CN105329387B - Electric balance car - Google Patents
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- CN105329387B CN105329387B CN201510870514.7A CN201510870514A CN105329387B CN 105329387 B CN105329387 B CN 105329387B CN 201510870514 A CN201510870514 A CN 201510870514A CN 105329387 B CN105329387 B CN 105329387B
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Abstract
The invention provides an electric balance car which comprises a car body, four driving wheels and a control mechanism, wherein the car body is provided with a first driving wheel and a second driving wheel; the vehicle body comprises a pedal plate and a supporting framework arranged at the lower part of the pedal plate; the four driving wheels are connected with the supporting framework and are arranged in a rectangular shape, the bottom surfaces of the four driving wheels are positioned in the same plane, and the plane where the bottom surfaces of the four driving wheels are positioned is parallel to the pedal; the control mechanism comprises a driving motor and two differentials, and the driving motor is connected with the four driving wheels through the two differentials. The electric balance vehicle has compact structure and convenient carrying and storage because the vehicle body of the main body component is in a flat plate shape. Meanwhile, the electric balance car is provided with four wheels, so that the electric balance car is relatively high in balance compared with other two-wheel scooter, and a user can easily control the balance when standing on the electric balance car.
Description
Technical Field
The invention belongs to the technical field of machinery, and relates to an electric balance car.
Background
Two-wheeled vehicles are based on a basic principle known as "dynamic stabilization", i.e. the ability of the vehicle itself to automatically balance. The built-in precise solid gyroscope is used for judging the posture state of the vehicle body, and after a proper instruction is calculated through a precise and high-speed central microprocessor, the motor is driven to achieve the balance effect.
Let us assume that we take the longitudinal axis of the overall center of gravity of a driver standing on the vehicle as a reference line. When the axle tilts forwards, the built-in electric motor in the car body can generate forward force to balance the forward tilting torque of a person and the car, and on one hand, the built-in electric motor generates acceleration for the car to advance, and on the other hand, when the gyroscope finds that the gravity center of the driver tilts backwards, the backward force can also be generated to achieve the balance effect. Therefore, the driver can move forward or backward according to the inclined direction by changing the body angle of the driver, and the speed is proportional to the inclination degree of the body of the driver. In principle, as long as the power is correctly turned on and enough power is maintained to operate, the person on the vehicle does not need to worry about the possibility of falling down, which is greatly different from vehicles such as scooters which generally need to be balanced by the driver himself.
However, the existing two-wheeled vehicles change the traveling direction mainly by twisting the handle. It can be seen that providing a handle on a two-wheeled walker results in a complex structure and an increase in cost.
For this reason, two-wheeled scooter without handles has been designed, which mainly consists of two relatively movable brackets, each of which is connected with a corresponding wheel. Although the scooter omits a handle, the balance is not easy to grasp when using the scooter due to the small size of the bracket.
The Chinese patent publication No. CN203958471U provides a split rotary self-balancing two-wheeled vehicle, which comprises a main vehicle frame, wheels are arranged on two sides of the main vehicle frame, a motor and a gyroscope capable of controlling the rotation speed of the motor are arranged in the main vehicle frame, the main vehicle frame comprises two split frames which are separated from each other, a connecting shaft is arranged between the two split frames, the two split frames independently rotate by taking the connecting shaft as a rotation center, the gyroscope and the motor are independently arranged in each split frame, the split frames comprise an upper cover pedal and a lower shell, the gyroscope is fixed at the bottom of the upper cover pedal, a gyroscope connecting circuit board is connected with the motor, and the motor drives the wheels.
The two-wheel vehicle in the patent can realize the acceleration and deceleration and turning functions by feet, and has a simple structure. However, it is mainly composed of two relatively movable brackets, and the balance of the brackets is not easy to control in the use process. Moreover, because of the space occupation, the portable bicycle is inconvenient to carry.
Disclosure of Invention
The invention provides an electric balance car for overcoming the defect of the prior art.
In order to achieve the above purpose, the invention provides an electrodynamic balance car, comprising a car body, four driving wheels and a control mechanism; the vehicle body comprises a pedal plate and a supporting framework arranged at the lower part of the pedal plate; the four driving wheels are connected with the supporting framework and are arranged in a rectangular shape, the bottom surfaces of the four driving wheels are positioned in the same plane, and the plane where the bottom surfaces of the four driving wheels are positioned is parallel to the pedal; the control mechanism comprises a driving motor and two differentials, and the driving motor is connected with the four driving wheels through the two differentials.
