CN105676858A - Self-balancing two-wheel balance vehicle and control method - Google Patents
Self-balancing two-wheel balance vehicle and control method Download PDFInfo
- Publication number
- CN105676858A CN105676858A CN201610118977.2A CN201610118977A CN105676858A CN 105676858 A CN105676858 A CN 105676858A CN 201610118977 A CN201610118977 A CN 201610118977A CN 105676858 A CN105676858 A CN 105676858A
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- China
- Prior art keywords
- balance car
- mobile platform
- balance
- drive motor
- revolver
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000005484 gravity Effects 0.000 claims abstract description 10
- 238000010276 construction Methods 0.000 claims description 20
- 230000001133 acceleration Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- 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
- B62K2204/00—Adaptations for driving cycles by electric motor
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention relates to the technical field of the balance vehicle, particularly to a self-balancing two-wheel balance vehicle and a control method. The self-balancing two-wheel balance vehicle comprises a left wheel, a right wheel, a cross beam, and a moving platform. The left wheel and the right wheel are connected to the two ends of the cross beam and rotate by using the cross beam as a shaft. The moving platform is arranged above the cross beam; a balance drive motor is arranged on the cross beam and is used for driving the moving platform to move back and forth to adjust the center of gravity of the balance vehicle, so that automatic balancing of the balance vehicle is realized. According to the invention, the moving platform is adjusted automatically by using the balance drive motor and thus the center of gravity of the balance vehicle can be adjusted automatically, thereby keeping balance.
Description
Technical field
The present invention relates to balance car technical field, be specifically related to a kind of self-balancing two-wheeled balance car and control method.
Background technology
Along with intelligent machine man-based development, two-wheeled balance car is more and more ripe, but current all of two-wheeled balance car is all need people to do centre of gravity adjustment and to keep balance, it is difficult to for automatic shipping robot.
Summary of the invention
It is an object of the invention to propose a kind of self-balancing two-wheeled balance car and control method, make balance car automatically adjust center of gravity, keep balance.
For reaching this purpose, the present invention by the following technical solutions:
As one aspect of the present invention, a kind of self-balancing two-wheeled balance car provided, including: revolver, right wheel, crossbeam and mobile platform, described revolver and right wheel are connected to the two ends of crossbeam, and rotate with crossbeam for axle, described mobile platform is arranged at above crossbeam, and described crossbeam is provided with balance drive motor, for driving the movable center of gravity to adjust balance car of mobile platform, make balance car autobalance.
Alternatively, also including: CPU and gyroscope, described gyroscope is for sensing the attitude data of mobile platform, and sends described attitude data to CPU; Described CPU is for gathering the travel speed of balance car, and adjusts balance drive motor steering according to travel speed and attitude data;
Described balance drive motor, for driving mobile platform to move to balance car forward direction motion or to the opposite direction of balance car direction of advance according to the order of CPU.
Alternatively, also include: revolver drive motor and right wheel drive motor;
Described revolver drive motor is arranged on revolver, is used for driving revolver to rotate;
Described right wheel drive motor is arranged in right wheel, is used for driving right wheel to rotate;
Described CPU, is additionally operable to receive the attitude data of gyroscope on mobile platform the speed according to described attitude data adjustment revolver drive motor and right wheel drive motor, so that balance car walking.
Alternatively, described revolver and right wheel are all wheel hub motor.
Alternatively, the both sides, front and back of described mobile platform are all provided with supporting construction, and for maintaining the balance of mobile platform, when balance car is when halted state, supporting construction falls; When balance car is when transport condition, supporting construction is packed up.
Alternatively, described supporting construction is undercarriage and/or fast pulley.
As another aspect of the present invention, it is provided that the control method of a kind of self-balancing two-wheeled balance car, including:
The attitude data of gyroscope in the travel speed of collection balance car and mobile platform;
Judged by the attitude data of gyroscope whether the mobile platform of described balance car tilts, if so, control revolver drive motor by CPU and right wheel drive motor adipping accelerates, otherwise, keep balance car travel speed constant;
Judging that whether described travel speed is more than default given speed, if so, then balance drive driven by motor mobile platform moves to the opposite direction of balance car direction of advance; Otherwise, drive mobile platform to balance car forward direction motion.
