CN104960607A - Novel free sensor controlled vehicle - Google Patents
Novel free sensor controlled vehicle Download PDFInfo
- Publication number
- CN104960607A CN104960607A CN201510411686.8A CN201510411686A CN104960607A CN 104960607 A CN104960607 A CN 104960607A CN 201510411686 A CN201510411686 A CN 201510411686A CN 104960607 A CN104960607 A CN 104960607A
- Authority
- CN
- China
- Prior art keywords
- free body
- body sense
- sense car
- controlled vehicle
- auxiliary wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
-
- 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
- B62K11/14—Handlebar constructions, or arrangements of controls thereon, specially adapted thereto
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Steering Controls (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a novel free sensor controlled vehicle, comprising a free sensor controlled vehicle body (1), a free sensor controlled vehicle vertical rod (2), a free sensor controlled vehicle steering wheel (6), free sensor controlled vehicle wheels (3), free sensor controlled vehicle auxiliary wheels (4), free sensor controlled vehicle auxiliary wheel crank arms (5) and free sensor controlled vehicle mud guard supports (7). The free sensor controlled vehicle body (1) is a box and is internally provided with a main power source (11), a main control board (12), a steering engine power source (13), a steering engine control board (14) and a steering engine (15); the two free sensor controlled vehicle auxiliary wheel crank arms (5) are bilaterally symmetrical, and one end of each of the two free sensor controlled vehicle auxiliary wheel crank arms (5) is arranged in front of the outside of the free sensor controlled vehicle body (1) in a hinging manner; a control button (20) is arranged on the free sensor controlled vehicle steering wheel (6). According to the invention, through additionally arranging the free sensor controlled vehicle auxiliary wheels, the free sensor controlled vehicle auxiliary wheel crank arms and the control button, the ability of accident power-off protection is improved, the performances of too high speed protection and manual control protection of the free sensor controlled vehicle are realized, and the driving safety is significantly improved.
Description
Technical field
The invention belongs to free body sense car technical field, particularly a kind of novel free body sense car with unexpected protection.
Technical background
Existing free body sense car only has circuit protection when excessive velocities; namely when excessive velocities, free body sense car can accelerate suddenly to reply free body sense car normal condition when making the balance inclination angle of free body sense car be less than the inclination angle of maximum speed; but in free body sense vehicle speed this protective circuit too fast not normal or free body sense car in operational process in the situation such as unexpected power-off without any safety method to steerman; thus there is potential safety hazard, be therefore necessary to be improved the accident protection of free body sense car.
Summary of the invention
Goal of the invention: research and develop a kind of novel free body sense car, increases unexpected protective capability, improves safety performance.
Technical scheme: a kind of novel free body sense car, comprise free body sense vehicle main body 1, free body sense car vertical rod 2, free body sense car bearing circle 6, free body sense car wheel 3, free body sense car auxiliary wheel 4, free body sense car auxiliary wheel crank arm 5, free body sense car splash apron bracket 7, it is characterized in that
Described free body sense vehicle main body 1 is a casing, inside is provided with main power source 11, master control board 12, steering wheel power supply 13, servos control plate 14, steering wheel 15, shock absorption device 16, described free body sense car auxiliary wheel cranks arm 5 for symmetrical 2, its one end is arranged on the outside front of free body sense vehicle main body 1 by hinging manner, the other end connects described free body sense car auxiliary wheel 4, described free body sense car auxiliary wheel 4 and free body sense car auxiliary wheel crank arm 5 the steering wheel 15 of combining power supply by main power source 11 and steering wheel power supply 13 of showing arranged, when there is unexpected power-off in free body sense car in operational process, described free body sense car auxiliary wheel crank arm 5 by the power supply of steering wheel power supply 13 can eject come, ensure that free body sense car can not be fallen down to protect navigating mate, when free body sense car normally runs, described free body sense car auxiliary wheel is cranked arm and 5 is in retracted state and is close to the outside front of free body sense vehicle main body 1, free body sense car bearing circle 6 is provided with control button 20,