Further, the electric balance car further comprises a position sensing device, the position sensing device is clamped between the foot pedal and the supporting framework and used for sensing the gravity center position information of a user on the foot pedal, the control mechanism further comprises a controller used for controlling the driving force output by the driving motor, the controller is connected with the position sensing device, the controller judges the gravity center position of the user according to the gravity center position information of the user sensed by the position sensing device, and the two differentials distribute the driving force output by the driving motor to the four driving wheels according to the gravity center position of the user.
Further, the upper part of the supporting framework is provided with a concave mounting cavity, the pedal covers the mounting cavity, and the position sensing device is positioned in the mounting cavity and respectively abuts against the bottom wall of the mounting cavity and the bottom of the pedal.
Further, the pedal is provided with an inductive switch, the inductive switch is connected between the control mechanism and the power supply device, and the inductive switch is used for controlling the power-on and power-off of the control mechanism by sensing whether a user is on the vehicle.
Further, the front part of the pedal plate is provided with a protective edge which is used for protecting wheels positioned at the front part of the vehicle body in a protruding mode.
Due to the application of the technical scheme, the invention has the following advantages:
the electric balance vehicle has compact structure and convenient carrying and storage because the vehicle body of the main body component is in a flat plate shape. Meanwhile, the electric balance car is provided with three or four wheels, so that the balance of the electric balance car is relatively high compared with other two-wheel scooter, and a user can easily control the balance when standing on the electric balance car.
Drawings
Fig. 1 is a schematic structural view of an electrodynamic balance car according to a first embodiment of the present invention.
Fig. 2 is a schematic cross-sectional view of the electrodynamic balance car shown in fig. 1.
Fig. 3 is a side view of the electrodynamic balance car shown in fig. 1.
Fig. 4 is a bottom view of the electrodynamic balance car shown in fig. 1.
Fig. 5 is a schematic structural view of an electrodynamic balance car according to a second embodiment of the present invention.
Fig. 6 is a schematic cross-sectional view of the electrodynamic balance car shown in fig. 5.
Fig. 7 is a schematic structural view of an electrodynamic balance car according to a third embodiment of the present invention.
Fig. 8 is a schematic cross-sectional view of the electrodynamic balance car shown in fig. 7.
Fig. 9 is a schematic structural view of an electrodynamic balance car according to a third embodiment of the present invention.
Fig. 10 is a schematic cross-sectional view of the electrodynamic balance car shown in fig. 9.
Fig. 11 is a bottom view of an electrodynamic balance car according to a further embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1
Referring to fig. 1 to 4, an electrodynamic balance car according to an embodiment of the present invention includes a car body 1, a plurality of wheels 2, a position sensing device and a control mechanism. The wheels 2 are connected with the vehicle body 1, the wheels 2 are arranged in a triangle or polygon, and the bottom surfaces of the wheels 2 are located in the same plane.
The position sensing device is used for sensing the gravity center position information of a user on the vehicle body 1.
The control mechanism is connected with the position sensing device, and the control mechanism controls the wheels 2 to move according to the gravity center position information of the user sensed by the position sensing device.
The vehicle body 1 comprises a flat pedal plate 11 and a supporting framework 13 arranged at the lower part of the pedal plate 11, the planes of the bottom surfaces of the wheels 2 are parallel to the pedal plate 11, and the position sensing device is clamped between the pedal plate 11 and the supporting framework 13 and is used for sensing the gravity center position information of a user on the pedal plate 11. Specifically, in the present embodiment, the position sensing device is a gravity sensor 101, the gravity sensor 101 is used for the information of the center of gravity of the user on the foot pedal 11, and the control mechanism controls the plurality of wheels 2 to move according to the information of the center of gravity of the user sensed by the gravity sensor 101.
Specifically, in the present embodiment, two symmetrically arranged pedal areas 110 are formed on the pedal 11, and the pedal areas 110 are in contact with the position sensing device, so that the position sensing device can accurately sense the change of the gravity center position of the user when the user stands on the pedal areas 110. The upper part of the supporting framework 13 is provided with a concave mounting cavity 130, the pedal plate 11 covers the mounting cavity 130, the pedal area 110 protrudes into the mounting cavity 130, and the position sensing device is positioned in the mounting cavity 130 and respectively abuts against the bottom wall of the mounting cavity 130 and the bottom of the pedal area 110. Both the foot rest 11 and the supporting frame 13 may have a rectangular plate shape. The structure makes the whole electric balance car be long plate-shaped, and the shape and the size of the electric balance car are equivalent to those of a notebook computer. The thickness of the electric balance car is equivalent to that of a notebook computer.
