive, the secondary kind of drive makes driving member be distributed in inside ring gear, oneself form the space of a relative closure, prevent the foreign material such as the dust on traveling process road, stone, hydrops from entering in drive system.
As a modification of the present invention, described support component includes BOGEY WHEEL, for supporting the load-bearing wheel shaft of BOGEY WHEEL, described load-bearing wheel shaft two ends are all provided with L-type bracing frame, the quantity of described BOGEY WHEEL is four, two of which BOGEY WHEEL is arranged on the lower section of frame car body, two other BOGEY WHEEL is arranged on shell, is positioned at above vehicle body.
As a modification of the present invention, the described supporting surface without spoke barrel is set to the V-type of 120 °, being arranged on the BOGEY WHEEL supporting surface below frame car body and be set to 120 ° of V-groove, the described supporting surface without spoke barrel cooperates with BOGEY WHEEL supporting surface, forms V-type rail.Two of which BOGEY WHEEL is arranged in frame and is positioned at below car body, and two other is arranged on shell, is positioned at above vehicle body.The BOGEY WHEEL of top is not subject to weight, the on the one hand position of stationary hub, and the direction on the other hand limiting wheel hub play the guiding role.The supporting surface of wheel hub is the V-type of 120 degree, and BOGEY WHEEL supporting surface is the V-groove of 120 degree, and both cooperatively form V-type rail, both can bear radial force, can bear again axial force.During use, the weight of bicyclist is all passed to BOGEY WHEEL and wheel hub by pedal by support, and the gravity of vehicle body concentrates on rack section, and cabinet does not undertake weight, and this structure can ensure that the strength and stiffness of shell, makes shell to deform.
As a modification of the present invention, described control circuit includes microprocessor, power module, temperature sensor, current sensor, Hall element, posture detecting unit, motor-drive circuit, bluetooth module, touch detection module, human-computer interaction module, described power module, temperature sensor, current sensor, Hall element, posture detecting unit, motor-drive circuit, bluetooth module, touch detection module, human-computer interaction module is all connected with microprocessor, described posture detecting unit is made up of gyroscope and accelerometer, for detecting the car body attitude relative to ground.In this technical scheme, power module is for controlling the charging process that battery is powered to circuit board and motor and controlled battery；Posture detecting unit is made up of gyroscope, accelerometer, and gyroscope and accelerometer are for detecting the car body attitude relative to ground.Human-computer interaction module major control soft-touch control, and the relevant information of vehicle is shown at display lamp or by auditory tone cues operator；Described set of cells is positioned at vehicle body, for powering to control circuit, wheel hub motor, display lamp；Charger is for connecting charge port and the socket of vehicle；Described client is the equipment that can communicate wirelessly with electric motor car, thus the driving parameters of vehicle is carried out real time inspection, it is also possible to be configured the speed limit of vehicle.Hall element is for detecting the position of motor, it is achieved the magnetic vector oriented control of brushless electric machine.Microprocessor module is master control unit, controls the collection of each signal, runs control algolithm, drives motor.The logic control signal of microcontroller is changed into analog control signal and drives motor by motor-drive circuit.Described bluetooth module is used for reception and the transmission of Bluetooth signal, it is achieved vehicle and the wireless telecommunications of client.Instruction after decoding, for receiving the signal of remote controller and decoding, is sent to micro controller module by described remote-control radio module.
As a modification of the present invention, at least one in front lamp, taillight, electricity display lamp, steering indicating light it is provided with on described casing of electric vehicle, described front lamp, taillight, electricity display lamp, steering indicating light all use the mode of fastening to be fixed on shell, described shell is additionally provided with charge port and sliding touch switch.Electricity display lamp is used for showing charge condition, it is simple to charge in time, and illuminating lamp is used for illuminating, and steering indicating light is used for turning to.The illuminating lamp of design, can illuminate front region when riding, can cause the attention of passerby simultaneously, dodge.When turning to, steering indicating light can flash continuously, the direction that signal turns to, and plays the effect of steering indicating light.Installing of these lamps uses the mode fastened, and omits the securing members such as screw, easy for installation.