Described free body sense car auxiliary wheel crank arm 5 ejection be under three circumstances: 1) when free body sense vehicle speed is too fast, can automatic spring; 2) the meeting automatic spring when accident power-off appears in free body sense car in operational process; 3) be provided with control button 20 on the steering wheel, crank arm when pressing this button 20 and also can eject;
The described free body sense car auxiliary wheel withdrawal situation after 5 ejections of cranking arm is: during excessive velocities 1) for free body sense car, and its speed is by can automatic drawing back after too fast slowing down; 2), time for accident power-off, free body sense car understands automatic drawing back after again restarting; 3) for manual control, again press the button 20, described free body sense car auxiliary wheel is cranked arm 5 that is recoverable;
Principle of work when 1st kind of situation free body sense vehicle speed is too fast: by the Hall element of the detection motor speed inside the motor that is arranged in free body sense car wheel 3, pass the signal of servos control plate back, whether too fastly carry out detection speed, when the speed of detecting reaches capacity speed, servos control plate can send signal and make steering wheel turn to assigned address rapidly; When the speed of detecting is returned to below terminal speed, servos control plate can send signal again, controls steering wheel and rotates, described free body sense car auxiliary wheel is cranked arm 5 resets;
Principle of work during the 2nd kind of situation accident power-off: by the voltage comparator on servos control plate, carry out the comparison between voltage on main circuit board and steering wheel power supply, determine whether main power source powers normally, when accident power-off, voltage on main circuit board is zero, the value of feedback of voltage comparator reaches capacity, at this moment steering wheel circuit card controls steering wheel and rotates and described free body sense car auxiliary wheel is cranked arm 5 turn to assigned address, when the closedown of free body sense car is restarted again, the value of feedback of voltage comparator is in normal range, random steering wheel resets, withdrawal of cranking arm;
Principle of work during the 3rd kind of situation manual control: when control button 20 is pressed, by the circuit ON of button 20, after connecting, electric signal can arrive servos control plate, servos control plate controls steering wheel and rotates described free body sense car auxiliary wheel is cranked arm 5 arrival assigned addresses, when button 20 is pressed again, servos control plate can make steering wheel rotate described free body sense car auxiliary wheel is cranked arm 5 resets.
Beneficial effect of the present invention: the present invention by increasing free body sense car auxiliary wheel 4, free body sense car auxiliary wheel cranks arm 5 and control button 20; Non-follow control protective capability and accident power-off protective capability are increased newly; and strengthen the too fast protective capability of free body sense vehicle speed, significantly improve the safety of driving.
Accompanying drawing explanation
Fig. 1 is free body sense car external structure schematic diagram of the present invention;
Fig. 2 is free body sense vehicle main body inner structure schematic diagram (containing outside wheel) of the present invention.
Detailed description of the invention
The present invention is described further below in conjunction with embodiment and accompanying drawing thereof:
A kind of novel free body sense car, comprise free body sense vehicle main body 1, free body sense car vertical rod 2, free body sense car bearing circle 6, free body sense car wheel 3, free body sense car auxiliary wheel 4, free body sense car auxiliary wheel crank arm 5, free body sense car splash apron bracket 7 (as shown in Figure 1), it is characterized in that
Described free body sense vehicle main body 1 is a casing, inside is provided with main power source 11, master control board 12, steering wheel power supply 13, servos control plate 14, steering wheel 15, it 5 is 2 that described free body sense car auxiliary wheel is cranked arm, and is symmetrical set in the outside front of free body sense vehicle main body 1 by hinging manner; Described free body sense car auxiliary wheel crank arm 5 the other end connect described free body sense car auxiliary wheel 4, described free body sense car auxiliary wheel 4 and free body sense car auxiliary wheel crank arm 5 the steering wheel 15 of combining power supply by main power source 11 and steering wheel power supply 13 of showing arranged, just because of associating power supply station with when there is unexpected power-off in free body sense car in operational process, described free body sense car auxiliary wheel is cranked arm and 5 can be ejected by the power supply of steering wheel power supply 13, ensures that free body sense car can not be fallen down to protect navigating mate; When free body sense car normally runs, described free body sense car auxiliary wheel is cranked arm and 5 is in retracted state and is close to the outside front of free body sense vehicle main body 1; Free body sense car bearing circle 6 is provided with control button 20 (as Fig. 2);