It will be appreciated that when the foot pedal 11 is standing on it, the gravity sensor 101 can sense the information of the position of the center of gravity of the user, and when the gravity sensor 101 senses that the center of gravity of the user is inclined to the front or the rear, the control mechanism controls the plurality of wheels 2 to advance to the front or to reverse to the front; when the gravity sensor 101 senses that the center of gravity of the user is inclined to the right or left front, the control mechanism controls the plurality of wheels 2 to advance to the right or left front; when the gravity sensor 101 senses that the center of gravity of the user is inclined to the left rear front or right rear, the control mechanism controls the plurality of wheels 2 to reverse to the left rear or right rear.
The number of the wheels 2 is four and the wheels are arranged in a rectangular shape, in the advancing direction of the electric balance vehicle, the wheels 2 comprise two driving wheels symmetrically arranged at the front end or the rear end of the vehicle body 1 and two steering wheels opposite to the two driving wheels, in this embodiment, the driving wheels are symmetrically arranged at the rear end of the vehicle body 1, the steering wheels can be symmetrically arranged at the front end of the vehicle body 1, that is, in this embodiment, the rear wheel driving mode is adopted for driving, of course, the two driving wheels are symmetrically arranged at the front end of the vehicle body 1, and the two steering wheels are symmetrically arranged at the rear end of the vehicle body 1, that is, the front wheel driving mode can be adopted; in other embodiments, as shown in fig. 11, the number of the wheels 2 is 3, the wheels 2 include a steering wheel located at the front end of the vehicle body 1 and two driving wheels located at the rear end of the vehicle body 1, where the steering wheel and the two driving wheels are arranged in a triangle, it is understood that, in order to ensure the balance of the electric balance vehicle, the steering wheel is disposed at a middle position of the front end of the vehicle body 1, of course, the two driving wheels may also be disposed at the front end of the vehicle body, and the steering wheel may also be disposed at a middle position of the rear end of the vehicle body 1. In the above embodiments, the steering wheels are universal wheels.
The control mechanism comprises a driving motor and a controller which is connected with the driving motor and used for controlling the driving force output by the driving motor, the position sensing device is connected with the controller, and the driving motor is used for driving the two driving wheels to rotate. The controller judges the gravity center position of the user according to the gravity center position information of the user sensed by the position sensing device (gravity sensor 101), and the driving motor controls and outputs corresponding driving force to the two driving wheels according to the gravity center position of the user so as to drive the two driving wheels to rotate. It can be understood that when the balance car moves to the front or the back, the driving force output by the driving motor makes the two driving wheels rotate at the same speed, and when the balance car needs to turn, the driving force output by the driving motor makes the two driving wheels have a certain difference in rotation speed.
Specifically, in this embodiment, the number of the driving motors is two, and the two driving motors respectively drive the two driving wheels to rotate, and after determining the center of gravity position of the user, the controller controls the two driving motors to output corresponding driving forces to the two driving wheels to drive the two driving wheels to rotate. More specifically, when the controller judges that the center of gravity of the user leans forward according to the center of gravity position information of the user sensed by the position sensing device, the controller controls the two driving motors to output driving forces which are the same in size and are driven forward to the two driving wheels so that the two driving wheels move forward; when the controller judges that the gravity center of the user leans backwards according to the gravity center position information of the user sensed by the position sensing device, the controller controls the two driving motors to output driving forces which are the same in size and are driven backwards to the two driving wheels so that the two driving wheels move backwards; when the controller judges that the gravity center of the user leans towards one side according to the gravity center position information of the user sensed by the position sensing device, namely, the balance car needs to turn at the moment, the controller controls the two driving motors to output driving forces with different sizes to the two driving wheels, so that the two driving wheels have certain speed difference, and the balance car can turn.
In other embodiments, the number of drive motors is one, and the control mechanism further includes a differential through which the drive motors are connected to the two drive wheels. It can be understood that when the controller judges that the center of gravity of the user leans forward according to the center of gravity position information of the user sensed by the position sensing device, the driving motor outputs driving forces which are the same in size and are driven forward through the differential mechanism to control the plurality of wheels 2 to move forward; when the gravity center of the user sensed by the position sensing device leans backwards, the driving motor outputs driving forces which are the same in size and drive backwards through the differential mechanism to control the plurality of wheels 2 to move backwards; when the controller judges that the gravity center of the user leans to one side according to the gravity center position information of the user sensed by the position sensing device, namely, the balance car needs to turn at the moment, the driving motor outputs driving forces with different sizes to the driving wheels on the left side and the right side through the differential mechanism so that the driving wheels have different speeds, and therefore the balance car can turn.