Alternatively, the described attitude data by gyroscope judges the mobile platform of described balance car also includes after whether tilting:
Judging that whether the mobile platform angle of inclination of described balance car is more than default angle of inclination threshold value by the attitude data of gyroscope, if so, then balance drive driven by motor mobile platform moves to the opposite direction of balance car incline direction.
Alternatively, the travel speed of described collection balance car and mobile platform also include before the attitude data of gyroscope:
Start balance car, slowly pack up supporting construction.
The invention have the benefit that a kind of self-balancing two-wheeled balance car and control method, this self-balancing two-wheeled balance car includes: revolver, right wheel, crossbeam and mobile platform, described revolver and right wheel are connected to the two ends of crossbeam, and rotate with crossbeam for axle, described mobile platform is arranged at above crossbeam, described crossbeam is provided with balance drive motor, for driving the movable center of gravity to adjust balance car of mobile platform, make balance car autobalance, the present invention is automatically adjusted mobile platform by balance drive motor, balance car is made automatically to adjust center of gravity, keep balance.
Accompanying drawing explanation
Fig. 1 is a kind of self-balancing two-wheeled balance car structural representation that the embodiment of the present invention one provides;
Fig. 2 is a kind of self-balancing two-wheeled balance car functional schematic that the embodiment of the present invention one provides;
Fig. 3 is the control method flow chart of a kind of self-balancing two-wheeled balance car that the embodiment of the present invention two provides.
Wherein, accompanying drawing is illustrated as
Revolver 1
Right wheel 2
Crossbeam 3
Mobile platform 4
Balance drive motor 5
Revolver drive motor 6
Right wheel drive motor 7
Supporting construction 8.
Detailed description of the invention
Technical scheme is further illustrated below in conjunction with Fig. 1-Fig. 3 and by detailed description of the invention.
Embodiment one
Fig. 1 is a kind of self-balancing two-wheeled balance car structural representation that the embodiment of the present invention provides; Fig. 2 is a kind of self-balancing two-wheeled balance car functional schematic that the embodiment of the present invention provides.
A kind of self-balancing two-wheeled balance car, including: revolver 1, right wheel 2, crossbeam 3 and mobile platform 4, described revolver 1 and right wheel 2 are connected to the two ends of crossbeam 3, and rotate with crossbeam 3 for axle, described mobile platform 4 is arranged at above crossbeam 3, described crossbeam 3 is provided with balance drive motor 5, for driving the movable center of gravity to adjust balance car of mobile platform 4, makes balance car autobalance.
The present invention is automatically adjusted mobile platform 4 by balance drive motor 5, makes balance car automatically adjust center of gravity, keeps balance, and the realization for later two-wheeled intelligent robot, two-wheeled shipping robot provides technical support; Also make robot patrol be possibly realized simultaneously.
In the present embodiment, also including: CPU and gyroscope, described gyroscope is for sensing the attitude data of mobile platform 4, and sends described attitude data to CPU;Described CPU is for gathering the travel speed of balance car, and turns to according to travel speed and attitude data adjustment balance drive motor 5;
In the present embodiment, described attitude data includes the operation attitude of balance car and the angle of inclination of mobile platform 4;
Described balance drive motor 5, for driving mobile platform 4 to move to balance car forward direction motion or to the opposite direction of balance car direction of advance according to the order of CPU.
In the present embodiment, also include: revolver drive motor 6 and right wheel drive motor 7;
Described revolver drive motor 6 is arranged on revolver 1, is used for driving revolver 1 to rotate;
Described right wheel drive motor 7 is arranged in right wheel 2, is used for driving right wheel 2 to rotate;
Described CPU, is additionally operable to receive the attitude data of gyroscope on mobile platform 4 speed according to described attitude data adjustment revolver drive motor 6 and right wheel drive motor 7, so that balance car walking.
In the present embodiment, described revolver 1 and right wheel 2 are all wheel hub motor, it is achieved that the integration of drive motor and wheel.
In the present embodiment, the both sides, front and back of described mobile platform 4 are all provided with supporting construction 8, and for maintaining the balance of mobile platform 4, when balance car is when halted state, supporting construction 8 falls; When balance car is when transport condition, supporting construction 8 is packed up.
In the present embodiment, described supporting construction 8 is undercarriage and/or fast pulley, and described fast pulley is the wheel less than revolver 1 or right wheel 2, only plays a supportive role, the structure that wherein said supporting construction 8 can combine for undercarriage and fast pulley.
