CN105292333A - Novel steering system and balancing car - Google Patents
Novel steering system and balancing car Download PDFInfo
- Publication number
- CN105292333A CN105292333A CN201510615307.7A CN201510615307A CN105292333A CN 105292333 A CN105292333 A CN 105292333A CN 201510615307 A CN201510615307 A CN 201510615307A CN 105292333 A CN105292333 A CN 105292333A
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- balance truck
- steering system
- steering
- steering swivel
- swivel system
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Abstract
The invention discloses a novel steering system and a balancing car. The steering system comprises a position sensor, an external circuit and a circuit board, wherein the position sensor and the external circuit is accommodated on the circuit board; and the steering system is connected with a main control system through communication so as to transmit posture change data, obtained by the position sensor, to the main control system. The position change of the steering system is sensed through the adoption of the position sensor so as to control the direction of the balancing car. As the steering system can be also arranged on plurality of devices or combined with various types of wearable devices, drivers can control the steering of the balancing car only by changing the position of the device integrated with the steering system and adjusting their postures; therefore, the novel steering system is convenient for users to use and the intelligence degree of the balancing car is effectively enhanced.
Description
Technical field
The present invention relates to balance truck technical field, particularly relate to a kind of balance truck steering control system and balance truck thereof.
Background technology
Balance truck is a kind of novel walking-replacing tool.Analyze from mechanical structure, it can be reduced to a single pendulum structure of standing upside down.Above-mentioned inverted pendulum structure is a nonlinear time-dependent system, therefore needs the erectility keeping balance truck in operational process by attitude control system.
In existing balance truck, usually obtain pitch attitude residing for balance truck and state by various attitude sensor, then by master control unit, after a series of computing, the motor controlling balance truck carries out operating to keep state of equilibrium accordingly.
In practical operation, above-mentionedly according to attitude motor rotation speed to be adjusted owing to existing thus to realize the mechanism of balance, therefore, the driver of balance truck can realize the service direction (advance or retreat) of balance truck and the speed of operation by the body posture changing oneself.That is when forward lean is that balance truck advances, when leaning back, balance truck retreats, and gait of march is relevant to angle of inclination.
And in existing balance truck, the left and right commutation of balance truck relies on the swing of rocking bar to change the magnitude of voltage of potential device or Hall element thus to realize the course changing control of balance truck, but there is a rocking bar in said method, use intelligence degree not enough, cannot realize completely by the attitudes vibration of driver to control the operation of balance truck.
Therefore, prior art need development.
Summary of the invention
In view of above-mentioned the deficiencies in the prior art part, the object of the present invention is to provide a kind of novel steering system and balance truck thereof, be intended to solve in prior art and cannot realize being run by driver's gesture stability balance truck, the problem of steering control system intelligence degree deficiency.
In order to achieve the above object, this invention takes following technical scheme:
A kind of novel steering system, wherein, described steering swivel system comprises: position transduser, its peripheral circuit and hold the circuit card of described position transduser and peripheral circuit;
Described steering swivel system and master control unit communicate to connect, and the attitudes vibration data that transmission location sensor obtains are in master control unit.
Described novel steering system, wherein, described position transduser comprises gyroscope and accelerometer;
Described steering swivel system is communicated to connect by wired connection mode and described master control unit; Driver's lateral attitude delta data that transmission location sensor obtains is in master control unit.
Described novel steering system, wherein, described steering swivel system also comprises parcel circuit card with the shell of protective circuit plate; The side of described shell is also provided with Continuous pressing device for stereo-pattern with the position of fixing described novel steering system.
Described novel steering system, wherein, described steering swivel system also comprises an ornament; Described shell is fixed on described ornament.
Described novel steering system, wherein, described steering swivel system also comprises a helmet; Described shell is fixed on the described helmet.
A kind of balance truck, wherein, described balance truck applies steering swivel system as above, by the attitudes vibration of driver to control turning to of balance truck.
