CN105920829A - Gravity sensing control system for electric skateboard - Google Patents
Gravity sensing control system for electric skateboard Download PDFInfo
- Publication number
- CN105920829A CN105920829A CN201610273706.4A CN201610273706A CN105920829A CN 105920829 A CN105920829 A CN 105920829A CN 201610273706 A CN201610273706 A CN 201610273706A CN 105920829 A CN105920829 A CN 105920829A
- Authority
- CN
- China
- Prior art keywords
- gravity sensing
- control system
- wheel hub
- sensing control
- plate face
- 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
Links
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/01—Skateboards
- A63C17/014—Wheel arrangements
- A63C17/015—Wheel arrangements with wheels arranged in two pairs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/12—Roller skates; Skate-boards with driving mechanisms
Abstract
The invention discloses a gravity sensing control system for an electric skateboard and relates to a gravity sensing control system. The gravity sensing control system comprises an electric skateboard. The electric skateboard comprises a skateboard surface, wheel hub motors, a cell and front wheels. The middle of the upper surface of the skateboard surface is provided with the cell. The front end of the bottom surface of the skateboard surface is provided with the two parallel front wheels. The tail end of the bottom surface of the skateboard surface is provided with the two parallel wheel hub motors. The gravity sensing control system is characterized in that the front and rear parts of the upper surface of the skateboard surface are respectively provided with a gravity sensing device and a controller, the gravity sensing device, the controller and the wheel hub motors are orderly connected and the cell is used for supplying powder. A wheel hub motor rotation rate is controlled through detection of pressure change so that control is convenient. The gravity sensing device utilizes a full bridge converter design so that signal accuracy is effectively improved and external disturbance-caused errors are reduced. The gravity sensing control system is suitable for wheel hub motor gravity sensing control.
Description
Technical field
The present invention relates to gravity sensing control system, particularly relate to a kind of gravity sensing for electric return board and control system
System.
Background technology
At present, China is on the high-speed channel of development, while rapid economic development, short distance walking-replacing tool or
Short distance means of transport is the most preferably developed, use remain 10 years before the product that occurred.
Traditional walking-replacing tool, such as bicycle and electric motor car, the former is difficult to allow ordinary people ride for a long time, consumes one's strength
Greatly；The latter is the heaviest, although ride conveniently, but inconvenient when carrying.Lacking one at present both can be in short distance
Interior traveling and the lightest walking-replacing tool.
In terms of storage transport, current major part all depends on manpower transport, extremely expends strength, and efficiency is the lowest.And
When carrying breakables, manpower transport also easily causes the fragmentation of goods.Especially in net purchase peak period, as tide
Parcel makes express delivery addressee person unable to do what one wishes, causes parcel to be detained phenomenon loss of goods even occur.
Therefore, current highly desirable a kind of can the short distance instrument riding instead of walk or transport, solve the problem of riding instead of walk of people,
The work load of storage staff can also be alleviated simultaneously.
The electric return board being made up of plate face, wheel hub motor and battery can become a kind of novel walking-replacing tool, but how
Controlling its operation is technical barrier urgently to be resolved hurrily.
Summary of the invention
The purpose of the present invention is that and overcomes prior art to there is shortcoming and defect, it is provided that a kind of weight for electric return board
Power induction control system.
The object of the present invention is achieved like this:
For the gravity sensing control system (abbreviation system) of electric return board, including electric return board, described electric return board is by plate
Face, wheel hub motor, battery and front-wheel composition；Middle part on plate face is provided with battery, is provided with in the front end, bottom surface in plate face
Two front-wheels arranged side by side, the tail end in bottom surface, plate face is provided with two wheel hub motors arranged side by side；
It is characterized in that:
Gravity sensing device and controller it is respectively arranged with before and after on plate face；
Gravity sensing device, controller and wheel hub motor are sequentially connected with；
Power supply is responsible for by battery.
The present invention has following advantages and good effect
1. the rotating speed of wheel hub motor, convenient control is controlled by the change of detection pressure；
2. use wheel hub motor as power set, power-equipment is merged with wheel, outside is reduced to a great extent
Structure；
3. use full-bridge circuit design weight induction installation, signal precision can be effectively improved, reduce the mistake that external interference causes
Difference.
4. it is applicable to the gravity sensing to wheel hub motor control.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the fundamental diagram of gravity sensing device 20；
Fig. 3 is the block diagram of controller 30；
Fig. 4 is the circuit theory diagrams of amplifying circuit 31；
Fig. 5 is the workflow diagram of the software of control circuit 32；
Fig. 6 is the structural blast figure of wheel hub motor.