Described free body sense car auxiliary wheel crank arm 5 ejection be under three circumstances: 1) when free body sense vehicle speed is too fast, can automatic spring; 2) the meeting automatic spring when accident power-off appears in free body sense car in operational process; 3) be provided with control button 20 on the steering wheel, crank arm when pressing this button 20 and also can eject;
The described free body sense car auxiliary wheel withdrawal situation after 5 ejections of cranking arm is: during excessive velocities 1) for free body sense car, and its speed is by can automatic drawing back after too fast slowing down; 2), time for accident power-off, free body sense car understands automatic drawing back after again restarting; 3) for manual control, again press the button 20, described free body sense car auxiliary wheel is cranked arm 5 that is recoverable;
Principle of work when 1st kind of situation free body sense vehicle speed is too fast: by the Hall element of the detection motor speed inside the motor that is arranged in free body sense car wheel 3, pass the signal of servos control plate back, whether too fastly carry out detection speed, when the speed of detecting reaches capacity speed, servos control plate can send signal and make steering wheel turn to assigned address rapidly; When the speed of detecting is returned to below terminal speed, servos control plate can send signal again, controls steering wheel and rotates, described free body sense car auxiliary wheel is cranked arm 5 resets;
Principle of work during the 2nd kind of situation accident power-off: by the voltage comparator on servos control plate, carry out the comparison between voltage on main circuit board and steering wheel power supply, determine whether main power source powers normally, when accident power-off, voltage on main circuit board is zero, the value of feedback of voltage comparator reaches capacity, at this moment steering wheel circuit card controls steering wheel and rotates and described free body sense car auxiliary wheel is cranked arm 5 turn to assigned address, when the closedown of free body sense car is restarted again, the value of feedback of voltage comparator is in normal range, random steering wheel resets, withdrawal of cranking arm;
Principle of work during the 3rd kind of situation manual control: when control button 20 is pressed, by the circuit ON of button 20, after connecting, electric signal can arrive servos control plate, servos control plate controls steering wheel and rotates described free body sense car auxiliary wheel is cranked arm 5 arrival assigned addresses, when button 20 is pressed again, servos control plate can make steering wheel rotate described free body sense car auxiliary wheel is cranked arm 5 resets.
The foregoing is only preferred embodiments of the present invention, not in order to limit the present invention, any amendment done within the spirit and principles in the present invention, equivalent replacement, improvement etc., all should be included within system architecture of the present invention and method.
Claims (2)
1. a novel free body sense car, comprise free body sense vehicle main body (1), free body sense car vertical rod (2), free body sense car bearing circle (6), free body sense car wheel (3), free body sense car auxiliary wheel (4), free body sense car auxiliary wheel are cranked arm (5), free body sense car splash apron bracket (7), it is characterized in that
Described free body sense vehicle main body (1) is a casing, inside is provided with main power source (11), master control board (12), steering wheel power supply (13), servos control plate (14), steering wheel (15), described free body sense car auxiliary wheel cranks arm (5) for symmetrical 2, its one end is arranged on the outside front of free body sense vehicle main body (1) by hinging manner, and the other end connects described free body sense car auxiliary wheel (4); The crank arm steering wheel (15) of combining power supply by main power source (11) and steering wheel power supply (13) of showing of (5) of described free body sense car auxiliary wheel (4) and free body sense car auxiliary wheel arranged, when there is unexpected power-off in free body sense car in operational process, described free body sense car auxiliary wheel crank arm (5) by the power supply of steering wheel power supply (13) can eject come; When free body sense car normally runs, described free body sense car auxiliary wheel crank arm (5) be in retracted state and be close to free body sense vehicle main body (1) outside front; Free body sense car bearing circle (6) is provided with control button (20).