Embodiment two
As it is shown on figure 3, in the present embodiment, the control method of a kind of self-balancing two-wheeled balance car, it is characterised in that including:
The attitude data of gyroscope on S10, the travel speed gathering balance car and mobile platform;
S20, judged by the attitude data of gyroscope whether the mobile platform of described balance car tilts, if, enter step S21, controlled revolver drive motor by CPU and the acceleration of right wheel drive motor adipping, otherwise, enter step S22, keep balance car travel speed constant;
S30, judge that whether described travel speed is more than default given speed, if so, then enter step S11, balance drive driven by motor mobile platform moves to the opposite direction of balance car direction of advance; Otherwise, enter step S32, drive mobile platform to balance car forward direction motion.
In the present embodiment, also include after described step S20:
Judge that whether the mobile platform angle of inclination of described balance car is more than default angle of inclination threshold value by the attitude data of gyroscope, if, then balance drive driven by motor mobile platform moves to the opposite direction of balance car incline direction, described angle of inclination threshold value can manually be arranged, such as 5 degree, when the angle of inclination of mobile platform is more than this threshold value, it is judged to that angle of inclination is too big, only it is difficult to adjustment by acceleration, is now accomplished by being adjusted by balance drive motor the front and back position of mobile platform.
In the present embodiment, also include before described step S10:
Start balance car, slowly pack up supporting construction;
In the present embodiment, described supporting construction is for maintaining the balance of mobile platform, and when balance car is when halted state, supporting construction falls; When balance car is when transport condition, supporting construction is packed up.
The foregoing is only the specific embodiment of the present invention, these descriptions are intended merely to explanation principles of the invention, and can not be construed to limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art need not pay performing creative labour can associate other specific implementation method of the present invention, and these modes fall within protection scope of the present invention.
Claims (9)
1. a self-balancing two-wheeled balance car, it is characterized in that, including: revolver, right wheel, crossbeam and mobile platform, described revolver and right wheel are connected to the two ends of crossbeam, and rotate with crossbeam for axle, described mobile platform is arranged at above crossbeam, and described crossbeam is provided with balance drive motor, for driving the movable center of gravity to adjust balance car of mobile platform, make balance car autobalance.
2. self-balancing two-wheeled balance car according to claim 1, it is characterised in that also include: CPU and gyroscope, described gyroscope is for sensing the attitude data of mobile platform, and sends described attitude data to CPU; Described CPU is for gathering the travel speed of balance car, and adjusts balance drive motor steering according to travel speed and attitude data;
Described balance drive motor, for driving mobile platform to move to balance car forward direction motion or to the opposite direction of balance car direction of advance according to the order of CPU.
3. self-balancing two-wheeled balance car according to claim 2, it is characterised in that also include: revolver drive motor and right wheel drive motor;
Described revolver drive motor is arranged on revolver, is used for driving revolver to rotate;
Described right wheel drive motor is arranged in right wheel, is used for driving right wheel to rotate;
Described CPU, is additionally operable to receive the attitude data of gyroscope on mobile platform the speed according to described attitude data adjustment revolver drive motor and right wheel drive motor, so that balance car walking.
4. self-balancing two-wheeled balance car according to claim 3, it is characterised in that described revolver and right wheel are all wheel hub motor.
5. self-balancing two-wheeled balance car according to claim 1, it is characterised in that the both sides, front and back of described mobile platform are all provided with supporting construction, for maintaining the balance of mobile platform, when balance car is when halted state, supporting construction falls; When balance car is when transport condition, supporting construction is packed up.
6. self-balancing two-wheeled balance car according to claim 5, it is characterised in that described supporting construction is undercarriage and/or fast pulley.
7. the control method of a self-balancing two-wheeled balance car, it is characterised in that including:
The attitude data of gyroscope in the travel speed of collection balance car and mobile platform;
Judged by the attitude data of gyroscope whether the mobile platform of described balance car tilts, if so, control revolver drive motor by CPU and right wheel drive motor adipping accelerates, otherwise, keep balance car travel speed constant;
Judging that whether described travel speed is more than default given speed, if so, then balance drive driven by motor mobile platform moves to the opposite direction of balance car direction of advance; Otherwise, drive mobile platform to balance car forward direction motion.
