CN106347546A - Balance vehicle and mechanism and method for controlling balance vehicle - Google Patents
Balance vehicle and mechanism and method for controlling balance vehicle Download PDFInfo
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- CN106347546A CN106347546A CN201610767008.XA CN201610767008A CN106347546A CN 106347546 A CN106347546 A CN 106347546A CN 201610767008 A CN201610767008 A CN 201610767008A CN 106347546 A CN106347546 A CN 106347546A
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- balance car
- pressure value
- wheel
- pressure
- hole
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Classifications
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- 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
- B62K15/00—Collapsible or foldable cycles
-
- 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
- B62K2202/00—Motorised scooters
Abstract
The invention discloses a balance vehicle and a mechanism and a method for controlling the balance vehicle. The mechanism for controlling the balance vehicle comprises a handlebar. A vehicle rod is connected with the middle of the handlebar; a vehicle body is connected with the bottom of the vehicle rod. The mechanism is characterized in that two pressure sensing devices are respectively arranged on the outer walls of two ends of the handlebar; the pressure sensing devices are respectively arranged on the top of the handlebar and comprise lugs and pressure sensors, and the pressure sensors are in contact with the lugs; grooves for accommodating the lugs are formed in the handlebar, and the two corresponding pressure sensors are respectively arranged on two side walls, which correspond to advancing and retreating directions of the balance vehicle, of each groove; the lugs are rotatably fixed to the bottoms of the grooves. Controllers which are coupled with the pressure sensors and are used for driving wheels of the balance vehicle to move are further arranged in the balance vehicle. The balance vehicle, the mechanism and the method have the advantages that the balance vehicle, the mechanism and the method are simple and reliable, and the balance vehicle can be controlled without mechanical structures.
Description
Technical field
The present invention relates to balance car control field, in particular, be related to a kind of balance car controlling organization, control method and
Balance car.
Background technology
Electrodynamic balance car, is balance car, thinking car again, its operation principles be mainly built upon one kind be referred to as " dynamically steady
In ultimate principle calmly ", using gyroscope and the acceleration transducer of vehicle body, to detect the change of vehicle body attitude, to utilize
Servo-control system, accurately motor be adjusted correspondingly, to keep the balance of system.
Existing electrodynamic balance car typically has two kinds, and one kind is that have an action bars on car body, and user stands in electronic
On the foot platform of balance car, action bars is operated, thus advancing, retreating and stopping, such control is also referred to as " manual ".
Another kind is that car body is made up of two parts, realizes mutually rotating by rotating mechanism, thus realizing between left half and right half
" foot control ".
Conventional balanced car needs the control relying on driver in the process of moving completely keeping vehicle balance, due to vehicle
Itself can not maintain balance, once driver's disequilibrium during traveling, just extremely easily causes danger, even meeting when serious
Cause vehicle accident.
Patent documentation cn 102774453 b discloses a kind of intelligent balance car system on May 20th, 2015.It passes through
At handlebar two ends, setting sensor to control balance car car to write.But which will to the required precision of sensor and software algorithm
Ask high, substantially do not possess the possibility of practicality.
Content of the invention
The technical problem to be solved is to provide a kind of balance car control that is simple and reliable, controlling without frame for movement
Mechanism processed, control method and balance car.
The purpose of the present invention is achieved through the following technical solutions:
According to an aspect of the present invention, the present invention discloses a kind of balance car controlling organization, including handlebar, in described handlebar
Between connect car bar；Described car bar bottom connection body；It is characterized in that, the outer wall at described handlebar two is respectively provided with a feeling of stress
Answer device；Described pressure sensitive device is separately positioned on handlebar apical position, and described pressure sensitive device includes projection, with projection
The pressure transducer of contact；It is provided with the groove accommodating projection, described groove and balance car advance, direction of retreat pair in described handle
The two side answered is respectively provided with a pressure transducer；Described projection is rotatably fixed on bottom portion of groove；Described balance in-car also sets
There is the couple, controller for driving balance car wheel movement with pressure transducer.
Further, described projection includes the protuberance of prominent groove surfaces；Rotatably it is fixedly connected with bottom portion of groove
Connecting portion；Described connecting portion both sides are respectively provided with a described pressure transducer；Described protuberance both sides are provided with elastomeric element.Pressure
Sensor bottom, respectively with connecting portion two side contacts, trigger different pressure sensings when connecting portion swing respectively
Device, controller just can induce the different directions of pressure value, thus controlling balance car to turn to, advancing or retreat.
