CN106020181A - Four-wheel balance car based on gravity center detection - Google Patents
Four-wheel balance car based on gravity center detection Download PDFInfo
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- CN106020181A CN106020181A CN201610159795.XA CN201610159795A CN106020181A CN 106020181 A CN106020181 A CN 106020181A CN 201610159795 A CN201610159795 A CN 201610159795A CN 106020181 A CN106020181 A CN 106020181A
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- 230000005484 gravity Effects 0.000 title claims abstract description 147
- 238000001514 detection method Methods 0.000 title claims abstract description 76
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 title claims abstract description 12
- 230000009977 dual effect Effects 0.000 claims description 9
- 238000013507 mapping Methods 0.000 claims description 9
- 238000005303 weighing Methods 0.000 claims description 7
- 238000013016 damping Methods 0.000 claims description 3
- 230000005021 gait Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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- 238000007689 inspection Methods 0.000 description 1
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Classifications
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/01—Motorcycles with four or more wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
-
- 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
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- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention relates to the balance car field, and provides a four-wheel balance car based on gravity center detection. The four-wheel balance car comprises a car body, a control module, a pedal, a power wheel module and a gravity detection module, wherein the control module, the pedal, the power wheel module, and the gravity detection module are mechanically arranged on the car body; the control module is used for receiving the gravity signal of the gravity detection module so as to control the power wheel module to move forward or turn; the power wheel model is located under the pedal, comprises four power wheels, and is used for receiving the power signal of the control module, and driving the four-wheel balance car to move forward or turn; the gravity detection module is located under the pedal, and is used for detecting pedal gravity; the gravity detection module comprises four gravity sensors which are located in four directions under the pedal. The four-wheel balance car has the characteristics of simple design, high control precision, sound stability and simple operation, and is suitable for various kinds of people.
Description
Technical field
The present invention relates to balance car field, particularly to a kind of four-wheel balance car based on center of gravity detection.
Background technology
Traditional balance car typically uses two-wheeled, detects car body state by gyroscope, and then drives by controlling device
Servomotor or motor adjust vehicle balance and identify vehicle traveling operation, and no matter such balance car balances for car body
Adjusted design and car body is advanced and the complexity of turn-around design is the highest, and cause vehicle cost high, vehicle energy consumption
The highest.
Part four-wheel balance car scheme control accuracy is poor, stability is bad, there is potential safety hazard, be suitable for crowd is limited
System.
Summary of the invention
In view of this, the present invention proposes a kind of four-wheel balance car based on center of gravity detection, it is intended to simplify balance car
Balanced design and traveling, turn-around design.
Technical scheme is as follows:
A kind of four-wheel balance car based on center of gravity detection, including car body, control module, pedal, power wheel module, gravity inspection
Survey module；
Described control module, pedal, power wheel module, gravity detection module machinery are arranged and on car body；
Described control module is used for receiving gravity detection module gravitational cue, and then controls the traveling of power wheel module or turn to；
Described power wheel module is positioned at the lower section of pedal, including four power wheels, is used for receiving control module power signal, drives
Described four-wheel balance car is advanced or turns to；
Described gravity detection module is positioned at below pedal, is used for detecting pedal gravity；Described gravity detection module includes four weights
Force transducer, is positioned at four orientation below pedal；
Described gravity detection module is detected as pedal gravity:
Setting detection plane, be X-axis forward at four-wheel balance car direct of travel described in detection plane sets, vertical X axis is Y-axis,
Described four-wheel balance car right-hand rotation direction is Y-axis forward；
Setting detection plane position of centre of gravity initial point, described detection plane position of centre of gravity initial point is described detection plane coordinates initial point；
Four sensor detection pedal four direction gravity of gravity detection module also feed back to control module；
Control module receives the gravity of pedal four direction described in four sensor feedback of gravity module, and calculates center of gravity
Coordinate position in detection plane；Center of gravity controls described four-wheel balance car in Y-axis forward then control module and advances, gravity weight
The heart controls described four-wheel balance car in X-axis forward then control module and turns right, and center of gravity controls institute in X-axis negative sense then control module
State four-wheel balance car.