Beneficial effect: a kind of novel steering system provided by the invention and balance truck thereof, carrys out the change in location of perception steering swivel system by setting position sensor thus realizes direction controlling to balance truck.Described steering swivel system can also arrange on various devices or be combined with all types of wearable device, driver only need change the position of the equipment being integrated with described steering swivel system, adjust self attitude, the course changing control to balance truck can be realized, to be more convenient for the use of user, to effectively raise the intelligence degree of balance truck.
Accompanying drawing explanation
Fig. 1 is the mechanical construction drawing of the balance truck applying novel steering system of the present invention.
Fig. 2 is the functional block diagram of the course changing control layer of the balance truck of the specific embodiment of the invention.
Fig. 3 is the external structure schematic diagram of the steering swivel system of the specific embodiment of the invention.
Fig. 4 is the using state schematic diagram of the balance truck of the specific embodiment of the invention.
Fig. 5 is the schematic circuit diagram of the accelerometer peripheral circuit of the balance truck of the specific embodiment of the invention.
Fig. 6 is the schematic circuit diagram of the balance truck gyroscope peripheral circuit of the specific embodiment of the invention.
Detailed description of the invention
The invention provides a kind of novel steering system and balance truck thereof.For making object of the present invention, technical scheme and effect clearly, clearly, developing simultaneously referring to accompanying drawing, the present invention is described in more detail for embodiment.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, for applying the mechanical construction drawing of the balance truck of novel steering system of the present invention.Described balance truck main body comprises motor driven 10, master control preparative layer 20 and battery layers 30 three-decker.Pedal is arranged in battery layers, and the wheel 40 of two balances is oppositely arranged, and is connected with the rotating shaft of motor 50.Control system and attitude detection system is provided with in master control preparative layer.In operational process, balance truck keeps the car body of balance truck to balance by an attitude detection system and control system.
For the car body balance realizing balance truck controls, need to obtain real-time tilt angles and cireular frequency.Therefore, described attitude detection system comprises accelerometer and gyroscope.
Wherein, described accelerometer can measure the linear acceleration of Static and dynamic, can determine the angle of inclination of object by the static acceleration that accelerometer measures object.But accelerometer dynamic response when inclined angle of object is measured is slow, is not suitable for doing dynamic angular movement and follows the tracks of.
Described gyroscope can measure the angular rate relative to sensitive axis.The integration of cireular frequency to the time is the angle value (being namely equivalent to angle of inclination) turned over around sensitive axis.Because the control system sampling time is short, adopt cumulative method can realize the target of integration, thus complete the calculating of angle value.
But the angle value that gyroscope is obtained by integration method, by the impact of temperature traverse, friction force and destabilizing moment etc., gyroscope can produce drift error, is not suitable for long-term follow motion.For obtaining tilt angles accurately and reliably, can merge the angle value of accelerometer and gyroscope calculating, conventional fusion method of measurement comprises Kalman filtering and complementary filter.
By cooperatively interacting of gyroscope and accelerometer, can dynamically tracking balance car attitudes vibration and to be transferred in control system thus to be kept the stable of balance truck.
In master control unit, include the upright key-course that controls balance truck and running velocity forward/backward along direct of travel and control the course changing control layer that balance truck left/right turns to.
As shown in Figure 2, in described course changing control layer, comprise novel steering system and the master control unit of the specific embodiment of the invention.
Described steering swivel system comprises: position transduser, its peripheral circuit and hold the circuit card of described position transduser and peripheral circuit.Steering swivel system and master control unit communicate to connect, and the attitudes vibration data that transmission location sensor obtains are in master control unit.Concrete use procedure can be: position transduser get driver illustrate the posture of left-handed turning time, export a high level in master control unit, control motor differential (left pivot movement speed is less than right side) by master control unit, thus realize the left-hand rotation of balance truck; Position transduser get driver illustrate right-handed posture time, export a high level in master control unit, control motor differential to realize the right-hand rotation of balance truck by master control unit.
Concrete, described steering swivel system can adopt the attitude detection system that upright key-course as above is identical.That is use gyroscope and accelerometer as position transduser, obtain the cireular frequency of relative sensitive axle and angle value with judge driver attitudes vibration and by its data transmission in master control unit.
Certainly, due to course changing control layer for attitude judgement required by precision lower than upright key-course, therefore also can only use gyroscope or accelerometer as position transduser.
