CN105644391A - Voltage-controlled electric flat car - Google Patents
Voltage-controlled electric flat car Download PDFInfo
- Publication number
- CN105644391A CN105644391A CN201610096958.4A CN201610096958A CN105644391A CN 105644391 A CN105644391 A CN 105644391A CN 201610096958 A CN201610096958 A CN 201610096958A CN 105644391 A CN105644391 A CN 105644391A
- Authority
- CN
- China
- Prior art keywords
- controlled electric
- wheel
- pressure
- flat board
- car body
- 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.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a voltage-controlled electric flat car. The voltage-controlled electric flat car comprises a flat bed and a car body arranged below the flat bed and composed of walking wheels. A Wheatstone impedance bridge module is integrated to the lower portion of the flat bed and connected with an MCU through an A/D sampling and amplifying circuit. Two walking wheels are provided with wheel motors. The MCU is connected with a servo control system capable of controlling the motors. A posture sensing system used for compensating for pressure sensing and controlling errors is also connected between the MCU and the wheel motors. By adopting the structure, the voltage-controlled electric flat car is ingenious and simple in structural design, the control mode is simple, the two front wheels are used for conducting driving, the requirements for body balance and coordination abilities of a user are lowered, dangers caused by unbalance of a traditional car body are eliminated, the personal safety of the user is effectively guaranteed, and therefore the range of users and the application range are enlarged.
Description
Technical field
The present invention relates to a kind of walking-replacing tool, specifically a kind of pressure-controlled electric flatbed tricycle.
Background technology
Raising along with people's living standard, walking-replacing tool is increasingly subject to high praise and the welcome of people, at present, electrodynamic balance car of much riding instead of walk on the market is single wheel and double wheel design, traditional this electrodynamic balance car, its work is based on the principle of dynamic stability, vehicle body gyroscope and acceleration transducer is utilized to adjust servo-control system to detect vehicle body attitude, thus enable a user to balance on electrodynamic balance car, traditional this electrodynamic balance car, owing to detecting vehicle body attitude just with vehicle body gyroscope and acceleration transducer, its reliability is poor, required by the coordination ability of user is had, left-hand seat has certain difficulty, child, old man uses particularly inconvenient, and can there is serious potential safety hazard.
Summary of the invention
The technical problem to be solved in the present invention is to provide and a kind of can overcome the requirement to user coordination of body ability of the existing balance car, and balance is good, the pressure-controlled electric flatbed tricycle that safety is high.
In order to solve above-mentioned technical problem, the pressure-controlled electric flatbed tricycle of the present invention, including flat board and be arranged on the car body that road wheel below flat board is constituted, favour stone impedance bridge module it is integrated with below flat board, favour stone impedance bridge module connects MCU control unit through A/D amplifier, road wheel has wheel motor, MCU control unit connects the servo-control system that can motor be controlled, and is also associated with controlling for compensating pressure sensitive the attitude sensing system of error between MCU control unit and wheel motor.
Described road wheel is provided with four, and four road wheels are separately mounted to the position, four corners below flat board, have the wheel motor driving wheel as this car body in anterior two road wheels, and two, rear portion road wheel is as the deflecting roller of this car body.
Described attitude sensing system is become with groups of acceleration sensors by gyroscope.
Described flat board is made up of metal material.
After adopting above-mentioned structure, due to the favour stone impedance bridge module arranged and attitude sensing system, thus can directly utilize the balance of human body weight pressure activated favour stone strain impedance bridge to control vehicle to run, compensate pressure sensitive by attitude sensing system simultaneously and control error, effectively further control four-wheel flat bogie direction and speed thereof, its smart structural design is simple, control mode is simple, two-wheel drive before adopting, reduce the user requirement to the balance coordination ability, eliminate traditional car body imbalance and cause using dangerous situation to occur, it is effectively ensured the personal safety of user, thus expanding use crowd and scope thereof.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the pressure-controlled electric flatbed tricycle of the present invention;
Fig. 2 is the structural representation sketch of the pressure-controlled electric flatbed tricycle of the present invention;
Fig. 3 is the principle schematic of favour stone strain impedance bridge in the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the pressure-controlled electric flatbed tricycle of the present invention is described in further detail.
As shown in the figure, the pressure-controlled electric flatbed tricycle of the present invention, including flat board 1 and be arranged on the car body that road wheel 2 below flat board is constituted, described flat board is made up of metal material, favour stone impedance bridge module it is integrated with below flat board, favour stone impedance bridge module connects MCU control unit through high-precision A/D amplifier, road wheel has wheel motor, MCU control unit connects the servo-control system that can motor be controlled, it is also associated with controlling for compensating pressure sensitive the attitude sensing system of error between MCU control unit and wheel motor, described attitude sensing system is become with groups of acceleration sensors by gyroscope, it is further to note that the modules unit of the pressure-controlled electric flatbed tricycle of the present invention and circuit are powered each through power-supply system.