Preferably, control module receives the gravity of pedal four direction described in four sensor feedback of gravity module, and counts
Calculate the center of gravity coordinate position in detection plane；Center of gravity controls described four-wheel balance in Y-axis forward then control module
Garage enters, and center of gravity controls described four-wheel balance car in X-axis forward then control module and turns right, and center of gravity is at X-axis negative sense then
Control module controls described four-wheel balance car and turns left；
Particularly as follows: described gravity detection module is detected as pedal gravity: set a plane based on pedal plane and sit
Mark, with described four-wheel balance car direct of travel for Y-axis positive direction, to vertically travel direction right direction Y-axis for X-axis positive direction；
Set (X, Y) coordinate quadrant be first quartile, (-X, Y) coordinate quadrant is the second quadrant, (-X ,-Y) coordinate quadrant be the 3rd as
Limit, (X ,-Y) coordinate quadrant is fourth quadrant；Four gravity sensors are distributed in four quadrants, according to four quadrant orders successively
For gravity sensor A, B, C, D, the absolute value of described four gravity sensor readings is followed successively by A, B, C, D, described four sensings
Device is designated as A(A, A in the DUAL PROBLEMS OF VECTOR MAPPING of four quadrants), B(-B, B), C(-C ,-C) and, D(D ,-D)；Then center of gravity vector can be by meter
Obtain:
Center(X,Y) = ((A-B-C+D),(A+B-C-D))
Wherein, X=A-B-C+D, Y=A+B-C-D；As Y > 0 time described four-wheel balance car accelerate；As X > 0 time described four-wheel put down
Weighing apparatus car is turned right, and < when 0, described four-wheel balance car turns left X；
Preferably, described center of gravity vector:
Center(X,Y) = ((A-B-C+D),(A+B-C-D))
Wherein, X=A-B-C+D, Y=A+B-C-D；
When Center (X, Y) coordinate is positioned at described 3rd, fourth quadrant, i.e. < when 0, described four-wheel balance car brakes Y, power
Wheel module stops operating.
More specifically, with described position of centre of gravity initial point as the center of circle, with R for radius at detection one circumference model of plane sets
Enclosing, radius R can be arranged；
When Center (X, Y) coordinate is positioned at described circumference range, described four-wheel balance car brakes, and power wheel module stops turning
Dynamic；
Preferably, described four gravity sensors are distributed in four quadrants, are followed successively by gravity sensor according to four quadrant orders
A, B, C, D, the absolute value of described four gravity sensor readings is followed successively by A, B, C, D, and described four sensors are at four quadrants
DUAL PROBLEMS OF VECTOR MAPPING be designated as A(A, A), B(-B, B), C(-C ,-C), D(D ,-D)；Then center of gravity vector can be by being calculated:
Center(X,Y) = ((A-B-C+D),(A+B-C-D))
Wherein, X=A-B-C+D, Y=A+B-C-D；As Y > 0 time described four-wheel balance car accelerate；As X > 0 time described four-wheel put down
Weighing apparatus car is turned right, and < when 0, described four-wheel balance car turns left X；
Particularly as follows: the DUAL PROBLEMS OF VECTOR MAPPING that described sensor C, D are the 3rd, in fourth quadrant can be designated as C (0,0), D(0,0), the most permissible
Dispense sensor C, D；Then center of gravity vector can be by being calculated:
Center(X,Y) = ((A-B),(A+B))
Wherein, X=A-B, Y=A+B；As Y > 0 time described four-wheel balance car accelerate；As X > 0 time described four-wheel balance car turn right,
< when 0, described four-wheel balance car turns left X.
Preferably, as Y > 0 time described four-wheel balance car accelerate；As X>0 time described four-wheel balance car turn right, X is<described in when 0
Four-wheel balance car turns left；
Particularly as follows: setting the coordinate figure of X, Y and the angle of X-axis in Center (X, Y) coordinate is θ, setup control module controls four
The steering angle of wheel balance car is corresponding with θ, thenDescribedIn y, x be that X, Y in Center (X, Y) sit
Scale value；Control module controls described four-wheel balance car according to calculated θ angle value and turns to.
More specifically, gait of march V of described four-wheel balance car is the speed being set as ratio correspondence Y-axis coordinate absolute value, i.e. V
=α Y, α are corresponding proportionality coefficient；
The turning velocity of described four-wheel balance car is the speed of the corresponding following V of ratio:
α is corresponding proportionality coefficient.
Preferably, described power wheel includes: two driving wheels, two supporting rollers, and two driving wheels are put down prolonging described four-wheel
The front of two supporting rollers it is positioned on weighing apparatus car direct of travel；Described driving wheel is driven by motor, and described supporting roller is universal wheel；
Described control module controls two driving wheels and advances or turn to, and then controls the traveling of described four-wheel balance car or turn to；Tool
Body is the speed that control module controls two driving wheels, and the consistent then four-wheel balance car of described speed is advanced, and described speed is variant
The most described four-wheel balance car turns to.