2. novel free body sense car according to claim 1, is characterized in that,
The crank arm ejection of (5) of described free body sense car auxiliary wheel is under three circumstances: 1) when free body sense vehicle speed is too fast, can automatic spring; 2) the meeting automatic spring when accident power-off appears in free body sense car in operational process; 3), when pressing control button (20), crank arm and also can eject;
Described free body sense car auxiliary wheel crank arm (5) eject after withdrawal situation be: during excessive velocities 1) for free body sense car, its speed is by can automatic drawing back after too fast slowing down; 2), time for accident power-off, free body sense car understands automatic drawing back after again restarting; 3) for manual control, again press control button (20), described free body sense car auxiliary wheel crank arm (5) namely recoverable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510411686.8A CN104960607B (en) | 2015-07-15 | 2015-07-15 | A kind of new free body-sensing car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510411686.8A CN104960607B (en) | 2015-07-15 | 2015-07-15 | A kind of new free body-sensing car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104960607A true CN104960607A (en) | 2015-10-07 |
| CN104960607B CN104960607B (en) | 2017-08-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510411686.8A Expired - Fee Related CN104960607B (en) | 2015-07-15 | 2015-07-15 | A kind of new free body-sensing car |
Country Status (1)
| Country | Link |
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| CN (1) | CN104960607B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539658A (en) * | 2015-12-24 | 2016-05-04 | 鲍炜 | Safe two-wheeled self-balancing vehicle |
| CN105711726A (en) * | 2016-04-19 | 2016-06-29 | 朱永刚 | Balance vehicle and control method thereof |
Citations (5)
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|---|---|---|---|---|
| CN2784294Y (en) * | 2005-02-02 | 2006-05-31 | 必翔实业股份有限公司 | Balancing carriage structure for driving wheel of electric vehicle |
| EP1695896A1 (en) * | 2005-02-25 | 2006-08-30 | Ulrich Kahlert | Balancing vehicle with 2 wheels powered with a battery |
| CN101691127A (en) * | 2009-08-20 | 2010-04-07 | 天津锦泰勤业精密电子有限公司 | System for controlling motion balance of dual-wheel auto balancing electric vehicle |
| JP2010285102A (en) * | 2009-06-12 | 2010-12-24 | Toyota Motor Corp | Inverted pendulum type two-wheel vehicle |
| CN205186402U (en) * | 2015-07-15 | 2016-04-27 | 郭家鹏 | Novel freely personally experience sth. part of body and feel car |
-
2015
- 2015-07-15 CN CN201510411686.8A patent/CN104960607B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2784294Y (en) * | 2005-02-02 | 2006-05-31 | 必翔实业股份有限公司 | Balancing carriage structure for driving wheel of electric vehicle |
| EP1695896A1 (en) * | 2005-02-25 | 2006-08-30 | Ulrich Kahlert | Balancing vehicle with 2 wheels powered with a battery |
| JP2010285102A (en) * | 2009-06-12 | 2010-12-24 | Toyota Motor Corp | Inverted pendulum type two-wheel vehicle |
| CN101691127A (en) * | 2009-08-20 | 2010-04-07 | 天津锦泰勤业精密电子有限公司 | System for controlling motion balance of dual-wheel auto balancing electric vehicle |
| CN205186402U (en) * | 2015-07-15 | 2016-04-27 | 郭家鹏 | Novel freely personally experience sth. part of body and feel car |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539658A (en) * | 2015-12-24 | 2016-05-04 | 鲍炜 | Safe two-wheeled self-balancing vehicle |
| WO2017107838A1 (en) * | 2015-12-24 | 2017-06-29 | 鲍炜 | Safe two-wheeled self-balancing vehicle |
| CN105539658B (en) * | 2015-12-24 | 2018-03-30 | 鲍炜 | A kind of safe double-wheel self-balancing car |
| US10988199B2 (en) | 2015-12-24 | 2021-04-27 | Jiangsu Tallpic Intelligence Technology Ltd. | Safe two-wheeled self-balancing vehicle |
| CN105711726A (en) * | 2016-04-19 | 2016-06-29 | 朱永刚 | Balance vehicle and control method thereof |
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| Publication number | Publication date |
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| CN104960607B (en) | 2017-08-25 |
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Granted publication date: 20170825 Termination date: 20190715 |