CN104743024B - Self-balancing vehicle - Google Patents
Self-balancing vehicle Download PDFInfo
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- CN104743024B CN104743024B CN201510145111.6A CN201510145111A CN104743024B CN 104743024 B CN104743024 B CN 104743024B CN 201510145111 A CN201510145111 A CN 201510145111A CN 104743024 B CN104743024 B CN 104743024B
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Abstract
The invention relates a self-balancing vehicle. The self-balancing vehicle comprises a vehicle body. The vehicle body comprises an anteverted supporting structure. The supporting structure comprises one or more supporting rods. The first ends of the supporting rods are connected to the vehicle body, and the second ends of the supporting rods contact the running flat of the vehicle body when an inclination angle of the vehicle body towards the corresponding direction of the supporting rods reaches to a preset angle, so that the vehicle body can be supported. According to the technical scheme of the self-balancing vehicle, anteverted supporting on the self-balancing vehicle can be conducted effectively, tumbling of the vehicle and a user is avoided, and the running safety is facilitated to improve.
Description
Technical field
It relates to self-balancing vehicle technical field, more particularly to self-balancing vehicle.
Background technology
Self-balancing vehicle can adjust the real-time status of itself, so as to realize self-balancing by the detection of parameter preset.With
Family is when using self-balancing vehicle, it is only necessary to by tilt quantity, incline direction of control body etc., you can realize to Self-Balancing vehicle
Traveling process control.
The content of the invention
The disclosure provide self-balancing vehicle, to solve correlation technique in deficiency.
According to the first aspect of the embodiment of the present disclosure, there is provided a kind of method for information display self-balancing vehicle, including：
Vehicle body；
Lean forward supporting construction, and the structure includes：At least one support bar；
Wherein, the first end of the support bar is connected to the vehicle body, and the second end of the support bar described
Vehicle body is put down when reaching predetermined angle towards the angle of inclination of the correspondence direction of the support bar with the traveling of the vehicle body
Face contacts, to support the vehicle body.
Optionally, the first end of the support bar is rotatably connected to the vehicle body, and the support bar in institute
State the vertical relation kept during the traveling of vehicle body and between the traveling plane.
Optionally, the first end of the support bar is rotatably connected to the vehicle body；And
Second end of the support bar is connected to the vehicle body by securing member；Wherein, the second of the support bar
End when the vehicle body reaches predetermined angle towards the angle of inclination of the correspondence direction of the support bar with the vehicle body
Separate, and keep the support bar and the vertical relation between the traveling plane.
Optionally, the first end of the support bar is fixedly attached to the vehicle body, and the support bar and the car
Keep a fixed angle between body, make the second end of the support bar the vehicle body towards the support bar correspondence
Touch with the traveling flat face of the vehicle body when angle of inclination in direction reaches predetermined angle.
Optionally, the support bar includes：
Head rod, one end of the head rod is that the first end of the support bar, the other end are connected to elasticity
The first end of Buffer Unit；
Second connecting rod, it is described that one end of second connecting rod is that the second end of the support bar, the other end are connected to
Second end of elastic buffer member；
The elastic buffer member.
Optionally, the supporting construction that leans forward includes：
First support bar, the first support bar belongs to the bilateral symmetry plane of the vehicle body.
Optionally, the supporting construction that leans forward includes：
Second support bar and the 3rd support bar, the second support bar and the 3rd support bar are along the vehicle body
Bilateral symmetry plane is symmetrical set.
Optionally, the supporting construction that leans forward includes：
First support bar, the first support bar belongs to the bilateral symmetry plane of the vehicle body；
Second support bar and the 3rd support bar, the second support bar and the 3rd support bar are along the vehicle body
Bilateral symmetry plane is symmetrical set.
Optionally, the supporting construction that leans forward includes：
First support bar, the first support bar belongs to the bilateral symmetry plane of the vehicle body；
Second support bar and the 3rd support bar, the second support bar and the 3rd support bar are along the vehicle body
Bilateral symmetry plane is symmetrical set；
4th support bar and the 5th support bar, the 4th support bar and the 5th support bar are along the vehicle body
Bilateral symmetry plane is symmetrical set, and the second support bar be located at the first support bar and the 4th support bar it
Between, the 3rd support bar be located between the first support bar and the 5th support bar.