8. control method according to claim 7, it is characterised in that the described attitude data by gyroscope judges the mobile platform of described balance car also includes after whether tilting:
Judging that whether the mobile platform angle of inclination of described balance car is more than default angle of inclination threshold value by the attitude data of gyroscope, if so, then balance drive driven by motor mobile platform moves to the opposite direction of balance car incline direction.
9. control method according to claim 7, it is characterised in that also include before the attitude data of gyroscope in the travel speed of described collection balance car and mobile platform:
Start balance car, slowly pack up supporting construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610118977.2A CN105676858A (en) | 2016-03-02 | 2016-03-02 | Self-balancing two-wheel balance vehicle and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610118977.2A CN105676858A (en) | 2016-03-02 | 2016-03-02 | Self-balancing two-wheel balance vehicle and control method |
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| Publication Number | Publication Date |
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| CN105676858A true CN105676858A (en) | 2016-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610118977.2A Pending CN105676858A (en) | 2016-03-02 | 2016-03-02 | Self-balancing two-wheel balance vehicle and control method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741407A (en) * | 2016-12-30 | 2017-05-31 | 星梭科技发展（深圳）有限公司 | A kind of distance type intelligent electric motor car |
| CN106828724A (en) * | 2016-12-26 | 2017-06-13 | 歌尔科技有限公司 | Wheeled self balancing device |
| CN107097255A (en) * | 2017-03-31 | 2017-08-29 | 华南理工大学 | A kind of device and exoskeleton for realizing left and right self-balancing using bearing a heavy burden |
| CN107340778A (en) * | 2017-06-23 | 2017-11-10 | 纳恩博（北京）科技有限公司 | A kind of balance control method and vehicle |
| CN107776436A (en) * | 2016-08-25 | 2018-03-09 | 北京小米移动软件有限公司 | The control method and device of double-wheel self-balancing equipment |
| CN108121334A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of self-balance robot motion control method and device |
| CN108394479A (en) * | 2017-02-07 | 2018-08-14 | 大行科技(深圳)有限公司 | A kind of self-balancing vehicle device and its corresponding control method |
| CN108466668A (en) * | 2018-02-11 | 2018-08-31 | 坎德拉（深圳）科技创新有限公司 | Automatic rolling walking device and its motion control method |
| CN111891274A (en) * | 2020-07-21 | 2020-11-06 | 深圳乐行天下科技有限公司 | Balance car control method and device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107776436B (en) * | 2016-08-25 | 2019-08-16 | 北京小米移动软件有限公司 | The control method and device of double-wheel self-balancing equipment |
| CN107776436A (en) * | 2016-08-25 | 2018-03-09 | 北京小米移动软件有限公司 | The control method and device of double-wheel self-balancing equipment |
| CN108121334A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of self-balance robot motion control method and device |
| CN106828724A (en) * | 2016-12-26 | 2017-06-13 | 歌尔科技有限公司 | Wheeled self balancing device |
| CN106741407A (en) * | 2016-12-30 | 2017-05-31 | 星梭科技发展（深圳）有限公司 | A kind of distance type intelligent electric motor car |
| CN108394479B (en) * | 2017-02-07 | 2020-04-24 | 大行科技(深圳)有限公司 | Self-balancing vehicle device and corresponding control method thereof |
| CN108394479A (en) * | 2017-02-07 | 2018-08-14 | 大行科技(深圳)有限公司 | A kind of self-balancing vehicle device and its corresponding control method |
| CN107097255A (en) * | 2017-03-31 | 2017-08-29 | 华南理工大学 | A kind of device and exoskeleton for realizing left and right self-balancing using bearing a heavy burden |
| CN107097255B (en) * | 2017-03-31 | 2023-09-26 | 华南理工大学 | Device for realizing left-right self-balancing by using load and load robot |
| CN107340778A (en) * | 2017-06-23 | 2017-11-10 | 纳恩博（北京）科技有限公司 | A kind of balance control method and vehicle |
| CN107340778B (en) * | 2017-06-23 | 2021-02-12 | 纳恩博（北京）科技有限公司 | Balance control method and vehicle |
| CN108466668A (en) * | 2018-02-11 | 2018-08-31 | 坎德拉（深圳）科技创新有限公司 | Automatic rolling walking device and its motion control method |
| CN111891274A (en) * | 2020-07-21 | 2020-11-06 | 深圳乐行天下科技有限公司 | Balance car control method and device and storage medium |
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Application publication date: 20160615 |