CN105799836B - Segway Human Transporter - Google Patents
Segway Human Transporter Download PDFInfo
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- CN105799836B CN105799836B CN201610259846.6A CN201610259846A CN105799836B CN 105799836 B CN105799836 B CN 105799836B CN 201610259846 A CN201610259846 A CN 201610259846A CN 105799836 B CN105799836 B CN 105799836B
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- human transporter
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- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 230000005389 magnetism Effects 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 20
- 230000001133 acceleration Effects 0.000 claims description 18
- 230000035939 shock Effects 0.000 claims description 8
- 238000010521 absorption reaction Methods 0.000 claims description 7
- 230000003139 buffering effect Effects 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 4
- 230000006698 induction Effects 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 8
- 230000006870 function Effects 0.000 description 6
- 230000005484 gravity Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000012774 insulation material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/02—Frames
-
- 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
- B62K25/00—Axle suspensions
- B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
- B62K25/12—Axle suspensions for mounting axles resiliently on cycle frame or fork with rocking arm pivoted on each fork leg
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L1/00—Brakes; Arrangements thereof
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- 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
- G05D1/12—Target-seeking control
-
- 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
- B60L2200/00—Type of vehicles
- B60L2200/12—Bikes
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/62—Vehicle position
- B60L2240/622—Vehicle position by satellite navigation
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The present invention provides a kind of Segway Human Transporter, and including skateboard body and the idler wheel connecting with skateboard body bottom, idler wheel includes the deflecting roller of front end and the power wheel of rear end；Deflecting roller is connect with the steering mechanism being arranged in skateboard body；Power wheel is connect by rear wheel frame with skateboard body, and provides power by setting power unit；Segway Human Transporter further includes the battery and control unit for power supply being arranged in skateboard body；Control unit includes the receiving end of microcontroller and diversion order and speed command for receiving external remote, and the output end of receiving end and the input terminal of microcontroller connect, and the output end of microcontroller is connect with power unit；Steering mechanism includes the rotation axis being connect with skateboard body by bearing, and the bottom of rotation axis is connect with deflecting roller.The instruction that the present invention is inputted by remote controler, by the speed of microcontroller control Segway Human Transporter, can freely, easily, the realization speed control of intelligence, save physical strength for user.
Description
Technical field
The present invention relates to a kind of walking-replacing tools, and in particular to a kind of Segway Human Transporter.
Background technique
As continually developing for new energy technology is perfect, novel high-capacity battery technology has significant progress, so that building
The various electric-powered vehicles on field of batteries are found there has also been progress with rapid changepl. never-ending changes and improvements, various light-weight electric power are ridden instead of walk
Tool emerges one after another, and greatly facilitates the trip of people.Segway Human Transporter is a kind of scooter that utilization is driven by electricity, existing
Segway Human Transporter, front-wheel, which is fixed on vehicle frame, single to be moved forwards, and can not freely be rotated in the horizontal direction；It was sliding
Cheng Zhong, user need very big waist oscillatory forces that scooter is driven to turn to, and it is inconvenient to turn to, dangerous, lack flexibility；
After people leaves slide plate, intelligent control can not achieve, lack the entertainment of remote control；Big, discomfort is shaken in taxiing procedures
It closes and uses for a long time, lack comfort.
Summary of the invention
The technical problem to be solved by the present invention is provide a kind of Segway Human Transporter, can freely, easily, the realization of intelligence
Speed and direction controlling.
The technical solution taken by the invention to solve the above technical problem are as follows: a kind of Segway Human Transporter, including slide plate sheet
Body and the idler wheel being connect with skateboard body bottom, it is characterised in that: the idler wheel includes the deflecting roller of front end and moving for rear end
Wheels；Deflecting roller is connect with the steering mechanism being arranged in skateboard body；Power wheel is connect by rear wheel frame with skateboard body, and
Power is provided by setting power unit；
This Segway Human Transporter further includes the battery and control unit for power supply being arranged in skateboard body；Control unit
The receiving end of diversion order and speed command including microcontroller and for receiving external remote, the output end of receiving end with
The input terminal of microcontroller connects, and the output end of microcontroller is connect with power unit；
The steering mechanism includes turning to executing agency, and turning to executing agency is to be connect with skateboard body by bearing
The bottom of rotation axis, rotation axis is connect with deflecting roller.