As a modification of the present invention, described shell being provided with low protection cover, described low protection cover is arranged on the lower section of pedal.This protective cover is used for protecting balance car frame interior structure, extends the use time of balance car.
As a modification of the present invention, described BOGEY WHEEL is coated with flexible glue.BOGEY WHEEL cladding has the flexible glue of shock-absorbing functions, alleviates the vibration in transmission, impact, reduces noise；Also increase the frictional force of BOGEY WHEEL and wheel hub simultaneously, prevent from breakking away.
The control method of the hollow Self-balance electric vehicle of single wheel without spoke of a kind of gravity's center control, it is characterised in that described control method is as follows: when driver needs start, pressing on and off switch, balance car enters standby mode；Switching with finger sliding touch, corresponding display lamp amount, balance electric car enters balanced mode, and gyroscope starts to detect vehicle body state, if front and back inclination angle is not at ± 30 degree, inclination angle, left and right is not when ± 45 degree, and buzzer will sound the alarm sound, and vehicle will not start；If front and back inclination angle is at ± 30 degree, inclination angle, left and right is when ± 45 degree, then gyroscope and accelerometer gather the car body position relative to ground by starting every 5ms, and positional information is passed to posture detecting unit, posture detecting unit calculates the wheel moment values needed for vehicle balance by balanced algorithm, pass to this information drive motor, driven by motor wheel rotates, during to next cycle, gyroscope and accelerometer continue to gather attitude information, posture detecting unit controls electric machine rotation, it is iteratively repeated said process, vehicle can realize balancing driver to start to drive vehicle, driver stands on the footrests, during forward lean, car body can be made to produce inclination angle forward, microprocessor can be according to the torque of inclination angle moment adjustment wheel, make forward travel；If vehicle has reached the maximum speed i.e. 18km/h set, car body will tilt backwards, and make the center of gravity of driver backward, and speed according to the rotating speed of vehicle inclination angle moment reduction wheel now, thus can be controlled within the value limited by posture detecting unit.Driver can also realize the deceleration in vehicle travel process according to above-mentioned principle.
After vehicle start, driver passes through bluetooth communication module, it is achieved electric motor car and the wireless telecommunications of client, thus the driving parameters of vehicle is carried out real time inspection, it is also possible to be configured the speed limit of vehicle；
Under non-riding condition, user presses remote switch or sliding touch switch, and electric motor car will shutdown.
Relative to prior art, advantages of the present invention is as follows, and 1) whole technical scheme reasonable in design, easy to operate；2) this technical scheme passes through twice deceleration transmission, and rotating speed is reduced to required scope；Increasing moment of torsion, it is ensured that the enough power needed for traveling, this technical scheme uses the motor of small volume to replace the wheel hub motor of heaviness, greatly alleviates the weight of car body simultaneously；The drive disk assembly of small volume can be totally placed in below pedal, and the thickness above pedal is only 8cm, the smallest and the most exquisite convenient；3) this technical scheme uses without spoke barrel, motor and transmission component is placed in hub interior, significantly reduces vehicle body volume；Concurrently form hollow " ring rail " profile of uniqueness；This technical scheme uses double reduction mechanism, it is provided that stable gait of march and powerful moment of torsion；4) this technical scheme uses gear and the ring gear meshed gears kind of drive, the secondary kind of drive makes driving member be distributed in inside ring gear, oneself form the space of a relative closure, prevent the foreign material such as the dust on traveling process road, stone, hydrops from entering in drive system；5) in this technical scheme, the supporting surface of wheel hub is the V-type of 120 degree, and BOGEY WHEEL supporting surface is the V-groove of 120 degree, and both cooperatively form V-type rail, both can bear radial force, can bear again axial force.During use, the weight of bicyclist is all passed to BOGEY WHEEL and wheel hub by pedal by support, and the gravity of vehicle body