Specifically, the differential mechanism is a gear type differential mechanism and comprises a housing with a cavity inside, and a planetary gear, a planetary carrier, a left half shaft gear, a right half shaft gear, a left half shaft and a right half shaft which are positioned in the housing, wherein the planetary gear is arranged in the housing, the planetary gear is connected to the planetary carrier, the input end of the planetary carrier (i.e. a driving gear on the planetary carrier) is connected with a transmission shaft of a driving motor, the left half shaft gear is connected with the planetary gear on the right half shaft gear, the left half shaft and the right half shaft are fixedly connected with the left half shaft gear and the right half shaft gear respectively, and two driving wheels are connected with the left half shaft and the right half shaft. The power enters the differential mechanism through the transmission shaft to directly drive the planetary wheel carrier, and then the planetary wheel drives the left half shaft and the right half shaft to respectively drive the left wheel and the right wheel. The design requirement of the differential mechanism meets the following conditions: (left axle shaft rotational speed) + (right axle shaft rotational speed) =2 (carrier rotational speed). When the electric balance car moves straight, the rotation speeds of the left wheel, the right wheel and the planetary wheel carrier are equal and are in a balanced state, and when the electric balance car turns, the balanced state of the left wheel, the right wheel and the planetary wheel carrier is destroyed, so that the rotation speed of the inner wheel is reduced, and the rotation speed of the outer wheel is increased.
In other embodiments, the number of the plurality of wheels 2 is four and the wheels 2 are arranged in a rectangular shape, the number of the four wheels 2 is four, each driving motor drives one wheel 2 to rotate, and the controller controls the four driving motors to output corresponding driving forces to drive the corresponding wheels 2 to rotate according to the gravity center position information of the standing person, so that the movement directions of the four wheels 2 synthesize a required movement track. When the controller judges that the gravity center of the user leans forward according to the gravity center position information of the user sensed by the position sensing device, the controller controls the four driving motors to output corresponding driving forces to the four driving wheels so that the four driving wheels drive the balance car to move forward; when the controller judges that the gravity center of the user leans backwards according to the gravity center position information of the user sensed by the position sensing device, the controller controls the four driving motors to output corresponding driving forces to the four driving wheels so that the four driving wheels drive the balance car to move backwards; when the controller judges that the gravity center of the user leans towards one side according to the gravity center position information of the user sensed by the position sensing device, namely, the balance car needs to turn at the moment, the controller controls the four driving motors to output corresponding driving forces to the four driving wheels, so that the four driving wheels drive the balance car to turn. It should be noted that, when the controller determines that the center of gravity of the user deviates to the right of the right left Fang Huozheng according to the center of gravity position information of the user sensed by the position sensing device, the controller may control the driving forces output by the four driving motors to further control the rotation speeds and the rotation directions of the four wheels 2 so that the balance car deviates to the right of the right left Fang Huozheng.
In other embodiments, the number of the plurality of wheels 2 is four and the wheels 2 are arranged in a rectangular shape, the number of the four wheels 2 is four, each driving motor drives one wheel 2 to rotate, and the controller controls the four driving motors to output corresponding driving forces according to the position information of the standing person to drive the corresponding wheels 2 to rotate, so that the movement directions of the four wheels 2 are combined to form the required movement track. When the controller judges that the gravity center of the user leans forward according to the gravity center position information of the user sensed by the position sensing device, the controller controls the four driving motors to output two groups of driving forces which are the same in size and are driven forward to the two driving wheels at the front end and the two driving wheels at the rear end so that the four driving wheels move forward; when the controller judges that the gravity center of the user leans backwards according to the gravity center position information of the user sensed by the position sensing device, the controller controls the four driving motors to output two groups of driving forces which are the same in size and are driven backwards to the two driving wheels at the rear end and the two driving wheels at the front end so that the four driving wheels move backwards; when the controller judges that the gravity center of the user leans towards one side according to the gravity center position information of the user sensed by the position sensing device, namely, the balance car needs to turn at the moment, the controller controls the four driving motors to output driving forces with different sizes to the four driving wheels, so that the four driving wheels have certain speed difference, and the balance car can turn. The two driving forces with the same size refer to the two driving forces transmitted to the front two driving wheels with the same size, and the two driving forces transmitted to the rear two driving wheels with the same size.