According to the above scheme, the steering mechanism further includes course changing control mechanism, and course changing control mechanism includes being fixed on to turn
Several are distributed in fixed ring for attracting permanent magnetism for permanent magnet on moving axis, and the fixed ring being arranged concentrically with rotation axis
The soft magnetism scapus of iron is equipped with certain gap, is wound on each soft magnetism scapus mutually independent between soft magnetism scapus and permanent magnet
The on-off of hot-wire coil, hot-wire coil is controlled by the microcontroller.
According to the above scheme, linking arm is equipped between the rotation axis and deflecting roller, it is hinged between rotation axis and linking arm,
In rotation axis a little on linking arm a little between be equipped with shock absorption buffering mechanism.
According to the above scheme, the rear wheel frame includes the fixed frame and linking arm being hinged, fixed frame and the cunning
Plate ontology is fixed, and linking arm is connect with the power wheel；On fixed frame a little on linking arm a little between it is slow equipped with damping
Flushing device.
According to the above scheme, the skateboard body includes the panel and rigid-frame being mutually detachably connected；Panel tail portion
It upwarps, and the lower end of panel tail portion is equipped with brake gear；The steering mechanism and rear wheel frame connect with rigid-frame.
According to the above scheme, the brake gear includes protrusion, and raised end is equipped with cushioned material layer.
According to the above scheme, the slide plate front and back end is equipped with night-run lamp and headlamp, connect with the microcontroller.
According to the above scheme, it is equipped with acceleration transducer in the skateboard body, is connect with the microcontroller.
According to the above scheme, it is equipped in the skateboard body close to inductor, preferably infrared sensor, and it is described micro-
Controller connection.
According to the above scheme, the control unit further includes the locating module for obtaining remote controller position signal, preferably
For electromagnetic location module, it is connect with the microcontroller.
According to the above scheme, gravity sensor and three-dimensional gyroscope are equipped in the skateboard body, respectively with it is described micro-
Controller connection.
According to the above scheme, the scooter is equipped with satellite positioning navigation module, connects respectively at above-mentioned controller.
According to the above scheme, the scooter is equipped with avoidance inductor, preferably avoiding obstacles by supersonic wave inductor, respectively at above-mentioned
Controller connection.
A kind of control method of above-mentioned Segway Human Transporter, it is characterised in that: be equipped in Segway Human Transporter and connect with microcontroller
The acceleration transducer connect, it includes following mode:
Close pattern: Segway Human Transporter is controlled by manpower；
Speed intelligent mode: the acceleration and deceleration order control power unit of remote controler is received to control the speed of power wheel；
Semi-intelligent mode: it is controlled and is turned to by manpower；By acceleration transducer obtain the feet step on the ground generate acceleration or
Deceleration controls the speed of power unit, the viscous motion when human body leaves slide plate.
According to the above method, the steering mechanism further includes course changing control mechanism, and course changing control mechanism includes being fixed on to turn
Several are distributed in fixed ring for attracting permanent magnetism for permanent magnet on moving axis, and the fixed ring being arranged concentrically with rotation axis
The soft magnetism scapus of iron is equipped with certain gap, is wound on each soft magnetism scapus mutually independent between soft magnetism scapus and permanent magnet
The on-off of hot-wire coil, hot-wire coil is controlled by the microcontroller；
This method further includes turning to intelligent mode and comprehensive intelligent mode；Turning to intelligent mode is by receiving remote controler
The on-off of diversion order control hot-wire coil；Comprehensive intelligent mode is that speed intelligent mode is superimposed with steering intelligent mode.
According to the above method, it further includes automatic tracking mode: the position of remote controler is obtained by locating module, with scooter
Self-position compares, to control the on-off of hot-wire coil and the output power of power unit.
According to the above method, it further includes self-navigation mode: the destination locations by specifying a satellite positioning, slide plate
Vehicle controls the on-off of hot-wire coil and the output power of power unit by built-in satellite navigation module, reaches purpose.