The technical scheme that embodiment of the disclosure is provided can include following beneficial effect：
The disclosure, can be larger in the forward leaning angle of vehicle body by configuring the supporting construction that leans forward for self-balancing vehicle
When, by the contact of support bar and traveling plane, vehicle body is supported, so as to avoid vehicle from toppling over, user's injury etc.
The generation of situation, contributes to lifting the security of self-balancing vehicle.
It should be appreciated that the general description of the above and detailed description hereinafter are only exemplary and explanatory, not
The disclosure can be limited.
Description of the drawings
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the enforcement for meeting the disclosure
Example, and be used to explain the principle of the disclosure together with specification.
Fig. 1 is a kind of schematic diagram of the self-balancing vehicle in correlation technique.
Fig. 2 is a kind of schematic diagram of the self-balancing vehicle according to an exemplary embodiment.
Fig. 3 be a kind of self-balancing vehicle according to an exemplary embodiment vehicle body with lean forward supporting construction it
Between structural relation schematic diagram.
Fig. 4 is the vehicle body and the supporting construction that leans forward of another kind of self-balancing vehicle according to an exemplary embodiment
Between structural relation schematic diagram.
Fig. 5 is the vehicle body and the supporting construction that leans forward of another self-balancing vehicle according to an exemplary embodiment
Between structural relation schematic diagram.
Fig. 6 is a kind of structural representation of the support bar according to an exemplary embodiment.
Fig. 7 is a kind of structural representation of the self-balancing vehicle according to an exemplary embodiment.
Fig. 8 is the structural representation of another kind of self-balancing vehicle according to an exemplary embodiment.
Fig. 9 is the structural representation of another self-balancing vehicle according to an exemplary embodiment.
Figure 10 is the structural representation of another self-balancing vehicle according to an exemplary embodiment.
Specific embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Explained below is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.Conversely, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects described in detail in claims, the disclosure.
Fig. 1 is a kind of schematic diagram of the self-balancing vehicle in correlation technique, as shown in Figure 1, although in correlation technique from
Balancing vehicle can under normal circumstances maintain poised state, but if during being travelled to B points by A points, due to traveling
Occur rainy day slipperiness on roads in plane, or cause the reasons such as larger inertia because travel speed is too fast, still may lead
Cause self-balancing vehicle to occur leaning forward, cause user to fall down, the event of vehicle damage.
In order to leaning forward of solving that the problems referred to above present in correlation technique, i.e. self-balancing vehicle may occur falls down phenomenon,
The present disclosure proposes for the improvement of self-balancing vehicle.Fig. 2 is a kind of self-balancing vehicle according to an exemplary embodiment
Schematic diagram, as shown in Fig. 2 the self-balancing vehicle 10 includes：
Vehicle body 1；
The supporting construction that leans forward 2, the structure includes：At least one support bar is (for purposes of illustration only, the support knot that leans forward in Fig. 2
Structure 2 only includes a support bar)；
Wherein, the first end of the support bar is connected to the vehicle body 1, and the second end of the support bar described
Vehicle body 1 towards the angle of inclination of the correspondence direction of the support bar reach predetermined angle when traveling with the vehicle body 1
Flat face is touched, to support the vehicle body 1.
In the present embodiment, when support bar is connected with vehicle body 1, based on relative between support bar and vehicle body 1
Position relationship so that support bar has corresponding activity space and correspondence direction.For example, in the embodiment shown in Figure 2,
Support bar is connected on the front position of vehicle body 1 with the control stick of vehicle body 1, thus the correspondence direction of support bar
As " front "：Support bar can be rotated to the front of vehicle body 1, but cannot turn to the rear of control stick (from Fig. 2
As can be seen that the circuit that support bar rotates backward is stopped by control stick).So, for the self-balancing vehicle shown in Fig. 2, when it
When inclining to front, the support bar of the supporting construction 2 that just can cause to lean forward and traveling plane contact, to support vehicle body 1.