It is preferred that upright key-course and course changing control layer can be incorporated in same circuit card.That is based on attitude detection system in upright key-course, then the position transduser in steering control system and described attitude detection systematic vertical are arranged, thus making upright key-course be responsible for detecting the attitudes vibration on longitudinal direction (balance truck service direction) direction, steering control system is responsible for detecting the attitudes vibration on horizontal (left/right turns to) direction.
Should be noted that, for balance truck in the specific embodiment of the invention, set forth the application of described steering swivel system on balance truck, but steering swivel system of the present invention can also be applied to other any suitable walking-replacing tool or models etc., to realize using body posture to carry out intelligentized control method.
As shown in Figure 3, be the external structure schematic diagram of the steering swivel system of the specific embodiment of the invention.Described steering swivel system can also comprise: be provided with the circuit card 100 of above-mentioned position transduser, parcel circuit card protecting sheathing 200 and be arranged on the Continuous pressing device for stereo-pattern 300 of side of described shell.Employing said structure is arranged, and can be fixed in suitable position by described steering swivel system easily.After steering swivel system is fixing, the zero point of adjustment position transduser, then can for driver.
As shown in Figure 4, be a specific embodiment of steering swivel system of the present invention.Described steering swivel system also comprises an ornament 1; Described novel steering system (can not use protecting sheathing) is fixedly installed on described ornament.In use, ornament is hung on driver's neck, after adjusting zero point, user 3 sways, described steering swivel system detects that health can realize the control to balance truck rotation direction towards the body posture change (i.e. vertical paper direction, inwardly or outwards swing) on left side or right side.
As shown in Figure 4, be another specific embodiment of steering swivel system of the present invention.Described steering swivel system also comprises a helmet 2; Described circuit card or shell are fixedly installed on the described helmet, after user 3 wears the helmet, can realize balance truck course changing control towards a left side or towards right slight oscillatory head (i.e. vertical paper direction in Fig. 4 inwardly or outwards swings).
Certainly, described steering swivel system can also be incorporated in other various dissimilar wearable devices, and the sensor of the other types in wearable device is combined thus completes more intelligentized control.Such as, the running velocity of balance truck is adjusted according to human heartbeat.
Present invention also offers a kind of balance truck.Described balance truck applies steering swivel system as above, by the attitudes vibration of driver to control turning to of balance truck.
In one particular embodiment of the present invention, the hardware system of described balance truck specifically can comprise: the first DC brushless motor 1 and the second DC brushless motor 2 (using brushless motor can be convenient to commutation) that driven equilibrium wheel rotates; Motor-drive circuit, comprise the over-current detection module for each several part components and parts provide the power module of power supply, power component module (power field effect pipe 75NF75 can be used as power switch component, and IR2130 is as power tube driving chip), cause balance truck to damage for the big current preventing motor overload etc. from causing.
In control level, the gyroscope that the acceleration pick-up that model can be used to be ADXL345 and model are L3G4200, then the use STM32RBT6 of main control chip.Sensor due to above-mentioned two models is all integrated with digital interface (SDA and SDL pin), therefore its peripheral circuit is very simple, the common circuit that specifically can provide according to actual conditions and manufacturer is arranged, and also can adopt circuit diagram as shown in Figures 5 and 6.
Main control chip reads acceleration pick-up and gyrostatic data by I2C interface, and after both data are obtained the current pose of balance truck by the algorithm fusion preset, export corresponding PWM motor control signal, and then drive the control to above-mentioned DC brushless motor by motor.
Be understandable that, for those of ordinary skills, can be equal to according to technical scheme of the present invention and the present invention's design and replace or change, and all these change or replace the protection domain that all should belong to the claim appended by the present invention.
Claims (6)
1. a novel steering system, is characterized in that, described steering swivel system comprises: position transduser, its peripheral circuit and hold the circuit card of described position transduser and peripheral circuit thereof;
Described steering swivel system and master control unit communicate to connect, and the attitudes vibration data that transmission location sensor obtains are in master control unit.