According to the above method, it further includes automatic obstacle-avoiding mode, incudes skateboard body surrounding objects by avoidance inductor
Location information, to control the on-off of hot-wire coil and the output power of power unit.
The invention has the benefit that
1, the instruction that the present invention is inputted by remote controler can freely, gently by the speed of microcontroller control power wheel
Pine, intelligent realization speed control, deflecting roller are connect by shaft with skateboard body, can easily be passed through manpower control and be turned
To saving physical strength for user.
2, by using the cooperation being dispersed between several independent soft magnetism scapus for being full of hot-wire coil and permanent magnet,
Under remote control command, controller control some or certain several hot-wire coil connections therein allow soft magnetism scapus to generate magnetic force to permanent magnetism
Iron attracts, and realizes the steering of permanent magnet, turns to drive deflecting roller to realize precisely by rotation axis, soft under power blackout situation
Magnetic column is to permanent magnet without attraction, and deflecting roller can be with the rotation of freedom and flexibility, and whole process is freely, easily；Soft magnetism scapus with forever
There is no any physical connection between magnet, independently of each other, is less likely to be damaged even if colliding yet.
3, shock absorption buffering mechanism of the invention is connected thereto end, constitutes triangle at usual road surface, improves idler wheel
The fastness and stability connected between skateboard body realizes damping using shock absorption buffering mechanism when pavement roughness
Function, so that entire scooter steadily slides.
4, by the combination of the panel tail portion and brake gear that upwarp, the panel tail portion upwarped is stepped in brake, is easy to
Operation, further improves the safety of scooter；Rigid-frame similar to reinforcing rib is set, and some bindiny mechanisms are all connected with
On the rigid-frame, keep entire scooter more durable；Panel and rigid-frame use dismountable connection type, just
In disassembly and panel is replaced, and easy to repair positioned at the intrinsic control unit of scooter and steering mechanism.
5, brake gear uses the protrusion with cushioned material layer, in people's control, relies primarily on mechanical system brake；Brake
It is reliable in time.
6, by the way that various sensors, such as acceleration transducer, gravity sensor and three-dimensional gyroscope etc. are arranged, acquisition is slided
The current sliding state of wooden handcart, control unit carry out corresponding algorithm process or logic judgment using current sliding state, and
It controls power unit and provides corresponding power for power wheel, the stationarity that scooter slides can be further increased.
7, in semi-intelligent mode, by human body proximity sensor, for incuding whether slide plate is people's control, when sensing
When having human body above panel, it is normal condition, can normally slides；When originating or being run on the way in slide plate, human body leaves slide plate,
It is then switched to abnormal state, makes the viscous motion of slide plate, guarantees the safety of slide plate.
8, the position that remote controler is obtained using locating module, can make scooter have automatic tracking function, when people's vehicle
When separation, the people that scooter can and then hold remote controler automatically is slided.
9, by satellite positioning module and satellite navigation module, destination is specified, slide plate can arrive at the destination automatically.
10, by obstacle avoidance module, guarantee that slide plate prevents from colliding in automatic running, can effectively protect slide plate.
11, when running slide plate at night, headlamp and night-run lamp are opened, guarantees the safety of night sliding, headlamp and
Night-run lamp can have remote control, using simple, conveniently.
12, several control models through reasonable settings, allow the using effect of Segway Human Transporter to reach best: close pattern
It is controlled by manpower, as the supplement under out of power or control unit damaged condition, also can completely in the case of a complete power loss
The mode of an amusement is provided for slide plate fan；Intelligent mode can slide mould using the most laborsaving most convenient of remote controler completion
Formula；Semi-intelligent mode can realize the wish of intelligent recognition user in the case where being detached from remote controler, control the speed of scooter
Degree, so that user only needs attentively to control direction with power of waist, it is more laborsaving.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of the invention.
Fig. 2 is deflecting roller and steering mechanism's structural schematic diagram.
Fig. 3 is course changing control mechanism structure schematic diagram.
Fig. 4 is the control hardware block diagram of one embodiment of the invention.