concentrates on rack section, and cabinet does not undertake weight, and this structure can ensure that the strength and stiffness of shell, makes shell to deform；6) in this technical scheme, BOGEY WHEEL cladding has the flexible glue of shock-absorbing functions, alleviates the vibration in transmission, impact, reduces noise, also increases the frictional force of BOGEY WHEEL and wheel hub simultaneously, prevents from breakking away；7) this electric motor car can realize the wireless telecommunications of client and vehicle, and client is divided into Three models with the communication of vehicle, i.e. inquires about, controls and revise.During query pattern, client sends query statement, microprocessor is passed to via the communication chip in Circuits System on vehicle, microprocessor extracts accelerometer, gyroscope, Hall element record vehicle inclination angle and speed, data are sent to client by communication chip, and client is shown to user；During remote control mode, user is according to the locking of the control Interface Control vehicle in client and unblock etc.；During amendment pattern, user can revise the maximum speed limit of vehicle in client, amendment instruction passes to microprocessor via the communication chip in Circuits System on vehicle, built-in speed-limiting messages is modified by microprocessor, can be seen that, these wireless telecommunications are possible not only to make user grasp the information understanding vehicle whenever and wherever possible, also user is allowed to control the speed of electric motor car, direction anywhere or anytime, to tackle the process of special circumstances, such as need to stop in emergency or the urgent situation such as acceleration, improve the security performance of this electric motor car further；8) this electric motor car cost is relatively low, is suitable for the consuming capacity of consuming public, it is simple to large-scale popularization and application.
Accompanying drawing explanation
Fig. 1 is the surface structure schematic diagram of the present invention；
Fig. 2 is overall structure decomposing schematic representation of the present invention；
Fig. 3 is rack construction schematic diagram；
Fig. 4 is transmission component structural representation of the present invention；
Fig. 5 is control circuit structural representation of the present invention；
Fig. 6 is work process schematic diagram of the present invention；
In figure: 1 is pedal, 2 is shell, and 3 is without spoke barrel and tire, and 4 is taillight, 5 switch for sliding touch, and 6 is front lamp, and 7 is low protection cover, and 8 is frame, 9 is ring gear, and 10 is set of cells, and 11 is BOGEY WHEEL, and 12 is motor, 13 is gear, and 14 is load-bearing wheel shaft, and 15 is L-type bracing frame, and 16 is without spoke barrel, 17 is helical teeth ring gear, and 18 is helical gear, and 19 is Timing Belt, 20 is synchronous pulley, and 21 is motor fixing plate, and 22 is pin-and-hole.
Detailed description of the invention
In order to deepen that the present invention is appreciated and understood by, below in conjunction with the accompanying drawings and detailed description of the invention, it is further elucidated with the present invention.
Embodiment
1
:
See Fig. 1, Fig. 2, a kind of hollow Self-balance electric vehicle of single wheel without spoke of gravity's center control, described electric motor car includes electric motor car body and is arranged on the shell 2 outside electric motor car, described electric motor car body includes vehicle frame and is arranged on the pedal 1 of vehicle frame both sides, transmission component, support component and control circuit it is provided with in described vehicle frame, described control circuit is by by the change of center of gravity before and after detection operator and then moving forward and backward by motor control vehicle, realizing turn inside diameter by body inclination.Whole Technical Design is ingenious, after joint compact, cost is relatively low, this balance car profile is unique hollow " ring rail " shape, and hollow profile defines natural gripping space, additionally need not design handle and handle for balance car, the most comfortable experience of riding can be brought to bicyclist.Operator can control the forward-reverse of vehicle by transfer before and after centre of body weight, can be realized the turning of vehicle by the inclination of health or twisting.Electric motor car can be by bluetooth and client wireless communication, and operator can be with states such as the speed of real time inspection electric motor car, mileages, it is also possible to by client, the parameter of vehicle is configured reaching different effects of riding.