More specifically, described driving wheel can be motor or driven by servomotor.
Preferably, described four-wheel balance car also includes damping module, is positioned at four gravity sensor weeks of gravity detection module
Enclose.
Beneficial effect
The present invention is designed with two driving wheels and the four-wheel balance scheme of two supporting roller cooperations to balance car, is greatly simplified
The balanced design of balance car, and use the mode of gravity detection to identify that balance car is advanced and steering order, design is simple, control
Precision processed is high, and good stability operates the simplest, it is adaptable to various people.
Accompanying drawing explanation
Fig. 1 is four-wheel balance car schematic diagram a based on gravity detection;
Fig. 2 is four-wheel balance car schematic diagram b based on gravity detection;
Fig. 3 is four-wheel balance car center of gravity Computing Principle schematic diagram based on gravity detection；
Fig. 4 is four-wheel balance car control principle flow chart based on gravity detection.
Detailed description of the invention
Embodiment one:
As shown in Figure 1, 2, a kind of four-wheel balance car based on center of gravity detection, including car body 14, control module 23, pedal
11, power wheel module, gravity detection module.
Described control module 23, pedal 11, power wheel module, gravity detection module machinery are arranged and on car body 14.
Described control module 23 is used for receiving gravity detection module gravitational cue, and then controls the traveling of power wheel module or turn
To.
Described power wheel module is positioned at the lower section of pedal 11, including four power wheels, is used for receiving control module 23 power
Signal, drives described four-wheel balance car advance or turn to；Described power wheel includes: (one of them driving wheel is such as two driving wheels
Fig. 1, shown in 2 12), two supporting rollers (one of them supporting roller as shown in Figure 1,3 13), two driving wheels are put down prolonging described four-wheel
The front of two supporting rollers it is positioned on weighing apparatus car direct of travel；Described driving wheel is driven by motor, and described supporting roller is universal wheel.
Described control module controls two driving wheels and advances or turn to, and then controls the traveling of described four-wheel balance car or turn
To；Being specially control module and control the speed of two driving wheels, described speed the most described consistent four-wheel balance car is advanced, described speed
Spending variant, described four-wheel balance car turns to.
Described gravity detection module is positioned at below pedal 11, is used for detecting pedal 11 gravity；Described gravity detection module bag
Include four gravity sensors (gravity sensor one of them as shown in Figure 2 21), be positioned at four orientation below pedal 11.
As shown in Figure 4, described gravity detection module is detected as pedal gravity:
Setting detection plane, be X-axis forward at four-wheel balance car direct of travel described in detection plane sets, vertical X axis is Y-axis,
Described four-wheel balance car right-hand rotation direction is Y-axis forward.
Setting detection plane position of centre of gravity initial point, described detection plane position of centre of gravity initial point is that described detection plane coordinates is former
Point.
Four sensor detection pedal four direction gravity of gravity detection module also feed back to control module 23.
Control module 23 receives the gravity readings of pedal four direction described in four sensor feedback of gravity module, and calculates
Go out the center of gravity coordinate position in detection plane；Center of gravity controls described four-wheel balance car in Y-axis forward then control module
Advancing, center of gravity controls described four-wheel balance car in X-axis forward then control module and turns right, and center of gravity is then controlled at X-axis negative sense
Molding block controls described four-wheel balance car and turns left；Calculate the velocity amplitude of two driving wheels further；Control module controls to drive
Wheel is advanced or turns to, and is advanced by the driving wheel monitored or turn to result and the gravity sensor reading read feeds back
Contrast.
Concrete methods of realizing is as shown in Figure 3: described gravity detection module is detected as pedal 11 gravity: put down with pedal
A plane coordinates is set based on face, with described four-wheel balance car direct of travel for Y-axis positive direction, right to vertically travel direction
Side is X-axis positive direction to Y-axis；Setting (X, Y) coordinate quadrant is first quartile, and (-X, Y) coordinate quadrant is the second quadrant, (-
X ,-Y) coordinate quadrant is third quadrant, (X ,-Y) coordinate quadrant is fourth quadrant；Four gravity sensors are distributed in four quadrants
In, it being followed successively by gravity sensor A, B, C, D according to four quadrant orders, the absolute value of described four gravity sensor readings is followed successively by
A, B, C, D, described four sensors are designated as A(A, A in the DUAL PROBLEMS OF VECTOR MAPPING of four quadrants), B(-B, B), C(-C ,-C), D(D ,-
D)；Then center of gravity vector can be by being calculated:
Center(X,Y) = ((A-B-C+D),(A+B-C-D))
Wherein, X=A-B-C+D, Y=A+B-C-D；As Y > 0 time described four-wheel balance car accelerate；As X > 0 time described four-wheel put down
Weighing apparatus car is turned right, and < when 0, described four-wheel balance car turns left X.