In figure: 1- skateboard body, 1-1- panel, 1-2- rigid-frame, 2- deflecting roller, 3- power wheel, 4- rotation axis, 5- connect
Meet arm, 6- fixed frame, 7- course changing control mechanism, 7-1- permanent magnet, 7-2- fixed ring, 7-3- soft magnetism scapus, 8- brake gear, 9-
Bearing, 10- shock absorption buffering mechanism.
Specific embodiment
Below with reference to specific example and attached drawing, the present invention will be further described.
The present invention provides a kind of Segway Human Transporter, including skateboard body 1 and the idler wheel connecting with 1 bottom of skateboard body, such as
Shown in Fig. 1 to Fig. 2, the idler wheel includes the deflecting roller 2 of front end and the power wheel 3 of rear end；Deflecting roller 2 and setting are in slide plate sheet
Steering mechanism's connection in body 1；Power wheel 3 is connect by rear wheel frame with skateboard body 1, and dynamic in power wheel 3 by being arranged in
Power unit provides power；This Segway Human Transporter further includes the battery and control unit for power supply being arranged in skateboard body 1；
Control unit includes the receiving end of microcontroller and diversion order and speed command for receiving external remote, receiving end
The connection of the input terminal of output end and microcontroller, the output end of microcontroller are connect with power unit；Steering mechanism's packet
It includes and turns to executing agency, turning to executing agency is to pass through the rotation axis 4 that bearing 9 is connect, the bottom of rotation axis 4 with skateboard body 1
It is connect with deflecting roller 2.
Preferably, steering mechanism further includes course changing control mechanism 7, as shown in figure 3, including being fixed in rotation axis 4 forever
Several are distributed on magnet 7-1, and the fixed ring 7-2 being arranged concentrically with rotation axis 4, fixed ring 7-2 for attracting permanent magnetism
The soft magnetism scapus 7-3 of iron is equipped with certain gap between soft magnetism scapus 7-3 and permanent magnet 7-1, on each soft magnetism scapus 7-3 around
There is mutually independent hot-wire coil, the on-off of hot-wire coil is controlled by the microcontroller.
Wherein fixed ring 7-2 is only used as fixed soft magnetism scapus 7-3, it can be an annulus, Q-RING, is also possible to multiple
It is whole that sectional fixing piece constitutes an annular, as long as enabling to soft magnetism scapus 7-3 is arranged around permanent magnet 7-1
?.
In the present embodiment, the power unit is hub motor, preferably brushless motor, is arranged in power wheel, wheel hub
Outer ring is cased with tire or other shock insulation materials, is combined into one, can forward and backward and braking.
In the present embodiment, the deflecting roller and power wheel preferably have 2 groups respectively, also can add two groups for one group of deflecting roller and move
Wheels combination or two groups of deflecting rollers and the combination of one group of power wheel or other combinations, every group of deflecting roller and power wheel include single-wheel or
Two-wheel.
Preferably, it is equipped with linking arm 5 between the rotation axis 4 and deflecting roller 2, is cut with scissors between rotation axis 4 and linking arm 5
Connect, in rotation axis 4 a little on linking arm 5 a little between be equipped with shock absorption buffering mechanism 10.
Preferably, the rear wheel frame includes the fixed frame 6 and linking arm 5 being hinged, fixed frame 6 and the slide plate
Ontology 1 is fixed, and linking arm 5 is connect with the power wheel 3；On fixed frame 6 a little on linking arm 5 a little between be equipped with damping
Buffer unit 10.
Preferably, the skateboard body 1 includes the panel 1-1 and rigid-frame 1-2 being mutually detachably connected；Panel 1-
1 tail portion upwarps, and the lower end of the tail portion panel 1-1 is equipped with brake gear 8；The steering mechanism and rear wheel frame is and rigid-frame
1-2 connection.The tail portion of rigid-frame 1-2 can also be arranged in brake gear 8, more solid in this way, it is not easy to disconnected.Panel 1-1
Be detachably connected with rigid-frame 1-2 because panel 1-1 has certain protective role to rigid-frame 1-2, if collide by
Damage, can be conveniently replaceable panel 1-1 in this way, and if the device damage that is located in skateboard body 1, be also convenient for dismantling repairing and
Assembling.