In other embodiments, the number of the plurality of wheels 2 is four and the wheels 2 are arranged in a rectangular shape, the number of the four wheels 2 is one, the control mechanism further includes two differentials, the driving motor is connected with the four driving wheels through the two differentials, specifically, the driving motor is connected with the two driving wheels at the front through one of the differentials, and the driving motor is connected with the two driving wheels at the rear through the other differential. It can be understood that when the controller judges that the center of gravity of the user leans forward according to the center of gravity position information of the user sensed by the position sensing device, the driving motor outputs two groups of driving forces which are the same in size and are driven forward to the front two driving wheels and the rear two driving wheels through the two differentials so that the plurality of wheels 2 move forward; when the controller judges that the gravity center of the user leans backwards according to the gravity center position information of the user sensed by the position sensing device, the driving motor outputs driving forces which are the same in size and are driven backwards to the plurality of wheels 2 through the two differentials so that the plurality of wheels 2 move backwards; when the controller judges that the gravity center of the user leans to one side according to the gravity center position information of the user sensed by the position sensing device, namely, the balance car needs to turn at the moment, the driving motor outputs driving forces with different sizes to the plurality of wheels 2 through the two differentials so that the plurality of wheels 2 can turn, and therefore the balance car can turn. The two driving forces with the same size refer to the two driving forces transmitted to the front two driving wheels with the same size, and the two driving forces transmitted to the rear two driving wheels with the same size.
In this embodiment, in order to realize automatic power-on and power-off of the balance car, the foot pedal 11 is provided with the inductive switch 10, the inductive switch 10 is connected between the control mechanism and the power supply device, and the inductive switch 10 controls the power-on and power-off of the control mechanism by sensing whether a user is on the car. Preferably, the inductive switch 10 is, for example, a pressure switch, and when the user stands on the vehicle body 1, the inductive switch 10 is turned on, and the power supply device inside the vehicle body 1 starts to supply power to the power consumption element of the vehicle body 1. Preferably, the power supply device is a battery, for example.
The port of the mounting cavity 130 is provided with a supporting step 132, and the pedal 11 abuts against the supporting step 132 after covering the mounting cavity 130, so as to prevent the pedal 11 from entering the mounting cavity 130.
In the present embodiment, the front portion of the footboard 11 is provided with a guard 112 protruding downward for protecting wheels located at the front portion of the vehicle body 1. So as to prolong the service life of the electric balance car.
In this embodiment, the electric balance car further includes elements such as a power supply device, a balance mechanism (an acceleration sensor, a hall sensor, etc.) and the like that form the electric balance car, and these electronic elements may be installed in the installation cavity 130, and the functions of these elements are not described herein.
Example 2
Referring to figures 5-6 in combination,
the structure of the electric balance car according to the second embodiment of the present invention is basically the same as that of the electric balance car according to the first embodiment of the present invention, except that the position sensing device includes four displacement sensors 102 and four elastic elements 104. The two ends of the four elastic elements 104 are respectively connected with the foot rest 11 and the supporting framework 13 and are arranged in a rectangular shape, the four displacement sensors 102 are in one-to-one correspondence with the four elastic elements 104 and are used for sensing deformation of the four elastic elements 104, and the four displacement sensors 102 and the four elastic elements 104 form a four-quadrant displacement sensing system and are used for sensing the gravity center position information of a user on the foot rest 11.
It will be appreciated that when the user stands on the foot rest 11, the elastic elements 104 are compressed by the user, and when the center of gravity of the user is shifted, the deformation amount of each elastic element 104 is necessarily changed, so that the displacement sensor 102 can collect the displacement change amount of the corresponding elastic element 104, and the control mechanism determines the center of gravity displacement information of the user by collecting the deformation amount of the corresponding elastic element 104 by the displacement sensor 102, so as to control the movement of the plurality of wheels 2 (see in detail below).
The foot rest 11 is provided with four foot rest areas 111, the four foot rest areas 111 can extend in a vertical direction to move up and down, in other words, the four foot rest areas 111 and the body of the foot rest 11 are of a split structure, for example, the body of the foot rest 11 can be provided with four openings, and pedals are respectively installed in the four openings to form the foot rest areas. More specifically, four elastic elements 104 are located in the mounting cavity 130 and are respectively connected to the bottom wall of the mounting cavity 130 and the bottoms of the four pedal areas 111, and four displacement sensors 102 are disposed on the bottom wall of the mounting cavity 130 and are in one-to-one correspondence with the four elastic elements 104.