As a security restriction, vehicle rollover when preventing operator from trampling control described four-wheel balance car, set one
Individual safeguard protection: when Y < described power wheel module stopping action when 0；With described position of centre of gravity initial point as the center of circle, exist with R for radius
Detection one circumference range of plane sets, radius R can be arranged, when Center (X, Y) coordinate position is positioned at described circumference range
Time, described power wheel module stopping action.
Embodiment two:
Embodiment two is with the difference of embodiment one: described in embodiment one, four gravity sensors are distributed in four
In quadrant, being followed successively by gravity sensor A, B, C, D according to four quadrant orders, the absolute value of described four gravity sensor readings depends on
Secondary for A, B, C, D, described four sensors are designated as A(A, A in the DUAL PROBLEMS OF VECTOR MAPPING of four quadrants), B(-B, B), C(-C ,-C) and, D
(D ,-D)；Then center of gravity vector can be by being calculated:
Center(X,Y) = ((A-B-C+D),(A+B-C-D))
Wherein, X=A-B-C+D, Y=A+B-C-D；As Y > 0 time described four-wheel balance car accelerate；As X > 0 time described four-wheel put down
Weighing apparatus car is turned right, and < when 0, described four-wheel balance car turns left X.
Particularly as follows: the DUAL PROBLEMS OF VECTOR MAPPING that described gravity sensor C, D are the 3rd, in fourth quadrant can be designated as C (0,0), D(0,
0), i.e. can dispense sensor C, D, the most described gravity detection module only includes two gravity sensors A, B, reaches to save
Cost and reduction control the purpose of difficulty；Then center of gravity vector can be by being calculated:
Center(X,Y) = ((A-B),(A+B))
Wherein, X=A-B, Y=A+B；As Y > 0 time described four-wheel balance car accelerate；As X > 0 time described four-wheel balance car turn right,
< when 0, described four-wheel balance car turns left X.
Embodiment one is set to four-wheel balance car steering angle described in embodiment two: set Center (X, Y)
In coordinate, the coordinate figure of X, Y is θ with the angle of X-axis, and the steering angle that setup control module controls four-wheel balance car is corresponding with θ,
ThenDescribedIn y, x be the X in Center (X, Y), Y-coordinate value；Control module is according to being calculated
θ angle value control described four-wheel balance car turn to.
Embodiment one is advanced with four-wheel balance car described in embodiment two and turning velocity is set as: described four-wheel balance car
Gait of march V be the speed being set as ratio correspondence Y-axis coordinate absolute value, i.e. V=α Y, α are corresponding proportionality coefficient；Described
The turning velocity of four-wheel balance car is that ratio is corresponding such as the speed of V:α is corresponding proportionality coefficient.
Preferably, described driving wheel can be motor or driven by servomotor, advances driving wheel for control module
Or the accurate control turned to.
Preferably, described four-wheel balance car also includes damping module, is positioned at four gravity sensor weeks of gravity detection module
Enclose.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert
The detailed description of the invention of the present invention is confined to these explanations.General technical staff of the technical field of the invention is come
Say, make some equivalents without departing from the inventive concept of the premise and substitute or substantially deform, and performance or purposes are identical, all
Should be regarded as the scope of patent protection that the present invention is determined by the claims submitted to.