Embodiment
2
:
See Fig. 3, Fig. 4, as a modification of the present invention, described transmission component include motor 12, synchronous pulley 20, the Timing Belt 19 being arranged on synchronous pulley and the helical gear 18 of synchronous pulley same axis, without spoke barrel 16, be arranged on without the helical teeth ring gear 17 on spoke barrel, motor 12 passes to helical gear 18 by Timing Belt 19, and helical gear 18 engages with without the helical teeth ring gear 17 on spoke barrel 16 and imparts power to without spoke barrel 16.Described without spoke barrel, for realizing the traveling of vehicle.This technical scheme passes through twice deceleration transmission, and rotating speed is reduced to required scope；Increase moment of torsion, it is ensured that the enough power needed for traveling simultaneously.This technical scheme uses the motor of small volume to replace the wheel hub motor of heaviness, greatly alleviates the weight of car body；The drive disk assembly of small volume can be totally placed in below pedal, and the thickness above pedal is only 8cm, the smallest and the most exquisite convenient；This technical scheme uses without spoke barrel, motor and transmission component is placed in hub interior, significantly reduces vehicle body volume；Concurrently form hollow " ring rail " profile of uniqueness；This technical scheme uses double reduction mechanism, it is provided that stable gait of march and powerful moment of torsion；This technical scheme uses gear and the ring gear meshed gears kind of drive, the secondary kind of drive makes driving member be distributed in inside ring gear, oneself form the space of a relative closure, prevent the foreign material such as the dust on traveling process road, stone, hydrops from entering in drive system.Remaining structure is identical with embodiment 1 with advantage.
Embodiment
3
:
See Fig. 4, as a modification of the present invention, described support component includes BOGEY WHEEL 11, for supporting the load-bearing wheel shaft 14 of BOGEY WHEEL, described load-bearing wheel shaft 14 two ends are all provided with L-type bracing frame 15, and the quantity of described BOGEY WHEEL is four, and two of which BOGEY WHEEL is arranged on the lower section of frame car body, two other BOGEY WHEEL is arranged on shell, being positioned at above vehicle body, vehicle frame is used for installing motor, BOGEY WHEEL, pedal, is simultaneously connected with two shells.Remaining structure is identical with embodiment 1 with advantage.
Embodiment
4
:
See Fig. 3, Fig. 4, as a modification of the present invention, the described supporting surface without spoke barrel 16 is set to the V-type of 120 °, is arranged on the BOGEY WHEEL supporting surface below frame car body and is set to 120 ° of V-groove, the described supporting surface without spoke barrel 16 cooperates with BOGEY WHEEL supporting surface, forms V-type rail.Two of which BOGEY WHEEL is arranged in frame and is positioned at below car body, and two other is arranged on shell, is positioned at above vehicle body.The BOGEY WHEEL of top is not subject to weight, the on the one hand position of stationary hub, and the direction on the other hand limiting wheel hub play the guiding role.The supporting surface of wheel hub is the V-type of 120 degree, and BOGEY WHEEL supporting surface is the V-groove of 120 degree, and both cooperatively form V-type rail, both can bear radial force, can bear again axial force.During use, the weight of bicyclist is all passed to BOGEY WHEEL and wheel hub by pedal by support, and the gravity of vehicle body concentrates on rack section, and cabinet does not undertake weight, and this structure can ensure that the strength and stiffness of shell, makes shell to deform.Remaining structure is identical with embodiment 1 with advantage.
Embodiment
5
:
See Fig. 5, as a modification of the present invention, described control circuit includes microprocessor, power module, temperature sensor, current sensor, Hall element, posture detecting unit, motor-drive circuit, bluetooth module, touch detection module, human-computer interaction module, described power module, temperature sensor, current sensor, Hall element, posture detecting unit, motor-drive circuit, bluetooth module, touch detection module, human-computer interaction module is all connected with microprocessor, described posture detecting unit is made up of gyroscope and accelerometer, for detecting the car body attitude relative to ground.In this technical scheme, power module is for controlling the charging process that battery is powered to circuit board and motor and controlled battery；Posture detecting unit is made up of gyroscope, accelerometer, and gyroscope and accelerometer are for detecting the car body attitude relative to ground.Human-computer interaction module major control soft-touch control, and the relevant information of vehicle is shown at display lamp or by auditory tone cues operator；Described set of cells is positioned at vehicle body, for powering to control circuit, wheel hub motor, display lamp；Charger is for connecting charge port and the socket of vehicle；Described client is the equipment that can communicate wirelessly with electric motor car, thus the driving parameters of vehicle is carried out real time inspection, it is also possible to be configured the speed limit of vehicle.Hall element is for detecting the position of motor, it is achieved the magnetic vector oriented control of brushless electric machine.Microprocessor module is master control unit, controls the collection of each signal, runs control algolithm, drives motor.The logic control signal of microcontroller is changed into analog control signal and drives motor by motor-drive circuit.Described bluetooth module is used for reception and the transmission of Bluetooth signal, it is achieved vehicle and the wireless telecommunications of client.Instruction after decoding, for receiving the signal of remote controller and decoding, is sent to micro controller module by described remote-control radio module.