Certainly, support bar might not be connected on the control stick on vehicle body 1, be only used for illustrating herein；This
Art personnel should be understood that support bar obviously may also connect to other optional positions on vehicle body 1, such as
Pedal bottom of vehicle body 1 etc., the disclosure is not limited this.
From above-described embodiment, the disclosure, can be in vehicle by configuring the supporting construction 2 that leans forward for self-balancing vehicle 10
When the forward leaning angle of body 1 is larger, by support bar contact with traveling plane, vehicle body 1 is supported, so as to avoid
The generation of the situations such as generation self-balancing vehicle 10 is toppled over, user's injury, contributes to lifting the security of self-balancing vehicle 10.
1st, the connected mode of support bar and vehicle body 1
In order to realize that " the second end of support bar reaches pre- in vehicle body 1 towards the angle of inclination of the correspondence direction of support bar
If touching with the traveling flat face of vehicle body 1 during angle ", support bar there may be various connected modes with vehicle body 1, make
Obtain self-balancing vehicle 10 and form corresponding structure；Wherein several possible connected modes are illustrated below.
1) it is rotatably coupled 1
Used as an illustrative embodiments, the first end of support bar is rotatably connected to vehicle body 1, and support bar exists
The vertical relation between plane is kept and travelled during the traveling of vehicle body 1.
Than as shown in figure 3, when self-balancing vehicle 10 is located at A points, i.e., self-balancing vehicle 10 is in upright posture, now props up
The upper end (i.e. first end) of strut is connected to control stick
Example), and there is a contact surface between support bar and control stick, while the lower end (i.e. the second end) of support bar is towards traveling plane,
Make perpendicular relation between support bar and traveling plane.
When self-balancing vehicle 10 is travelled to B points, there is a certain degree of leaning forward in self-balancing vehicle 10.Now, support bar
Rotate around first end and away from control stick, so as to keep the vertical relation between support bar and traveling plane.
During being travelled to C points by B points, support bar continues around first end and rotates and away from control stick, so as to keep
Vertical relation between support bar and traveling plane.When self-balancing vehicle 10 is travelled to C points, it is assumed that before self-balancing vehicle 10
Degree of tilt reaches predetermined angle, then the second end of support bar can be propped up by contact traveling plane so as to be formed to vehicle body 1
Support is acted on, it is to avoid self-balancing vehicle 10 is toppled over.
In the present embodiment, support bar can pass through Action of Gravity Field, it is ensured that during traveling all the time with traveling plane it
Between keep vertical relation；Wherein it is possible to make the center of gravity of support bar relative closer to the second end, away from first end, it is above-mentioned to strengthen
Action of Gravity Field.
2) 2 are rotatably coupled
Used as another exemplary embodiment, the first end of support bar is rotatably connected to vehicle body 1；And,
Second end of strut is connected to vehicle body 1 by securing member；Wherein, the second end of support bar in vehicle body 1 towards support bar
The angle of inclination of correspondence direction separate with vehicle body 1 when reaching predetermined angle, and make support bar keep with traveling plane it
Between vertical relation.
Than as shown in figure 4, when self-balancing vehicle 10 is located at A points, i.e., self-balancing vehicle 10 is in upright posture, now props up
The upper end (i.e. first end) of strut is connected to control stick
Example), and there is a contact surface between support bar and control stick, while the lower end (i.e. the second end) of support bar is towards traveling plane,
Make perpendicular relation between support bar and traveling plane；Wherein, the lower end of support bar is by securing member (not shown) and behaviour
Vertical pole is connected.
Due to support bar first end and the second end be connected to control stick, therefore when self-balancing vehicle 10 is travelled to B points
When, although vehicle body 1 there occurs a certain degree of inclination (not up to predetermined angle), but between support bar and vehicle body 1
Relative position relation do not change, i.e., first end and the second end remain attached to control stick.