Preferably, panel 1-1 and rigid-frame are embedded installation.
It is further preferred that the brake gear 8 includes protrusion, raised end is equipped with cushioned material layer.
In the present embodiment, as shown in figure 4, acceleration transducer is equipped in the skateboard body 1, with the microcontroller
Device connection；Control unit further includes for obtaining the locating module of remote controller position signal (such as ultrasonic wave locating module, photoelectricity
The near fields locating modules such as locating module, electromagnetic location module), it is connect with the microcontroller, the preferred electromagnetic location mould of this example
Block；Control unit further includes the satellite positioning module for obtaining geographical location and satellite navigation module (such as GPS, BDS of navigation
Deng), it is connect with the microcontroller, the preferred GPS satellite positioning navigation module of this example；Controller further includes the object for avoidance
Body induction module (such as ultrasonic wave, infrared ray, photoelectricity), connect with the microcontroller, the preferred avoiding obstacles by supersonic wave module of this example；
It is equipped with gravity sensor and three-dimensional gyroscope in skateboard body 1, is connect respectively with the microcontroller.
Preferably, skateboard body front and back end is equipped with headlamp and night-run lamp, connect with the microcontroller, is used for night
Or lighting condition it is bad in the case where illumination.
The remote controler can be entity remote control device or the APP of mobile terminal；Input mode can be key
Formula, speech recognition or gesture identification etc..
A kind of control method of above-mentioned Segway Human Transporter, including following mode:
Close pattern: Segway Human Transporter is controlled by manpower；Under this mode, this scooter is identical as common scooter, uses
Person enjoys the entertainment of manpower control, is referred to as entertainment mode, in addition when out of power or control unit breaks down,
Also it can be met an urgent need with the mode.
Intelligent mode: the diversion order by receiving remote controler controls the on-off of hot-wire coil；Receive the plus-minus of remote controler
The output power of speed order control power unit；Under this mode, user very labour-saving controls this scooter, realizes function of riding instead of walk
Energy.
Semi-intelligent mode: it is controlled and is turned to by manpower；By acceleration transducer obtain the feet step on the ground generate acceleration or
Deceleration controls the speed of power unit.In specific control, adding for the feet step on the ground generation can be obtained by acceleration transducer
Speed or deceleration, for grading control power unit so that power wheel is slided with a certain constant speed, every level-one is one corresponding
Constant speed.Under this mode, user during riding instead of walk also can manpower control direction, and remote controler can not had to
The acceleration-deceleration of intelligent recognition pedal, and at the uniform velocity advanced by control unit control power wheel, it does not need to need pedal to provide constantly
Power, it is laborsaving, it is particularly suitable for the imperfect scooter beginner of technology, as long as attentively control direction.When human body leaves
When slide plate, slide plate then can be out of service.
In the present embodiment, it is divided into 2-5 grades, one constant speed of every grade of correspondence, every grade of the speed since the first order
It is incremented by step by step；Under semi-intelligent mode, when each pedal accelerates, level-one is promoted, is at the uniform velocity advanced with the speed of corresponding level, every time
When pedal slows down, level-one is reduced, is at the uniform velocity advanced with the speed of corresponding level.The classification is readily applicable in intelligent mode, distant
A control speed-up command of the every sending of device then promotes level-one, and deceleration command of every sending then reduces level-one.Add when in one long
Under speed or long deceleration state, slide plate speed then increase accordingly to a peak value or is reduced to stopping.
Preferably, it can also include automatic tracking mode: the position of remote controler be obtained by locating module, with scooter
Self-position compares, to control the on-off of hot-wire coil and the output power of power unit；User and cunning under this mode
Wooden handcart separation, can use scooter as carrier, be particularly suitable for the ground such as airport.
It is further preferred that under intelligent mode, according to specified satellite positioning destination, by built-in satellite positioning mould
Block and satellite navigation module control scooter arrive at the destination, and are particularly suitable for transport small article.
It is further preferred that judging the movement of scooter according to gravity sensor and three-dimensional gyroscope under intelligent mode
State is upward slope or descending, increases the output power of power unit when to go up a slope, and reduces power unit when for descending
Output power keeps sliding for scooter more safe and reliable to provide finer control strategy.