In figure:
10 plate faces；
20 gravity sensing devices；
30 controllers,
31 amplifying circuits；32 control circuits；33 electricity are adjusted；
40 wheel hub motors,
41,42 the 1st, 2 wheel hub motors；
50 batteries
60 front-wheels.
Detailed description of the invention
Describe in detail with embodiment below in conjunction with the accompanying drawings:
One, overall
Such as Fig. 1, native system includes electric return board, and described electric return board is by plate face 10, wheel hub motor 40, battery 50 and front-wheel 60
Composition；Middle part on plate face 10 is provided with battery 50, is provided with two front-wheels 60 arranged side by side in the front end, bottom surface in plate face 10,
Tail end in bottom surface, plate face 10 is provided with two wheel hub motors 40 arranged side by side；
It is characterized in that:
Gravity sensing device 20 and controller 30 it is respectively arranged with before and after on plate face 10；
Gravity sensing device 20, controller 30 and wheel hub motor 40 are sequentially connected with；
Power supply is responsible for by battery 50.
Two, functional part
1, plate face 10
Plate face 10 is a kind of general functional part, is the supporter of the present invention.
2, gravity sensing device 20
Described gravity sensing device 20 is a kind of bridge being made up of 4 pressure transducers 21.
Such as Fig. 2,4 pressure transducers 21 connect for full-bridge type specifically, and the power line signal end from left and right accesses, letter
Number line picks out from upper and lower signal end.
3, controller 30
Such as Fig. 3, described controller 30 includes that the amplifying circuit 31 being sequentially connected with, control circuit 32 and electricity adjust 33.
1) amplifying circuit 31
Such as Fig. 4, described amplifying circuit 31 includes 2K Ω resistance 311,200K Ω resistance 312, OP07 operational amplifier 313 and leads
Line 314；
Holding wire receives the 2 of OP07 operational amplifier 313,3 ports；Power line receives the 4 of OP07 operational amplifier 313,7 ends
Mouthful；2K Ω resistance 311 one end ground connection, an end is connected on 2 ports of OP07 operational amplifier 313；200K Ω resistance 312 1 end is connected on
6 ports of OP07 operational amplifier 313, an end is connected on 2 ports of OP07 operational amplifier 313.
Form one by this connection and lead to amplifying circuit, can amplify the signal of 2,3 ports, and the signal after amplifying by
Port 6 exports.
2) control circuit 32
Control circuit 32 includes MSP430 single-chip microcomputer and embedded software thereof.
Such as Fig. 5, the workflow of software is:
1.-321 are started；
2. brake (zero-turn speed) signal-322 is exported；
3. judge that the pressure signal detected, whether more than predetermined value-323, is then to enter step 4., otherwise jumps to step 2.；
4. the dutycycle-324 of output PWM ripple is calculated according to the size of pressure signal；
5. adjust output to specify PWM ripple-325 of dutycycle to electricity, then jump to step 3., circulate always, until power-off.
3) electricity adjusts 33
Electricity adjusts 33 to be a kind of general brushless electric machine electronic speed regulator, is the driver of wheel hub motor of the present invention.
4, wheel hub motor 40
Such as Fig. 6, wheel hub motor 40 is by back-up ring 401, HK4016 bearing 402, hollow axle 403,6706 bearing 404, magnet steel sleeve
405, stator winding 406, magnet steel 407, magnet steel frame 408,1008 bearing 409, MR128z bearing 410, inner rim sleeve 411, tooth
Wheel carrier 412, internal gear 413, driving gear 414, travelling gear 415, gear shaft 416, dynamoelectric machine grommet 417, gear cap 418, outer
Wheel rim sleeve 419 and wheel rim 420 form；
Its position with annexation is:
From left to right, HK4016 bearing 402, hollow axle 403,6706 bearing 404, magnet steel sleeve 405, stator winding 406, magnet steel
407, magnet steel frame 408,1008 bearing 409, MR128z bearing 410 nested encryptions successively；Back-up ring 401 is fixed on by holding screw
On the left of magnet steel sleeve 405, align with magnet steel sleeve 405 left side in back-up ring 401 left side；From left to right, inner rim sleeve 411,
Tooth rest 412, internal gear 413, driving gear 414, travelling gear 415, gear shaft 416, dynamoelectric machine grommet 417, gear cap 418,
Outer rim sleeve 419, wheel rim 420 nested encryptions successively, outer rim sleeve 419 is connected by structure glue with wheel rim 420, outer rim
Sleeve 419 is fixed on outside inner rim sleeve 411 by holding screw.