The invention relates to a four-quadrant displacement sensing system in an electrodynamic balance car, which comprises the following specific principles: when the user stands on the foot rest 11, if the center of gravity is not deviated, the forces on the left foot front, the left heel, the right foot front and the right heel are basically the same, namely, the balance car is in a balanced state, when the center of gravity of the user is deviated, the forces on the left foot front, the left heel, the right foot front and the right heel are changed, the deformation amounts of the elastic elements 4 corresponding to the left foot front, the left heel, the right foot front and the right heel are different, the four displacement sensors 3 can acquire the deformation amount information of the corresponding elastic elements 4, namely, the center of gravity position information of the user is acquired, and the control mechanism can judge the center of gravity position of the user according to the center of gravity position information (deformation amounts of the four elastic elements 4) of the user acquired by the four displacement sensors 3.
Specifically, the four displacement sensors are an upper left quadrant displacement sensor, an upper right quadrant displacement sensor, a lower left quadrant displacement sensor and a lower right quadrant displacement sensor respectively. When the displacement acquired by the left upper quadrant displacement sensor and the right upper quadrant displacement sensor received by the control mechanism is the same, the displacement acquired by the left lower quadrant displacement sensor and the right lower quadrant displacement sensor is the same, but the displacement acquired by the left upper quadrant displacement sensor and the right upper quadrant displacement sensor is larger than the displacement acquired by the left lower quadrant displacement sensor and the right lower quadrant displacement sensor, the control mechanism judges that the gravity center of the standing person inclines to the right front, the control mechanism controls the wheels 2 to move forwards, and conversely, the control mechanism judges that the gravity center of the standing person inclines to the right rear, and the control mechanism controls the wheels 2 to move backwards.
When the displacement acquired by the left upper quadrant displacement sensor and the displacement acquired by the left lower quadrant displacement sensor are the same, the displacement acquired by the right upper quadrant displacement sensor and the right lower quadrant displacement sensor are the same, but the displacement acquired by the left upper quadrant displacement sensor and the left lower quadrant displacement sensor is larger than the displacement acquired by the right upper quadrant displacement sensor and the right lower quadrant displacement sensor, and at the moment, the control mechanism judges that the gravity center of the standing person inclines to the right left, and conversely, the standing person inclines to the right. Of course, in this case, if the control mechanism can control the plurality of wheels 2 to move to the right or the right (in this case, the plurality of wheels 2 are all universal wheels), the control mechanism controls the plurality of wheels 2 to move to the right or the left.
Of course, when the displacement value of any quadrant displacement sensor received by the control mechanism is maximum, it can be judged that the gravity center of the standing person is located in the quadrant, and the control mechanism can control the wheels 2 to perform corresponding actions. For example, when the control mechanism receives that the displacement value of the upper left quadrant displacement sensor is larger, the control mechanism can judge that the center of gravity of the standing person is located in the upper left quadrant, and at this time, the control mechanism controls the plurality of wheels 2 to turn left.
Referring to figures 7-8 in combination,
the structure of the electric balance car according to the third embodiment of the present invention is basically the same as the structure and principle of the electric balance car according to the first embodiment of the present invention, and the difference is that the position sensing device includes four pressure sensors 105, the four pressure sensors 105 are sandwiched between the foot rest 11 and the supporting frame 13 and are arranged in a rectangular shape, and the four pressure sensors 105 form a four-quadrant pressure sensing system and are used for sensing the information of the center of gravity of the user on the foot rest 11. The invention relates to a four-quadrant pressure sensing system in an electric balance car, which senses pressure based on the following specific principle: when the user stands on the foot rest 11, if the center of gravity is not deviated, the forces applied to the positions of the left foot front, the left heel, the right foot front and the right heel by the four pressure sensors 3 are basically the same, namely, the balance car is in a balanced state, when the center of gravity of the user is deviated, the forces applied to the left foot front, the left heel, the right foot front and the right heel are changed, and the collected pressures of the pressure sensors 3 corresponding to the left foot front, the left heel, the right foot front and the right heel are changed, namely, the center of gravity position information of the user is obtained, and the control mechanism can judge the center of gravity position of the user according to the center of gravity position information (the collected pressure information of the four pressure sensors 3) of the user obtained by the four pressure sensors 3.
The foot rest 11 is provided with four foot rest areas 113, the four foot rest areas 113 can extend in the vertical direction to move up and down, in other words, the four foot rest areas 113 and the body of the foot rest 11 are of a split structure, for example, the body of the foot rest 11 can be provided with four openings, and pedals are respectively arranged in the four openings to form the foot rest areas. More specifically, four pressure sensors 105 are located within the mounting cavity 130 and rest against the bottom wall of the mounting cavity 130 and the bottoms of the four foot regions 113, respectively.