The relevant information of vehicle is shown at display lamp or by auditory tone cues operator by described human-computer interaction module.Remaining structure is identical with embodiment 1 with advantage.
Embodiment
6
:
See Fig. 1, as a modification of the present invention, at least one in front lamp 6, taillight 4, electricity display lamp, steering indicating light it is provided with on described casing of electric vehicle, described front lamp 6, taillight 4, electricity display lamp, steering indicating light all use the mode of fastening to be fixed on shell, described shell is additionally provided with charge port and sliding touch switch.Electricity display lamp is used for showing charge condition, it is simple to rush charging in time, and illuminating lamp is used for illuminating, and steering indicating light is used for turning to.The illuminating lamp of design, can illuminate front region when riding, can cause the attention of passerby simultaneously, dodge.When turning to, steering indicating light can flash continuously, the direction that signal turns to, and plays the effect of steering indicating light.Installing of these lamps uses the mode fastened, and omits the securing members such as screw, easy for installation.Remaining structure is identical with embodiment 1 with advantage.
Embodiment
7
:
Seeing Fig. 1, as a modification of the present invention, described shell is provided with low protection cover 7, described low protection cover 7 is arranged on the lower section of pedal.This protective cover is used for protecting balance car frame interior structure, extends the use time of balance car.
Seeing Fig. 4, the parts such as BOGEY WHEEL 11 in vehicle frame, load-bearing wheel shaft 14, motor fixing plate 21, L-type bracing frame 15 use pin to be attached with the fit system of pin-and-hole 22；This connected mode eliminates the securing member such as screw, nut, only need to can complete in pin inserts pin-and-hole to install, greatly simplify installation process.It addition, the fit system of pin-pin-and-hole has high installation accuracy, after assembling, accurate positioning, connection fastening reliably, eliminate the debugging process after assembling.Remaining structure is identical with embodiment 1 with advantage.
Embodiment
8
:
See Fig. 3, Fig. 4, as a modification of the present invention, described BOGEY WHEEL 11 is coated with flexible glue.BOGEY WHEEL cladding has the flexible glue of shock-absorbing functions, alleviates the vibration in transmission, impact, reduces noise；Also increase the frictional force of BOGEY WHEEL and wheel hub simultaneously, prevent from breakking away.Remaining structure is identical with embodiment 1 with advantage.
Embodiment
9
:
Seeing Fig. 3, Fig. 4, the control method of the hollow Self-balance electric vehicle of single wheel without spoke of a kind of gravity's center control, described control method is as follows: when driver needs start, pressing on and off switch, balance car enters standby mode；Switching with finger sliding touch, corresponding display lamp amount, balance electric car enters balanced mode, and gyroscope starts to detect vehicle body state, if front and back inclination angle is not at ± 30 degree, inclination angle, left and right is not when ± 45 degree, and buzzer will sound the alarm sound, and vehicle will not start；If front and back inclination angle is at ± 30 degree, inclination angle, left and right is when ± 45 degree, then gyroscope and accelerometer gather the car body position relative to ground by starting every 5ms, and positional information is passed to posture detecting unit, posture detecting unit calculates the wheel moment values needed for vehicle balance by balanced algorithm, pass to this information drive motor, driven by motor wheel rotates, during to next cycle, gyroscope and accelerometer continue to gather attitude information, posture detecting unit controls electric machine rotation, is iteratively repeated said process, and vehicle can realize balance.