The structure of the present embodiment is as shown in Figure 2, favour stone strain impedance bridge module is provided with two, two favour stone strain impedance bridge modules are separately mounted to below flat board, two favour stone strain impedance bridge modules are respectively provided with and answer impedance induction point 3, the pressure applied in two, left and right induction region (region as shown in Figure 2) is sensed by protruding point (answering impedance induction point), MCU control unit then controls, by the size of two pressure of collection, the speed that electronic car body advances, the direction that electronic car body advances is controlled by the comparison of two pressure difference values, and the structure of favour stone strain impedance bridge module is as shown in Figure 3, resistance R1, R2, R3, R4 is four arms of electric bridge, when four arms are in poised state, it does not have electric current flows through, B, 2 electromotive forces of D are equal, between there is no electric potential difference �� V=0, and when strain resistor resistance value owing to extraneous deformation pressure causes impedance variation, break bridge balance, �� V �� 0, the size of �� V output, the direct reaction size of deformation pressure.
Wherein, road wheel in the present embodiment is provided with four, four road wheels are separately mounted to the position, four corners below flat board, as seen from the figure, the front part sides of car body is respectively arranged with a road wheel, the both sides, rear portion of car body are respectively arranged with a road wheel, have the wheel motor driving wheel as this car body in two anterior road wheels, and two, rear portion road wheel is as the deflecting roller of this car body.
Its operation principle is as follows:
Human body body compression weight is utilized to change Wheatstone bridge impedance balance value, the minor variations of the output voltage caused; The trace change of voltage exports MCU control unit through high-precision A/D amplifier, the servosystem of front two-wheeled is mediated by its control unit output circuit respectively, attitude sensing system by being become with groups of acceleration sensors by gyroscope compensates pressure sensitive control error simultaneously, effectively controls four-wheel flat bogie direction and speed thereof.
Claims (4)
1. a pressure-controlled electric flatbed tricycle, including flat board and be arranged on the car body that road wheel below flat board is constituted, it is characterized in that: below described flat board, be integrated with favour stone impedance bridge module, described favour stone impedance bridge module connects MCU control unit through A/D amplifier, described road wheel has wheel motor, described MCU control unit connects the servo-control system that can motor be controlled, and is also associated with controlling for compensating pressure sensitive the attitude sensing system of error between described MCU control unit and wheel motor.
2. the pressure-controlled electric flatbed tricycle described in claim 1, it is characterized in that: described road wheel is provided with four, four road wheels are separately mounted to the position, four corners below flat board, having the wheel motor driving wheel as this car body in anterior two road wheels, two, rear portion road wheel is as the deflecting roller of this car body.
3. the pressure-controlled electric flatbed tricycle described in claim 1, it is characterised in that: described attitude sensing system is become with groups of acceleration sensors by gyroscope.
4. the pressure-controlled electric flatbed tricycle described in claim 1, it is characterised in that: described flat board is made up of metal material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610096958.4A CN105644391A (en) | 2016-02-23 | 2016-02-23 | Voltage-controlled electric flat car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610096958.4A CN105644391A (en) | 2016-02-23 | 2016-02-23 | Voltage-controlled electric flat car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105644391A true CN105644391A (en) | 2016-06-08 |
Family
ID=56489782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610096958.4A Pending CN105644391A (en) | 2016-02-23 | 2016-02-23 | Voltage-controlled electric flat car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105644391A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106882082A (en) * | 2017-02-24 | 2017-06-23 | 宁波工程学院 | A kind of single wheel balance car Acceleration-deceleration Control Method |
| 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 |
| CN109876419A (en) * | 2019-04-10 | 2019-06-14 | 南京振子智能科技有限公司 | A kind of electric four-wheeled slide plate of differential steering control |
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2016
- 2016-02-23 CN CN201610096958.4A patent/CN105644391A/en active Pending
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| CN202420852U (en) * | 2012-01-04 | 2012-09-05 | 上海新世纪机器人有限公司 | State detecting device for self-balance two-wheel cycle |
| CN104943780A (en) * | 2015-06-10 | 2015-09-30 | 张家港江苏科技大学产业技术研究院 | Electric double-wheel somatosensory balance car |
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| CN205034263U (en) * | 2015-09-30 | 2016-02-17 | 深圳市奇创联发科技有限公司 | Car is felt to body based on human gravity vehicle actuated control road speed and direction |
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Non-Patent Citations (1)
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106882082A (en) * | 2017-02-24 | 2017-06-23 | 宁波工程学院 | A kind of single wheel balance car Acceleration-deceleration Control Method |
| CN106882082B (en) * | 2017-02-24 | 2019-04-12 | 宁波工程学院 | A kind of single wheel balance car Acceleration-deceleration Control Method |
| 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 |
| CN109876419A (en) * | 2019-04-10 | 2019-06-14 | 南京振子智能科技有限公司 | A kind of electric four-wheeled slide plate of differential steering control |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160608 |