The working principle of the invention and process are as follows:
1) in taxiing procedures, microcontroller receives the diversion order of remote controler by receiving end, controls corresponding logical
Electric coil, which be powered, generates magnetic force, and by magnetic force to rotation at corresponding hot-wire coil, rotation axis rotates permanent magnet with permanent magnet,
To drive steered wheel rotation, turning function is realized；Manpower control mode can also be used in user, and all hot-wire coils are disconnected
Electricity, deflecting roller is in free state at this time, realizes and turns under the body control of user, improves entertainment；
2) in taxiing procedures, microcontroller receives the acceleration and deceleration order of remote controler by receiving end, controls power list
Member provides corresponding power to power wheel；The perseverance of corresponding grade can also be provided according to the acceleration or deceleration that the feet step on the ground provides
Constant speed degree；
3) when an emergency situation is encountered or other situations need to brake, the tail portion upwarped with foot stepping panel is filled using brake
The huge frictional force generated with ground is set, scooter ramp to stop is made.
4) locating module is utilized, weight can be placed on scooter by user, enable automatic tracking mode, scooter band
Weight follow user to slide, be suitable for the ground such as airport.
As it is further preferred that charging module can be added, charges a battery, further assist, control unit
In can also increase battery management unit, when electricity is low issue alarm etc. standby signals；It can also be set in this scooter front end
Infrared or ultrasonic sensor is set, according to the barrier of infrared or ultrasonic wave perception road surface ahead, realizes intelligent barrier avoiding function；
Furthermore it is also possible to which microcontroller can add the mode of coprocessor to combine by group processor in a control unit, at association
Reason device mainly handles motion sensor signal (such as acceleration, gravity, gyroscope), the biggish sensing of master processor processes operand
Device signal (such as infrared ray perception, GPS positioning navigation, avoiding obstacles by supersonic wave, electromagnetic location), general slide plate function situation mainly by
Coprocessor is completed, and electricity consumption is reduced；Program can also be pre-installed and be run to micro control unit, such as battery management program, extend battery
Use the time.
Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.
Claims (11)
1. a kind of Segway Human Transporter, including skateboard body and the idler wheel being connect with skateboard body bottom, it is characterised in that: described
Idler wheel includes the deflecting roller of front end and the power wheel of rear end；Deflecting roller is connect with the steering mechanism being arranged in skateboard body；It is dynamic
Wheels is connect by rear wheel frame with skateboard body, and provides power by setting power unit；
This Segway Human Transporter further includes the battery and control unit for power supply being arranged in skateboard body；Control unit includes
The receiving end of microcontroller and diversion order and speed command for receiving external remote, the output end and micro-control of receiving end
The input terminal of device processed connects, and the output end of microcontroller is connect with power unit；
The steering mechanism includes turning to executing agency, and turning to executing agency is the rotation being connect with skateboard body by bearing
The bottom of axis, rotation axis is connect with deflecting roller；
The steering mechanism further includes course changing control mechanism, and course changing control mechanism includes fixed permanent magnet on the rotating shaft,
And the fixed ring being arranged concentrically with rotation axis, several are distributed in fixed ring for attracting the soft magnetism scapus of permanent magnet, it is soft
It is equipped with certain gap between magnetic column and permanent magnet, is wound with mutually independent hot-wire coil, live wire on each soft magnetism scapus
The on-off of circle is controlled by the microcontroller.
2. Segway Human Transporter according to claim 1, it is characterised in that: the company of being equipped between the rotation axis and deflecting roller
Connect arm, it is hinged between rotation axis and linking arm, in rotation axis a little on linking arm a little between be equipped with shock absorption buffering mechanism.
3. Segway Human Transporter according to claim 1, it is characterised in that: the rear wheel frame includes the fixation being hinged
Frame and linking arm, fixed frame are fixed with the skateboard body, and linking arm is connect with the power wheel；On fixed frame a little with
Shock absorption buffering mechanism is equipped on linking arm between a bit.