Similarly, travelled by A points to B points in self-balancing vehicle 10, during being travelled to C points by B points, support bar and car
Relative position relation between body 1 does not change all the time, i.e., first end and the second end are connected to all the time control stick.When
When self-balancing vehicle 10 is travelled to C points, it is assumed that the forward leaning angle of self-balancing vehicle 10 reaches predetermined angle, then the second of support bar
End separates with control stick automatically, so as to pass through the second end directly contact traveling plane of support bar, forms propping up to vehicle body 1
Support is acted on, it is to avoid self-balancing vehicle 10 is toppled over.
3) it is fixedly connected
Used as another exemplary embodiment, the first end of support bar is fixedly attached to vehicle body, and support bar and car
Keep a fixed angle between body, make the second end of support bar vehicle body towards the correspondence direction of support bar inclination angle
Touch with the traveling flat face of vehicle body when degree reaches predetermined angle.
Than as shown in figure 5, when self-balancing vehicle 10 is located at A points, i.e., self-balancing vehicle 10 is in upright posture, now props up
The upper end (i.e. first end) of strut is connected to control stick
Example), and be in a fixed angle between support bar and control stick, while before the lower end (i.e. the second end) of support bar and traveling plane
There is certain spacing distance.
Because the angle between support bar and control stick is fixed, therefore when self-balancing vehicle 10 is travelled to B points, although car
Body 1 there occurs a certain degree of inclination (not up to predetermined angle) so that between the second end of support bar and traveling plane
Distance Shortened, but the second end of support bar still cannot touch traveling plane.
Similarly, travelled by A points to B points in self-balancing vehicle 10, during being travelled to C points by B points, the of support bar
Spacing distance between two ends and traveling plane is shorter and shorter, but the second end of support bar cannot touch all the time traveling plane.
When self-balancing vehicle 10 is travelled to C points, it is assumed that the forward leaning angle of self-balancing vehicle 10 reaches predetermined angle, then the of support bar
Two ends can travel plane with directly contact, form the supporting role to vehicle body 1, it is to avoid self-balancing vehicle 10 is toppled over.
2nd, the structure of support bar
In the technical scheme of the disclosure, support bar can adopt arbitrary shape, such as the section of the support bar in Fig. 6 is
Square；Meanwhile, support bar can also adopt arbitrary structures, such as the metal tube of an entirety, or using the knot shown in Fig. 6
Structure.
As shown in fig. 6, support bar can include：Head rod 21, the second connecting rod 22 and elastic buffer member 23.Its
In：
One end (i.e. upper end in Fig. 6) of head rod 21 is first end, the other end of support bar (i.e. under in Fig. 6
End) it is connected to the first end of elastic buffer member 23 (i.e. upper end in Fig. 6)；
One end (i.e. lower end in Fig. 6) of second connecting rod 22 is the second end of the support bar, the other end (i.e. in Fig. 6
Upper end) be connected to the second end of elastic buffer member 23.
By arranging elastic buffer member 23 so that support bar can play buffering when being supported to vehicle body 1
Effect.
3rd, the position relationship between the supporting construction that leans forward 2 and vehicle body 1
In the technical scheme of the disclosure, the quantity variance of the support bar included based on the supporting construction 2 that leans forward, support of leaning forward
May there are various position relationships in structure 2, wherein several possible forms are illustrated below between vehicle body 1.
1) support bar
Fig. 7 is the top view of self-balancing vehicle 10, and the left and right sides of wherein vehicle body 1 is respectively wheel, between wheel
Arrange by control stick for forward (i.e. " top " in Fig. 7) place in the middle of pedal, pedal.As shown in fig. 7, as an exemplary enforcement
Example, the supporting construction that leans forward 2 can include：First support bar 31, the first support bar 31 belongs to the symmetrical flat of vehicle body 1
Face；In other words, first support bar 31 is located at front when self-balancing vehicle 10 is travelled.
Therefore, when self-balancing vehicle 10 in the process of moving, when reaching predetermined angle to the forward leaning angle in front, can be with
By the supporting role of first support bar 31, it is to avoid vehicle is fallen down.
2) two support bars
With Fig. 7 analogously, Fig. 8 is another exemplary embodiment, and the supporting construction 2 that leans forward therein includes：Second supports
The support bar 33 of bar 32 and the 3rd, the second support bar 32 and the 3rd support bar 33 it is right along the left and right of the vehicle body 1
Plane is claimed to be symmetrical set.