Claims (10)
1. a four-wheel balance car based on center of gravity detection, it is characterised in that: include car body, control module, pedal, power
Wheel module, gravity detection module；
Described control module, pedal, power wheel module, gravity detection module machinery are arranged and on car body；
Described control module is used for receiving gravity detection module gravitational cue, and then controls the traveling of power wheel module or turn to；
Described power wheel module is positioned at the lower section of pedal, including four power wheels, is used for receiving control module power signal, drives
Described four-wheel balance car is advanced or turns to；
Described gravity detection module is positioned at below pedal, is used for detecting pedal gravity；Described gravity detection module includes four weights
Force transducer, is positioned at four orientation below pedal；
Described gravity detection module is detected as pedal gravity:
Setting detection plane, be X-axis forward at four-wheel balance car direct of travel described in detection plane sets, vertical X axis is Y-axis,
Described four-wheel balance car right-hand rotation direction is Y-axis forward；
Setting detection plane position of centre of gravity initial point, described detection plane position of centre of gravity initial point is described detection plane coordinates initial point；
Four sensor detection pedal four direction gravity of gravity detection module also feed back to control module；
Control module receives the gravity of pedal four direction described in four sensor feedback of gravity module, and calculates center of gravity
Coordinate position in detection plane；Center of gravity controls described four-wheel balance car in Y-axis forward then control module and advances, gravity weight
The heart controls described four-wheel balance car in X-axis forward then control module and turns right, and center of gravity controls institute in X-axis negative sense then control module
State four-wheel balance car.
2. the four-wheel balance car detected based on center of gravity as claimed in claim 1, it is characterised in that: described control module receives
The gravity of pedal four direction described in four sensor feedback of gravity module, and calculate the center of gravity coordinate in detection plane
Position；Center of gravity controls described four-wheel balance car in Y-axis forward then control module and advances, and center of gravity is then controlled at X-axis forward
Molding block controls described four-wheel balance car and turns right, and it is left that center of gravity controls described four-wheel balance car in X-axis negative sense then control module
Turn；
Particularly as follows: described gravity detection module is detected as pedal gravity: set a plane based on pedal plane and sit
Mark, with described four-wheel balance car direct of travel for Y-axis positive direction, to vertically travel direction right direction Y-axis for X-axis positive direction；
Set (X, Y) coordinate quadrant be first quartile, (-X, Y) coordinate quadrant is the second quadrant, (-X ,-Y) coordinate quadrant be the 3rd as
Limit, (X ,-Y) coordinate quadrant is fourth quadrant；Four gravity sensors are distributed in four quadrants, according to four quadrant orders successively
For gravity sensor A, B, C, D, the absolute value of described four gravity sensor readings is followed successively by A, B, C, D, described four sensings
Device is designated as A (A, A), B (-B, B), C (-C ,-C), D (D ,-D) in the DUAL PROBLEMS OF VECTOR MAPPING of four quadrants；Then center of gravity vector can be by meter
Obtain:
Center (X, Y)=((A-B-C+D), (A+B-C-D))
Wherein, X=A-B-C+D, Y=A+B-C-D；As Y > 0 time described four-wheel balance car accelerate；As X > 0 time described four-wheel balance
Car is turned right, and < when 0, described four-wheel balance car turns left X.
3. the four-wheel balance car detected based on center of gravity as claimed in claim 2, it is characterised in that: described four gravity sensitives
Device is distributed in four quadrants, is followed successively by gravity sensor A, B, C, D according to four quadrant orders, and described four gravity sensors are read
The absolute value of number is followed successively by A, B, C, D, and described four sensors are designated as A (A, A), B (-B, B) in the DUAL PROBLEMS OF VECTOR MAPPING of four quadrants,
C (-C ,-C), D (D ,-D)；Then center of gravity vector can be by being calculated:
Center (X, Y)=((A-B-C+D), (A+B-C-D))
Wherein, X=A-B-C+D, Y=A+B-C-D；As Y > 0 time described four-wheel balance car accelerate；As X > 0 time described four-wheel balance
Car is turned right, and < when 0, described four-wheel balance car turns left X；
Particularly as follows: the DUAL PROBLEMS OF VECTOR MAPPING that described sensor C, D are the 3rd, in fourth quadrant can be designated as C (0,0), D (0,0), the most permissible
Dispense sensor C, D；Then center of gravity vector can be by being calculated:
Center (X, Y)=((A-B), (A+B))
Wherein, X=A-B, Y=A+B；As Y > 0 time described four-wheel balance car accelerate；As X>0 time described four-wheel balance car turn right, X<
When 0, described four-wheel balance car turns left.
4. the four-wheel balance car detected based on center of gravity as claimed in claim 2, it is characterised in that: described center of gravity vector；
Center (X, Y)=((A-B-C+D), (A+B-C-D))
Wherein, X=A-B-C+D, Y=A+B-C-D；
When Center (X, Y) coordinate is positioned at described 3rd, fourth quadrant, i.e. < when 0, described four-wheel balance car brakes Y, power
Wheel module stops operating.