Further, described vehicle bottom is provided with support arm, and described support arm one end is rotatably fixed with vehicle bottom, separately
One end is rotatably fixed with wheel；Described support arm is provided with through hole, is provided with the shank that can move along through hole in through hole, described
Vehicle bottom is additionally provided with the first location hole and the second location hole with shank cooperation, when described support arm rotates to deployed condition,
Described shank coordinates with the first location hole；When described support arm rotates to contraction state, described shank coordinates with the second location hole.
The technical program due to employing the support arm of rotation, can in folded state by wheel integral-rotation to car body bottom
Portion is received, and is conducive to reducing taking up room, using the cooperation of shank and location hole, Ke Yi under balance car folded state
It is easily found the position of the support arm under deployed condition and folded state, folding, expansion are easy to operate in rotary course.
Further, described shank includes connecting post, with the fixed column being connected column end connection；Described fixed column transversal
Face width is more than the cross-sectional width of connecting post；Described fixed column forms the first anchor ring with connecting post junction；Accordingly, described
Through hole includes the first hole being adapted to connecting post, the second hole being adapted to fixed column；Described first hole and the second hole
Junction forms the second anchor ring；It is socketed with spring in described connecting post；Described both ends of the spring passes through the first anchor ring and second respectively
Anchor ring positions；
Described wheel includes wheel body and axle portion；Described axle portion includes axis body, and described axis body one end penetrates wheel body,
The other end is provided with switching part；The described switching part one side contrary with axis body is provided with the supporting part being flexibly connected with connector；Support
Portion is rotatably fixed with described support arm；Described switching part is a round platform；Described supporting part is fixed on the position of round platform disalignment
Put；
Described support arm one end fixing with wheel shaft is provided with breach；The other end is curved portions；It is provided with rotating shaft in described breach；
Described supporting part is embedded in breach and is socketed with rotating shaft.
Due to the presence of spring, shank can prop up the plane of body bottom portion always, once rotating to the first location hole or
The position of two location holes, shank automatically inserts the first location hole or the second positioning in the hole, Wu Xuren under spring force effect
Work intervention can achieve and is automatically positioned.In general, wheel shaft is all thinner it is not easy to realize rotatable fixed structure,
The contact area of spindle portion can be increased by switching part, on the one hand easily fix with connector, on the other hand in wheel exhibition
Open state contacts positioning with vehicle body side, improves stability when wheel runs.Supporting part disalignment, in balance car fortune
During row state, due to the left and right of gravity and human pressure, supporting part can run to minimum point by nature, form stable state location structure,
Now, the integrated disc portions above supporting part have more areas to contact with vehicle body side, and such wheel has disk in vertical direction
Positioning, the connector that horizontal position is equipped with bottom supports, and double side support can effectively disperse the load-bearing of wheel, more firm durable.This
Technical scheme is also disclosed the fixed structure of a kind of specific support arm and wheel shaft, because the avoiding structure of breach is so that whole turn
Dynamic structure is all smaller, is conducive to reducing balance car volume.
Further, described vehicle bottom is provided with arc groove, and described first location hole and the second location hole are respectively provided with
Two ends in arc groove；Described vehicle bottom is additionally provided with the limiting section of arc；Wheel in a folded configuration, medial surface with spacing
The top contact positioning in portion；Described limiting section crown center site location highest, for the medial surface contact positioning with wheel；In
Between position both sides be the inclined-plane extending to vehicle bottom；Described support arm one end relative with wheel is provided with fixing hole；Described car
Body bottom is provided with the locating dowel being adapted to fixing hole；Described support arm passes through cooperation realization and the car body bottom of fixing hole and locating dowel
Portion is rotatably fixed.
Arc groove has guide function to shank, that is, define the rotating range of whole support arm, it is to avoid slewing area mistake
Wheel is caused greatly to collide with miscellaneous part.Wheel passes through chamfered transition after folding, and turns to limiting section crown center position and tightens,
Wheel alignment after folding is realized by the stress tightened, buckle structure that need not be complicated, embodiment is simple, and fix tightly
Lean on, be not afraid of slip and cause to come off.
According to another aspect of the present invention, the present invention discloses a kind of balance car, including balance car control of the present invention
Mechanism processed.
According to another aspect of the present invention, invention additionally discloses a kind of be based on balance car controlling organization of the present invention
Control method, comprising:
Read two pressure value to pressure sensitive device；
Obtain two maximum pressure value and its corresponding pressure sensitive device；
According to the pressure reduction of two maximum pressure value, and the direction of two pressure value drives balance car vehicle wheel rotation.