2. novel steering system according to claim 1, is characterized in that, described position transduser comprises gyroscope and accelerometer;
Described steering swivel system is communicated to connect by wired connection mode and described master control unit; Driver's lateral attitude delta data that transmission location sensor obtains is in master control unit.
3. novel steering system according to claim 1, is characterized in that, described steering swivel system also comprises parcel circuit card with the shell of protective circuit plate; The side of described shell is also provided with Continuous pressing device for stereo-pattern with the position of fixing described novel steering system.
4. novel steering system according to claim 3, is characterized in that, described steering swivel system also comprises an ornament; Described shell is fixed on described ornament.
5. novel steering system according to claim 3, is characterized in that, described steering swivel system also comprises a helmet; Described shell is fixed on the described helmet.
6. a balance truck, is characterized in that, the steering swivel system as described in the application of described balance truck is as arbitrary in claim 4-5, by the attitudes vibration of driver to control turning to of balance truck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510615307.7A CN105292333A (en) | 2015-09-23 | 2015-09-23 | Novel steering system and balancing car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510615307.7A CN105292333A (en) | 2015-09-23 | 2015-09-23 | Novel steering system and balancing car |
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| Publication Number | Publication Date |
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| CN105292333A true CN105292333A (en) | 2016-02-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510615307.7A Pending CN105292333A (en) | 2015-09-23 | 2015-09-23 | Novel steering system and balancing car |
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| CN (1) | CN105292333A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105842427A (en) * | 2016-06-06 | 2016-08-10 | 贵州省交通规划勘察设计研究院股份有限公司 | Tire no-sticking time measurer |
| CN106882341A (en) * | 2017-01-18 | 2017-06-23 | 华中科技大学 | A kind of Self-Balancing vehicle device waterborne |
| CN107298145A (en) * | 2016-04-15 | 2017-10-27 | 陈万添 | Self-balancing mobile carrier |
| CN108536158A (en) * | 2017-03-03 | 2018-09-14 | 北京小米移动软件有限公司 | The control method and device of balance car |
| CN108762266A (en) * | 2018-05-28 | 2018-11-06 | 深圳市踏路科技有限公司 | Segway Human Transporter control method, device, storage medium and Segway Human Transporter |
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| WO2014204438A1 (en) * | 2013-06-18 | 2014-12-24 | Tunnicliffe William Loftus | Illuminated sports apparatus |
| CN104523403A (en) * | 2014-11-05 | 2015-04-22 | 陶宇虹 | Method for judging lower-limb movement intentions of exoskeleton walking aid robot wearer |
| CN204489055U (en) * | 2014-12-29 | 2015-07-22 | 南京快轮智能科技有限公司 | A kind of gravity's center control direction without handle Double-wheel self-balancing battery-driven car |
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| CN103017786A (en) * | 2011-09-26 | 2013-04-03 | 东莞易步机器人有限公司 | Self-balanced two-wheeled vehicle steering offset calibrating device and calibrating method |
| CN103092200A (en) * | 2011-11-08 | 2013-05-08 | 上海新世纪机器人有限公司 | Direction controlling device and direction controlling method using the same direction controlling device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107298145A (en) * | 2016-04-15 | 2017-10-27 | 陈万添 | Self-balancing mobile carrier |
| CN105842427A (en) * | 2016-06-06 | 2016-08-10 | 贵州省交通规划勘察设计研究院股份有限公司 | Tire no-sticking time measurer |
| CN106882341A (en) * | 2017-01-18 | 2017-06-23 | 华中科技大学 | A kind of Self-Balancing vehicle device waterborne |
| CN106882341B (en) * | 2017-01-18 | 2018-05-11 | 华中科技大学 | A kind of Self-Balancing vehicle device waterborne |
| CN108536158A (en) * | 2017-03-03 | 2018-09-14 | 北京小米移动软件有限公司 | The control method and device of balance car |
| CN108762266A (en) * | 2018-05-28 | 2018-11-06 | 深圳市踏路科技有限公司 | Segway Human Transporter control method, device, storage medium and Segway Human Transporter |
| CN108762266B (en) * | 2018-05-28 | 2021-07-02 | 深圳市卓兴半导体科技有限公司 | Electric scooter control method and device, storage medium and electric scooter |
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