5. four-wheel balance car based on center of gravity detection as described in Claims 2 or 3 or 4, it is characterised in that: with described center of gravity
Position initial point is the center of circle, and with R for radius in detection one circumference range of plane sets, radius R can be arranged；
When Center (X, Y) coordinate is positioned at described circumference range, described four-wheel balance car brakes, and power wheel module stops turning
Dynamic.
6. as described in Claims 2 or 3 or 4 based on center of gravity detection four-wheel balance car, it is characterised in that: as Y > 0 time institute
State four-wheel balance car to accelerate；As X>0 time described four-wheel balance car turn right, X<when 0 described four-wheel balance car turn left；
Particularly as follows: setting the coordinate figure of X, Y and the angle of X-axis in Center (X, Y) coordinate is θ, setup control module controls four
The steering angle of wheel balance car is corresponding with θ, thenDescribedIn y, x be that X, Y in Center (X, Y) sit
Scale value；Control module controls described four-wheel balance car according to calculated θ angle value and turns to.
7. four-wheel balance car based on center of gravity detection as described in Claims 2 or 3 or 4, it is characterised in that: described four-wheel is put down
Gait of march V of weighing apparatus car is the speed being set as ratio correspondence Y-axis coordinate absolute value, i.e. V=α Y, α are corresponding proportionality coefficient；
The turning velocity of described four-wheel balance car is the speed of the corresponding following V of ratio:
α is corresponding proportionality coefficient.
8. four-wheel balance car based on center of gravity detection as described in claim 1 or 2 or 3, it is characterised in that: described power wheel
Including two driving wheels, two supporting rollers, two driving wheels prolong be positioned on described four-wheel balance car direct of travel two servo-actuated
The front of wheel；Described driving wheel is driven by motor, and described supporting roller is universal wheel；
Described control module controls two driving wheels and advances or turn to, and then controls the traveling of described four-wheel balance car or turn to；Tool
Body is the speed that control module controls two driving wheels, and described speed the most described consistent four-wheel balance car is advanced, and described speed has
Difference the most described four-wheel balance car turns to.
9. the four-wheel balance car detected based on center of gravity as claimed in claim 8, it is characterised in that: described driving wheel can be step
Enter motor or driven by servomotor.
10. four-wheel balance car based on center of gravity detection as described in claim 1 or 2 or 3, it is characterised in that: described four-wheel
Balance car also includes damping module, is positioned at around four gravity sensors of gravity detection module.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610159795.XA CN106020181A (en) | 2016-03-21 | 2016-03-21 | Four-wheel balance car based on gravity center detection |
| PCT/CN2017/077364 WO2017162125A1 (en) | 2016-03-21 | 2017-03-20 | Four-wheel balance scooter based on gravity center detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610159795.XA CN106020181A (en) | 2016-03-21 | 2016-03-21 | Four-wheel balance car based on gravity center detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106020181A true CN106020181A (en) | 2016-10-12 |
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| WO (1) | WO2017162125A1 (en) |
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| CN107128413A (en) * | 2017-04-29 | 2017-09-05 | 西南交通大学 | Sitting posture Self-Balancing vehicle |
| WO2017162125A1 (en) * | 2016-03-21 | 2017-09-28 | 深圳市踏路科技有限公司 | Four-wheel balance scooter based on gravity center detection |
| CN107702773A (en) * | 2017-09-07 | 2018-02-16 | 歌尔股份有限公司 | Heavy burden measurement apparatus, method and heavy burden equipment |
| CN108407944A (en) * | 2018-01-16 | 2018-08-17 | 广州乐比计算机有限公司 | A kind of four-wheel body-sensing vehicle control method and four-wheel body-sensing vehicle |
| CN108423110A (en) * | 2018-05-21 | 2018-08-21 | 浙江阿尔郎科技有限公司 | Balance car and its control method |
| CN109126103A (en) * | 2017-06-27 | 2019-01-04 | 金宝电子工业股份有限公司 | Manned carrying tool control method |
| CN109173228A (en) * | 2018-09-17 | 2019-01-11 | 深圳市踏路科技有限公司 | A kind of electronic body-sensing slide plate and motion control method |
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| CN109682612B (en) * | 2019-01-23 | 2023-10-31 | 深圳市检验检疫科学研究院 | Multipurpose testing device for wading test of electric drive small-sized vehicle |
| CN109823164B (en) * | 2019-03-26 | 2023-11-07 | 中国人民解放军陆军工程大学 | Narrow independent driving two-wheeled vehicle |
| CN110466644A (en) * | 2019-08-12 | 2019-11-19 | 五邑大学 | A kind of balanced robot |
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