Above-mentioned 20 functional parts are common components.
Its working mechanism is:
The stator winding 406 being fixed on hollow axle 403 is passed through three-phase alternating current and produces rotating excitation field, is fixed on magnet steel sleeve
Magnet steel 407 inside 405 rotarily drives magnet steel sleeve 405 under the action of a magnetic field and rotates, thus drives and be fixed on magnet steel sleeve 405
On magnet steel frame 408 on install driving gear 414 rotate, driving gear 414 is by being fixed on tooth rest 412 circumferentially
Direction equally distributed three travelling gears drive is fixed on the internal gear 413 inside inner rim sleeve 411 and rotates；Inner rim set
Cylinder 411 and outer rim sleeve 419, wheel rim 420 are fixed together, and rotate simultaneously.
5, battery 50
Described battery 50 is made up of 18650 batteries.
Power is provided for wheel hub motor 40.
6, front-wheel 60
Described front-wheel 60 is a kind of general wheel, in the present invention, plays gripper shoe face and the effect turned to
Three, working mechanism
The user rear foot stands in plate face 10 tail end, and the forward foot in a step is placed on gravity sensing device 20；By changing the position of centre of body weight,
The forward foot in a step pressure size to gravity sensing device 20 can be changed；The pressure transducer 21 of gravity sensing device 20 detects pressure
After change, the size variation of pressure is converted into the size variation of voltage；Then amplifying circuit 31 is inputed to, by the voltage of change
Signal amplifies；Inputing to controller 32 again, the P6.0 port on the MSP430 single-chip microcomputer in controller 32 receives by amplifying circuit
The signal of module output, and carry out analog digital conversion, the numerical value converted is the integer in 0-4095, and voltage signal values is the biggest,
Numerical value after analog digital conversion is the biggest；Numerical value after conversion is analyzed by MSP430 single-chip microcomputer, and numerical value is the biggest, MSP430 single-chip microcomputer
P1.6 port then adjust, to electricity, the PWM ripple that 33 output duty cycles are the biggest；Electricity tune 33 then drive hub motor 40 rotates.
Four, using method
User stands on the plate face 10 of scooter, and the rear foot stands in plate face 10 tail end, and the forward foot in a step is placed in gravity sensing district 20；Pass through
Change the position of centre of body weight, thus it is possible to vary the forward foot in a step pressure size to gravity induction zone 20.Thus control wheel hub motor 40 turns
The speed of speed；By the "Left"-deviationist of health, Right deviation, force the packing ring on motor crane span structure to deform upon, change the direction of wheel, thus
Realization turns to.
Claims (4)
1., for a gravity sensing control system for electric return board, including electric return board, described electric return board is by plate face
(10), wheel hub motor (40), battery (50) and front-wheel (60) composition；Plate face (10) middle part above is provided with battery (50),
Be provided with two front-wheels arranged side by side (60) in the front end, bottom surface of plate face (10), the tail end in plate face (10) bottom surface is provided with two also
The wheel hub motor (40) of row；
It is characterized in that:
Gravity sensing device (20) and controller (30) it is respectively arranged with before and after above in plate face (10)；
Gravity sensing device (20), controller (30) and wheel hub motor (40) are sequentially connected with；
Power supply is responsible for by battery (50).
2. the gravity sensing control system as described in claim 1, it is characterised in that:
Described gravity sensing device (20) is a kind of bridge being made up of 4 pressure transducers (21).
3. the gravity sensing control system as described in claim 1, it is characterised in that:
Described controller (30) includes that the amplifying circuit (31) being sequentially connected with, control circuit (32) and electricity adjust (33).