So, when self-balancing vehicle 10 is obliquely oriented 1 when leaning forward, propping up for second support bar 32 can be passed through
Support is acted on, it is to avoid vehicle is fallen down；When self-balancing vehicle 10 is obliquely oriented 2 when leaning forward, can support by the 3rd
The supporting role of bar 33, it is to avoid vehicle is fallen down；When self-balancing vehicle 10 occur towards front when leaning forward (with shown in Fig. 7
Incline direction is consistent), then can be by supporting role while second support bar 32 and the 3rd support bar 33, it is to avoid vehicle falls
.
3) three support bars
By the way that with reference to Fig. 7 and Fig. 8, the another exemplary embodiment of the disclosure, i.e., the embodiment party shown in Fig. 9 can be obtained
Formula：The supporting construction that leans forward 2 includes：First support bar 31, the first support bar 31 belongs to the symmetrical of the vehicle body 1
Plane；The support bar 33 of second support bar 32 and the 3rd, the second support bar 32 and the 3rd support bar 33 are along the vehicle
The bilateral symmetry plane of body 1 is symmetrical set.
Wherein, when self-balancing vehicle 10 occurs towards when the leaning forward of incline direction 1 shown in Fig. 8, second can be passed through
The supporting role of strut 32, it is to avoid vehicle is fallen down；When self-balancing vehicle 10 occurs leaning forward towards the incline direction 2 shown in Fig. 8
When, the supporting role of the 3rd support bar 33 can be passed through, it is to avoid vehicle is fallen down；When self-balancing vehicle 10 occurs towards front
When leaning forward (consistent with the incline direction shown in Fig. 7), then can pass through the supporting role of first support bar 31, it is to avoid vehicle falls
；When the direction of leaning forward that self-balancing vehicle 10 occurs is located between first support bar 31 and second support bar 32, can pass through
Supporting role while first support bar 31 and second support bar 32, it is to avoid vehicle is fallen down；Before self-balancing vehicle 10 occurs
When inclining direction between the support bar 33 of first support bar 31 and the 3rd, the support bar 33 of first support bar 31 and the 3rd can be passed through
While supporting role, it is to avoid vehicle is fallen down.
4) five support bars
As shown in Figure 10, as another exemplary embodiment, the supporting construction that leans forward 2 can include：
First support bar 31, the first support bar 31 belongs to the bilateral symmetry plane of the vehicle body 1；
The support bar 33 of second support bar 32 and the 3rd, the second support bar 32 and the 3rd support bar 33 are along the car
The bilateral symmetry plane of body 1 is symmetrical set；
4th support bar 34 and the 5th support bar 35, the 4th support bar 34 and the 5th support bar 35 are along the car
The bilateral symmetry plane of body 1 is symmetrical set, and the second support bar 32 be located at the first support bar 31 with it is described
Between 4th support bar 34, the 3rd support bar 33 be located between the first support bar 31 and the 5th support bar 35.
With Fig. 7-9 analogously, when the direction of leaning forward that self-balancing vehicle 10 occurs is consistent with the direction of arbitrary support bar,
Directly can be supported by the support bar；Direction such as lean forward for front, is then supported by first support bar 31；
When the direction of leaning forward that self-balancing vehicle 10 occurs is located between two adjacent support bars, this adjacent two can be passed through
Strut carries out supporting simultaneously, such as the incline direction 3 shown in Figure 10 be located at first support bar 31 and second support bar 32 it
Between, thus can be by supporting role while first support bar 31 and second support bar 32, it is to avoid vehicle is fallen down；And inclination side
It is located between the 3rd support bar 33 and the 5th support bar 35 to 4, thus can be by the 3rd support bar 33 and the 5th support bar 35
While supporting role, it is to avoid vehicle is fallen down.
Those skilled in the art will readily occur to its of the disclosure after considering specification and putting into practice disclosure disclosed herein
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes or
Person's adaptations follow the general principle of the disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claim is pointed out.