It is understood that the four pressure sensors are an upper left quadrant pressure sensor, an upper right quadrant pressure sensor, a lower left quadrant pressure sensor and a lower right quadrant pressure sensor, respectively. When the pressure collected by the left upper quadrant pressure sensor and the pressure collected by the right upper quadrant pressure sensor received by the control mechanism are the same, the pressure collected by the left lower quadrant pressure sensor and the right lower quadrant pressure sensor are the same, but the pressure collected by the left upper quadrant pressure sensor and the right upper quadrant pressure sensor is larger than the pressure collected by the left lower quadrant pressure sensor and the right lower quadrant pressure sensor, and the pressure component in the forward direction is larger than the pressure component in the backward direction, the control mechanism judges that the gravity center of the standing person inclines to the right front, the control mechanism controls the plurality of wheels 2 to move forwards, and conversely, the control mechanism judges that the gravity center of the standing person inclines to the right rear, and the control mechanism controls the plurality of wheels 2 to move backwards.
When the pressure collected by the left upper quadrant pressure sensor and the pressure collected by the left lower quadrant pressure sensor are the same, but the pressure collected by the left upper quadrant pressure sensor and the pressure collected by the left lower quadrant pressure sensor are larger than the pressure collected by the right upper quadrant pressure sensor and the pressure collected by the right lower quadrant pressure sensor, specifically, the pressure component in the right left direction is larger than the pressure component in the right direction, and at the moment, the controller judges that the gravity center of a standing person inclines to the right left direction, and conversely, the gravity center of the standing person inclines to the right direction. Of course, in this case, if the control mechanism can control the plurality of wheels 2 to move to the right or the right (in this case, the plurality of wheels 2 are all universal wheels), the control mechanism controls the plurality of wheels 2 to move to the right or the left.
Of course, it can be understood that when the pressure value of any one quadrant pressure sensor received by the controller is larger, it can be determined that the center of gravity of the standing person is located in the quadrant, and the control mechanism can control the plurality of wheels 2 to perform corresponding actions. For example, when the control mechanism receives that the pressure value of the upper left quadrant pressure sensor is maximum, the control mechanism may determine that the center of gravity of the standing person is located in the upper left quadrant, and at this time, the control mechanism controls the plurality of wheels 2 to turn left.
Please refer to fig. 9-10
The structure and principle of the electric balance car of the fourth embodiment of the present invention are basically the same as those of the electric balance car of the first embodiment of the present invention, and the difference is that the position sensing device includes a photoelectric sensor 106 and four elastic supporting elements 107, the pedal 11 is connected with the supporting frame 13 through the elastic supporting elements 107, and the photoelectric sensor 106 is used for sensing the rotation angle of the pedal 11 relative to the movement plane to obtain the position information of the user. Specifically, when the user stands on the foot rest 11, the elastic support member 107 is compressed, and when the center of gravity of the user is shifted, the foot rest 11 is tilted, and the tilt angle of the foot rest 11 acquired by the photoelectric sensor 106 acquires the center of gravity position information of the user. It will be appreciated that the position sensing device may sense the position information of the center of gravity of the user when the user stands on the foot pedal 11, and the control mechanism may control the plurality of wheels 2 to advance to the right or left when the position sensing device senses that the center of gravity of the user is inclined to the right or left; when the position sensing device senses that the center of gravity of the user is inclined to the left rear front or the right rear, the control mechanism controls the plurality of wheels 2 to reverse to the left rear or the right rear.
In this embodiment, the inclination angle of the foot rest 11 is 10-30 degrees, and the foot rest 11 is controlled to be 10-30 degrees, so that the foot rest 11 can be stably inclined, and the stability of the whole electric balance car can be ensured.
In the present embodiment, the vehicle body 1 further includes a connecting column 15, the connecting column 15 being disposed between the step plate 11 and the support frame 13 and the circumferential surface of the connecting column 15 being in contact with the bottom surface of the step plate 11 and the bottom wall of the mounting cavity 130, so that the step plate 11 is tilted. Specifically, the bottom surface of the foot pedal 11 is provided with an upper positioning groove 115, the bottom wall of the installation cavity 130 is provided with a lower positioning groove 135, and the upper and lower parts of the circumferential surface of the connecting column 15 are positioned in the upper positioning groove 115 and the lower positioning groove 135, respectively.
It should be noted that, in this embodiment, the top of the mounting cavity 130 is not provided with the supporting step 132, so that the movement of the foot board 11 is facilitated.