4. the gravity sensing control system as described in claim 1,2,3, it is characterised in that:
Described control circuit (32) includes MSP430 single-chip microcomputer and embedded software thereof, and the workflow of software is:
1. (321) are started；
2. brake signal (322) is exported；
3. judge that the pressure signal detected, whether more than predetermined value (323), is then to enter step 4., otherwise jumps to step
②；
4. the dutycycle (324) of output PWM ripple is calculated according to the size of pressure signal；
5. adjust output to specify the PWM ripple (325) of dutycycle to electricity, then jump to step 3., circulate always, until power-off.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610273706.4A CN105920829A (en) | 2016-04-28 | 2016-04-28 | Gravity sensing control system for electric skateboard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610273706.4A CN105920829A (en) | 2016-04-28 | 2016-04-28 | Gravity sensing control system for electric skateboard |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105920829A true CN105920829A (en) | 2016-09-07 |
Family
ID=56837610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610273706.4A Pending CN105920829A (en) | 2016-04-28 | 2016-04-28 | Gravity sensing control system for electric skateboard |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105920829A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112423852A (en) * | 2018-06-01 | 2021-02-26 | 美国锐哲有限公司 | Personal mobility vehicle with detachable drive assembly |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102274625A (en) * | 2011-06-13 | 2011-12-14 | 路海燕 | Pressure-operated scooter |
| US20130206493A1 (en) * | 2012-02-10 | 2013-08-15 | Intuitive Motion, Inc. | Electric motorized skateboard with an actuator assembly with a footpad and force sensor |
| CN203255325U (en) * | 2013-05-08 | 2013-10-30 | 蔡颖锐 | Scooter with movement controlled by utilization of center-of-gravity shift |
| CN204193456U (en) * | 2014-02-21 | 2015-03-11 | 伟芝延电子科技(上海)有限公司 | A kind of four-wheel electric slide plate |
| CN105083460A (en) * | 2015-09-16 | 2015-11-25 | 叶静 | Portable pocket type intelligent electric vehicle |
| CN205627014U (en) * | 2016-04-28 | 2016-10-12 | 上官希坤 | A heavy force sensor controlling means for electric skate board |
-
2016
- 2016-04-28 CN CN201610273706.4A patent/CN105920829A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102274625A (en) * | 2011-06-13 | 2011-12-14 | 路海燕 | Pressure-operated scooter |
| US20130206493A1 (en) * | 2012-02-10 | 2013-08-15 | Intuitive Motion, Inc. | Electric motorized skateboard with an actuator assembly with a footpad and force sensor |
| CN203255325U (en) * | 2013-05-08 | 2013-10-30 | 蔡颖锐 | Scooter with movement controlled by utilization of center-of-gravity shift |
| CN204193456U (en) * | 2014-02-21 | 2015-03-11 | 伟芝延电子科技(上海)有限公司 | A kind of four-wheel electric slide plate |
| CN105083460A (en) * | 2015-09-16 | 2015-11-25 | 叶静 | Portable pocket type intelligent electric vehicle |
| CN205627014U (en) * | 2016-04-28 | 2016-10-12 | 上官希坤 | A heavy force sensor controlling means for electric skate board |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112423852A (en) * | 2018-06-01 | 2021-02-26 | 美国锐哲有限公司 | Personal mobility vehicle with detachable drive assembly |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5540296A (en) | Electric auxiliary drive for a travelling device primarily driven, in particular drawn or pushed, by human or animal power | |
| CN202201118U (en) | Asynchronous line-transmission electric pedal carrier driven by manpower generated electricity | |
| WO2021220823A1 (en) | Electric-power-assisted bicycle | |
| WO2020001362A1 (en) | Intelligent electric wheel hub | |
| CN105966541A (en) | Middle motor for bicycle | |
| CN205524706U (en) | Two -wheeled electrodynamic balance car that pressure control turned to | |
| CN104118524A (en) | Assembled hub type intelligent wheel | |
| CN105946915A (en) | Hand electric light type carrying trolley based on hub motors and controller | |
| CN104260817A (en) | Electric power device of bicycle | |
| CN204056179U (en) | Bicycle electric boosting device | |
| CN206704433U (en) | Electric power, manpower hybrid power bicycle | |
| CN107745780A (en) | Electric power, manpower hybrid power bicycle and its control method | |
| CN105059462A (en) | Self-generating electric auxiliary power bicycle | |
| CN205627014U (en) | A heavy force sensor controlling means for electric skate board | |
| CN203528693U (en) | Portable single-wheel balance car | |
| CN108454740A (en) | A kind of detection control apparatus of shared bicycle | |
| CN101817385A (en) | Chainless drive bicycle | |
| CN203937816U (en) | Booster of bicycle and bicycle | |
| CN105920829A (en) | Gravity sensing control system for electric skateboard | |
| CN102514676A (en) | Electric bicycle transmission system with speed sensing device | |
| CN206750011U (en) | Self balancing device and electric vehicle | |
| CN205890936U (en) | Building material conveyor | |
| CN107672732A (en) | A kind of built-in motor using dynamic pickup electrical combination | |
| CN208774961U (en) | A kind of intelligent electric wheel hub | |
| CN207565773U (en) | A kind of electrical combination of built-in motor and its dynamic pickup |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160907 |