Driver starts to drive vehicle, and driver stands on the footrests, during forward lean, car body can be made to produce inclination angle forward, and microprocessor can make forward travel according to the torque of inclination angle moment adjustment wheel；If vehicle has reached 18km/h, car body will tilt backwards, and make the center of gravity of driver backward, and speed according to the rotating speed of vehicle inclination angle moment reduction wheel now, thus can be controlled within the value limited by posture detecting unit；After vehicle start, driver passes through bluetooth communication module, it is achieved electric motor car and the wireless telecommunications of client, thus the driving parameters of vehicle is carried out real time inspection, it is also possible to be configured the speed limit of vehicle；Under non-riding condition, user presses on and off switch or slide downward touch switch, and electric motor car will shutdown.
This electric motor car can realize the wireless telecommunications of client and vehicle, and client is divided into Three models with the communication of vehicle, i.e. inquires about, controls and revise.During query pattern, client sends query statement, microprocessor is passed to via the communication chip in Circuits System on vehicle, microprocessor extracts accelerometer, gyroscope, Hall element record vehicle inclination angle and speed, data are sent to client by communication chip, and client is shown to user；During remote control mode, user according to the advance of the control Interface Control vehicle in client, retreat and turn, control instruction passes to microprocessor via the communication chip in Circuits System on vehicle, it is to realize the vehicle wheel rotational speed required for designated movement that microprocessor calculates vehicle, thus control vehicle wheel rotation, it is achieved the motion that user specifies；During amendment pattern, user can revise the maximum speed limit of vehicle in client, amendment instruction passes to microprocessor via the communication chip in Circuits System on vehicle, built-in speed-limiting messages is modified by microprocessor, can be seen that, these wireless telecommunications are possible not only to make user grasp the information understanding vehicle whenever and wherever possible, also user is allowed to control the speed of electric motor car, direction anywhere or anytime, to tackle the process of special circumstances, such as need to stop in emergency or the urgent situation such as acceleration, improve the security performance of this electric motor car further；
Present invention sea can at least one be combined into new embodiment with embodiment 1 by the technical characteristic described in embodiment 2,3,4,5,6,7,8.
It should be noted that above-described embodiment is only presently preferred embodiments of the present invention, be not used for limiting protection scope of the present invention, protection scope of the present invention is as the criterion with right book to be gone.
Claims (9)
1. one kind with the hollow Self-balance electric vehicle of single wheel without spoke of gravity's center control, it is characterized in that, described electric motor car includes electric motor car body and is arranged on the shell outside electric motor car, described electric motor car body includes vehicle frame and is arranged on the pedal of vehicle frame both sides, transmission component, support component and control circuit it is provided with in described vehicle frame, described control circuit, by the change of center of gravity and then moving forward and backward by motor control vehicle before and after detection driver, realizes turn inside diameter by body inclination.
The hollow Self-balance electric vehicle of single wheel without spoke of gravity's center control the most according to claim 1, it is characterized in that, described transmission component include motor, synchronous pulley, the Timing Belt that is arranged on the synchronous pulley helical gear coaxial with synchronous pulley, without spoke barrel, be arranged on without the helical teeth ring gear on spoke barrel, motor passes to helical gear by Timing Belt, and helical gear engages with without the helical teeth ring gear on spoke barrel and imparts power to without spoke barrel.
The hollow Self-balance electric vehicle of single wheel without spoke of gravity's center control the most according to claim 2, it is characterized in that, described support component includes BOGEY WHEEL, for supporting the load-bearing wheel shaft of BOGEY WHEEL, described load-bearing wheel shaft two ends are provided with L-type bracing frame, the quantity of described BOGEY WHEEL is four, two of which BOGEY WHEEL is arranged on the lower section of frame car body, and two other BOGEY WHEEL is arranged on shell, is positioned at above vehicle body.