In summary, the electric balance vehicle of the present invention has a compact structure and is convenient to carry and store because the body 1 of the main body member is flat. Meanwhile, the electric balance car is provided with three or four wheels 2, so the balance of the electric balance car is higher than that of other two-wheel scooter, and a user can easily control the balance when standing on the electric balance car.
Although the invention has been described with reference to the preferred embodiments, it should be understood that the invention is not limited thereto, but rather may be modified and varied by those skilled in the art without departing from the spirit and scope of the invention.
Claims (4)
1. An electric balance car is characterized by comprising a car body, four driving wheels and a control mechanism; the vehicle body comprises a pedal plate and a supporting framework arranged at the lower part of the pedal plate; the four driving wheels are connected with the supporting framework and are arranged in a rectangular shape, the bottom surfaces of the four driving wheels are positioned in the same plane, and the plane where the bottom surfaces of the four driving wheels are positioned is parallel to the pedal; the control mechanism comprises a driving motor and two differentials, the driving motor is connected with the four driving wheels through the two differentials, the upper portion of the supporting framework is provided with a concave installation cavity, the pedal cover is covered with the installation cavity, the pedal area protrudes into the installation cavity, a supporting step is arranged at a port of the installation cavity, the pedal cover is covered with the installation cavity and then abuts against the supporting step, the electric balance car further comprises a position sensing device, the position sensing device is clamped between the pedal area and the supporting framework, and the position sensing device is positioned in the installation cavity and abuts against the bottom wall of the installation cavity and the bottom of the pedal area respectively.
2. The electrodynamic balance car of claim 1, wherein the position sensing device is used for sensing the barycentric position information of a user on the foot pedal, the control mechanism further comprises a controller for controlling the driving force output by the driving motor, the controller is connected with the position sensing device, the controller judges the barycentric position of the user according to the barycentric position information of the user sensed by the position sensing device, and the two differentials distribute the driving force output by the driving motor to the four driving wheels according to the barycentric position of the user.
3. The electrodynamic balance car of claim 1, wherein an inductive switch is provided on the foot pedal, the inductive switch being connected between the control mechanism and the power supply, the inductive switch being configured to control the powering up and powering down of the control mechanism by sensing whether a user is present on the car.
4. The electrodynamic balance car of claim 1, wherein the foot pedal front portion is downwardly convex with a guard for protecting wheels located at the front of the car body.
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| CN201510870514.7A CN105329387B (en) | 2015-12-01 | 2015-12-01 | Electric balance car |
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| CN201510870514.7A CN105329387B (en) | 2015-12-01 | 2015-12-01 | Electric balance car |
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| CN105329387B true CN105329387B (en) | 2023-06-30 |
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| CN106828728A (en) * | 2017-01-04 | 2017-06-13 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing car |
| CN106627896B (en) * | 2017-01-04 | 2022-09-06 | 浙江骑客机器人科技有限公司 | Human-computer interaction somatosensory vehicle |
| CN105691525A (en) * | 2016-03-10 | 2016-06-22 | 永康市恒钻电子有限公司 | Pedal device of notebook electric car and method using pedal device to control electric car |
| CN105652881A (en) * | 2016-03-21 | 2016-06-08 | 深圳市踏路科技有限公司 | Displacement detection based four-wheeled balance car |
| US10988032B2 (en) * | 2016-04-19 | 2021-04-27 | Walnut Technology Limited | Self-propelled personal transportation device |
| CN106073304B (en) * | 2016-06-12 | 2019-09-27 | 泉州台商投资区华进设计有限公司 | Control the security system of perambulator automated steering |
| CN106023521B (en) * | 2016-06-12 | 2018-11-16 | 江苏科力斯通新材料有限公司 | It is capable of the perambulator security system of early warning speed |
| CN106037349B (en) * | 2016-06-12 | 2019-10-08 | 泉州台商投资区华进设计有限公司 | Perambulator security system |
| CN105976561B (en) * | 2016-06-12 | 2019-02-15 | 深圳市万佳安物联科技股份有限公司 | Security system |
| CN105869352B (en) * | 2016-06-12 | 2018-11-16 | 绍兴上虞德能机械制造有限公司 | It is capable of the perambulator security system of early warning security distance |
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| WO2018027547A1 (en) * | 2016-08-09 | 2018-02-15 | 尚艳燕 | Electric balance vehicle and pedal assembly thereof |
| WO2018027548A1 (en) * | 2016-08-09 | 2018-02-15 | 尚艳燕 | Electric balance vehicle and pedal assembly thereof |
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