4. Segway Human Transporter according to claim 1, it is characterised in that: the skateboard body includes panel and rigid vehicle
Frame；Skateboard body tail portion upwarps, and the lower end of skateboard body tail portion is equipped with brake gear；The steering mechanism and rear wheel frame is equal
It is connect with rigid-frame.
5. Segway Human Transporter according to claim 4, it is characterised in that: the brake gear includes protrusion, raised
End is equipped with cushioned material layer.
6. Segway Human Transporter according to claim 1, it is characterised in that: be equipped in the skateboard body close to sensing
Device is connect with the microcontroller.
7. Segway Human Transporter according to claim 1, it is characterised in that: be equipped with acceleration sensing in the skateboard body
Device is connect with the microcontroller.
8. a kind of control method of Segway Human Transporter described in claim 1, it is characterised in that: in Segway Human Transporter be equipped with it is micro-
The acceleration transducer of controller connection, it includes following mode:
Close pattern: Segway Human Transporter is controlled by manpower；
Speed intelligent mode: the acceleration and deceleration order control power unit of remote controler is received to control the speed of power wheel；
Semi-intelligent mode: it is controlled and is turned to by manpower；The acceleration or deceleration that the feet step on the ground generates are obtained by acceleration transducer
Degree, controls the speed of power unit；
The steering mechanism further includes course changing control mechanism, and course changing control mechanism includes fixed permanent magnet on the rotating shaft,
And the fixed ring being arranged concentrically with rotation axis, several are distributed in fixed ring for attracting the soft magnetism scapus of permanent magnet, it is soft
It is equipped with certain gap between magnetic column and permanent magnet, is wound with mutually independent hot-wire coil, live wire on each soft magnetism scapus
The on-off of circle is controlled by the microcontroller；
This method further includes turning to intelligent mode and comprehensive intelligent mode；Turning to intelligent mode is the steering by receiving remote controler
The on-off of order control hot-wire coil；Comprehensive intelligent mode is that speed intelligent mode is superimposed with steering intelligent mode.
9. control method according to claim 8, it is characterised in that: it further includes automatic tracking mode: passing through positioning mould
Block obtains the position of remote controler, compared with the scooter self-position, to control the on-off and power unit of hot-wire coil
Output power.
10. control method according to claim 8, it is characterised in that: it further includes self-navigation mode: specified geography position
The satellite positioning set, by satellite positioning navigation module, to control the on-off of hot-wire coil and the output power of power unit.
11. control method according to claim 8, it is characterised in that: it further includes automatic obstacle-avoiding mode, passes through avoidance sense
The location information for answering device induction skateboard body surrounding objects, to control the on-off of hot-wire coil and the output work of power unit
Rate.
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| CN201610259846.6A CN105799836B (en) | 2016-04-25 | 2016-04-25 | Segway Human Transporter |
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| CN201610259846.6A CN105799836B (en) | 2016-04-25 | 2016-04-25 | Segway Human Transporter |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106155058A (en) * | 2016-08-05 | 2016-11-23 | 广州大非机器人科技有限公司 | Segway Human Transporter and travel control method thereof and traveling control module |
| CN106114206B (en) * | 2016-08-17 | 2017-04-26 | 赛世栋 | All-terrain cross-country electric scooter |
| CN106502133A (en) * | 2016-11-30 | 2017-03-15 | 天津市松正电动汽车技术股份有限公司 | A kind of Segway Human Transporter and its controller |
| CN106697141A (en) * | 2016-12-28 | 2017-05-24 | 大连理工大学 | Eccentric scooter |
| CN106828740A (en) * | 2017-04-12 | 2017-06-13 | 黄刚明 | A kind of pair of motor monocycle |
| WO2018191937A1 (en) * | 2017-04-21 | 2018-10-25 | 万威电子（深圳）有限公司 | Skateboard and lamp assembly thereof |
| CN108334120A (en) * | 2018-02-07 | 2018-07-27 | 永康市拓天科技有限公司 | The kinetic control system and method for scooter and scooter |
| CN113022769B (en) * | 2021-05-07 | 2022-05-24 | 浙江普瑞圣工贸有限公司 | Control method of electric scooter |
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