The hollow Self-balance electric vehicle of single wheel without spoke of gravity's center control the most according to claim 3, it is characterized in that, the described supporting surface without spoke barrel is set to the V-type of 120 °, being arranged on the BOGEY WHEEL supporting surface below frame car body and be set to 120 ° of V-groove, the described supporting surface without spoke barrel and BOGEY WHEEL supporting surface complement each other to form V-type rail.
5. according to the hollow Self-balance electric vehicle of single wheel without spoke using gravity's center control described in claim 3 or 4, it is characterized in that, described control circuit includes microprocessor, power module, temperature sensor, current sensor, Hall element, posture detecting unit, motor-drive circuit, bluetooth module, touch detection module, human-computer interaction module, described power module, temperature sensor, current sensor, Hall element, posture detecting unit, motor-drive circuit, bluetooth module, touch detection module, human-computer interaction module is all connected with microprocessor, described posture detecting unit is made up of gyroscope and accelerometer, for detecting the car body attitude relative to ground.
The hollow Self-balance electric vehicle of single wheel without spoke of gravity's center control the most according to claim 5, it is characterized in that, at least one in front lamp, taillight, electricity display lamp, steering indicating light it is provided with on shell outside described electric motor car, described front lamp, taillight, electricity display lamp, steering indicating light all use the mode of fastening to be fixed on shell, described shell is additionally provided with charge port and touch switch.
The hollow Self-balance electric vehicle of single wheel without spoke of gravity's center control the most according to claim 6, it is characterised in that be provided with low protection cover on described shell, described low protection cover is arranged on the lower section of pedal.
8. according to the hollow Self-balance electric vehicle of single wheel without spoke using gravity's center control described in claim 6 or 7, it is characterised in that be coated with flexible glue on described BOGEY WHEEL.
9. the control method with the hollow Self-balance electric vehicle of single wheel without spoke of gravity's center control described in any one of claim 1-8 claim, it is characterised in that described control method is as follows: when driver needs start, pressing on and off switch, electric motor car enters standby mode；Switching with finger sliding touch, corresponding display lamp is bright, and balance electric car enters balanced mode, and gyroscope starts to detect vehicle body state, if front and back inclination angle is not at ± 30 degree, inclination angle, left and right is not when ± 45 degree, and buzzer will sound the alarm sound, and vehicle will not start；If front and back inclination angle is at ± 30 degree, inclination angle, left and right is when ± 45 degree, then gyroscope and accelerometer gather the car body position relative to ground by starting every 5ms, and positional information is passed to posture detecting unit, posture detecting unit calculates the wheel moment values needed for vehicle balance by balanced algorithm, wheel moment values is passed to motor, driven by motor wheel rotates, during to next cycle, gyroscope and accelerometer continue to gather attitude information, posture detecting unit controls electric machine rotation, is iteratively repeated said process, and vehicle can realize balance；Driver starts to drive vehicle, and driver stands on the footrests, during forward lean, car body can be made to produce inclination angle forward, and microprocessor can make forward travel according to the torque of inclination angle moment adjustment wheel；If vehicle has reached 18km/h, car body will tilt backwards, and make the center of gravity of driver backward, and speed according to the rotating speed of vehicle inclination angle moment reduction wheel now, thus can be controlled within the value limited by posture detecting unit；After vehicle start, driver passes through bluetooth communication module, it is achieved electric motor car and the wireless telecommunications of client, thus the driving parameters of vehicle is carried out real time inspection, is configured the speed limit of vehicle；Under non-riding condition, user presses on and off switch or slide downward touch switch, and electric motor car will shutdown.
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| CN201510019813.XA CN104527909B (en) | 2015-01-15 | 2015-01-15 | By the hollow Self-balance electric vehicle of single wheel without spoke and the control method thereof of gravity's center control |
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| CN201510019813.XA CN104527909B (en) | 2015-01-15 | 2015-01-15 | By the hollow Self-balance electric vehicle of single wheel without spoke and the control method thereof of gravity's center control |
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