It should be appreciated that the disclosure is not limited to the precision architecture for being described above and being shown in the drawings, and
And can without departing from the scope carry out various modifications and changes.The scope of the present disclosure is only limited by appended claim.
Claims (9)
1. a kind of self-balancing vehicle, it is characterised in that include：
Vehicle body；
Lean forward supporting construction, and the supporting construction that leans forward includes：At least one support bar；
Wherein, the first end of the support bar is connected to the vehicle body, and the second end of the support bar in the vehicle
Body towards the angle of inclination of the correspondence direction of the support bar reach predetermined angle when traveling plane phase with the vehicle body
Contact, to support the vehicle body.
2. vehicle according to claim 1, it is characterised in that the first end of the support bar can be rotatably connected to institute
Vehicle body is stated, and the support bar keeps vertical between the traveling plane during the traveling of the vehicle body
Relation.
3. vehicle according to claim 1, it is characterised in that the first end of the support bar can be rotatably connected to institute
State vehicle body；And
Second end of the support bar is connected to the vehicle body by securing member；Wherein, the second end of the support bar exists
The vehicle body is separated when reaching predetermined angle towards the angle of inclination of the correspondence direction of the support bar with the vehicle body,
And keep the support bar and the vertical relation between the traveling plane.
4. vehicle according to claim 1, it is characterised in that the first end of the support bar is fixedly attached to the vehicle
A fixed angle is kept between body, and the support bar and the vehicle body, the second end of the support bar is made described
Vehicle body is put down when reaching predetermined angle towards the angle of inclination of the correspondence direction of the support bar with the traveling of the vehicle body
Face contacts.
5. vehicle according to claim 1, it is characterised in that the support bar includes：Head rod, the second connecting rod
And elastic buffer member；Wherein：
One end of the head rod is that the first end of the support bar, the other end are connected to the first of elastic buffer member
End；
One end of second connecting rod is that the second end of the support bar, the other end are connected to the of the elastic buffer member
Two ends.
6. vehicle according to claim 1, it is characterised in that the supporting construction that leans forward includes：
First support bar, the first support bar is located at the bilateral symmetry plane of the vehicle body.
7. vehicle according to claim 1, it is characterised in that the supporting construction that leans forward includes：
Second support bar and the 3rd support bar, the second support bar and the 3rd support bar are along the left and right of the vehicle body
Symmetrical plane is symmetrical set.
8. vehicle according to claim 1, it is characterised in that the supporting construction that leans forward includes：
First support bar, the first support bar is located at the bilateral symmetry plane of the vehicle body；
Second support bar and the 3rd support bar, the second support bar and the 3rd support bar are along the left and right of the vehicle body
Symmetrical plane is symmetrical set.
9. vehicle according to claim 1, it is characterised in that the supporting construction that leans forward includes：
First support bar, the first support bar is located at the bilateral symmetry plane of the vehicle body；
Second support bar and the 3rd support bar, the second support bar and the 3rd support bar are along the left and right of the vehicle body
Symmetrical plane is symmetrical set；
4th support bar and the 5th support bar, the 4th support bar and the 5th support bar are along the left and right of the vehicle body
Symmetrical plane is symmetrical set, and the second support bar be located between the first support bar and the 4th support bar, institute
State the 3rd support bar to be located between the first support bar and the 5th support bar.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510145111.6A CN104743024B (en) | 2015-03-30 | 2015-03-30 | Self-balancing vehicle |
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| CN201510145111.6A CN104743024B (en) | 2015-03-30 | 2015-03-30 | Self-balancing vehicle |
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| CN104743024B true CN104743024B (en) | 2017-05-10 |
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| CN105786010B (en) * | 2016-05-11 | 2021-01-29 | 上海明我信息技术有限公司 | Anti-falling control method and device and electronic equipment |
| KR101935858B1 (en) | 2016-11-28 | 2019-01-07 | (주)케이피엘 | A stable two-wheeled electric vehicle |
| CN110641595A (en) * | 2019-09-17 | 2020-01-03 | 山东光韵智能科技有限公司 | Balance car with high safety |
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Also Published As
| Publication number | Publication date |
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| CN104743024A (en) | 2015-07-01 |
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