Further, the direction of the pressure reduction of described two pressure value according to maximum absolute value, and corresponding pressure value is driven
The method of dynamic balancing car vehicle wheel rotation includes: if corresponding pressure value is in the same direction, and is respectively positioned on balance car direction of advance, controls balance
Car slows down.When balance car excessive velocities, it is in inertia and instinct, the both hands of driver can be pulled a cart handle backward, that is, be located at balance car
The pressure of two pressure sensitive devices of direction of advance can be larger, now controls balance car to slow down, to guarantee driving safety.
Further, the direction of the pressure reduction of described two pressure value according to maximum absolute value, and corresponding pressure value is driven
The method of dynamic balancing car vehicle wheel rotation includes: if corresponding pressure value is in the same direction, and is respectively positioned on balance car direction of retreat, controls balance
Car accelerates.When driver needs to control balance car to accelerate, out of habit and instinct, driver can tend to the hands go-cart
The pressure being located at two pressure sensitive devices of balance car direction of retreat can be larger, now controls balance car to accelerate.
Further, the direction of the pressure reduction of described two pressure value according to maximum absolute value, and corresponding pressure value is driven
The method of dynamic balancing car vehicle wheel rotation includes: if corresponding pressure value reversely, controls balance car to advance toward pressure value for balance car
The pressure sensitive device place directional steering in direction, and the angle turning to is controlled according to pressure reduction.Specifically, right side direction of advance
Pressure be more than buffer brake；The pressure of left side direction of advance is less than buffer brake；Now, two maximum pressure values of selection divide
Not Wei the pressure value of right side direction of advance and the pressure value of left side direction of retreat, now, pressure value is balance car direction of advance
Pressure sensitive device place direction is right side, now controls balance car to turn right；Conversely, controlling balance car to turn left.
Inventor's research finds, the sensor of prior art is arranged on handlebar two ends, vertical with the grip direction of driver,
It needs to hold part conducting pressure, and the decline of pressure ratio being therefore transmitted to sensor is more serious, and to conduct be in the past whole handss
The comprehensive pressure of grip, the actual intention of driver to be judged needs complicated algorithm, comprehensive grip is carried out decompose meter
Calculate, algorithm is extremely complex.Summary reason, this technology does not obtain volume production application so far.Compared with prior art, the present invention
Have the technical effect that using be located at car masthead portion a pressure sensitive device, each pressure sensitive device all can be along balance car
Advance, direction of retreat two is moved；It is respectively used to detect the grip in two former and later two directions of handss, due to pressure sensitive device
It is arranged on handle outer wall, with handss directly contact, it is also identical with grip direction, as long as so according to maximum two that it senses direction
The pressure reduction of pressure value, and the direction of corresponding pressure value just can drive balance car vehicle wheel rotation, realize balance car and turn to, accelerate
With deceleration control, significantly reduce the requirement of device and algorithm requires.Technical solution of the present invention is simple and reliable, and implementation cost is low
Honest and clean.
Brief description
Fig. 1 is embodiment of the present invention balance car controlling organization structural representation；
Fig. 2 is the close-up schematic view at a position in Fig. 1；
Fig. 3 is embodiment of the present invention balance car structural representation；
Fig. 4 is the control method schematic diagram of embodiment of the present invention balance car controlling organization；
Fig. 5 is the planar structure schematic diagram in wheel folded state for the embodiment of the present invention balance car；
Fig. 6 is the perspective view in wheel folded state for the embodiment of the present invention balance car；
Fig. 7 is the planar structure schematic diagram in wheel intermediateness for the embodiment of the present invention balance car；
Fig. 8 is the perspective view in wheel intermediateness for the embodiment of the present invention balance car；
Fig. 9 is the planar structure schematic diagram in wheel intermediateness for the embodiment of the present invention balance car；
Figure 10 is the perspective view in wheel intermediateness for the embodiment of the present invention balance car；
Figure 11 is the section decomposing schematic representation along a-a for the Fig. 9；
Figure 12 is embodiment of the present invention balance car in wheel securing structure decomposing schematic representation；
Figure 13 is embodiment of the present invention car wheel structure schematic diagram.
Wherein: 10, car body；11st, locating dowel；12nd, shank；121st, connecting post；122nd, fixed column；123rd, the first anchor ring；
124th, spring；20th, arc groove；21st, the first location hole；22nd, the second location hole；30th, support arm；31st, through hole；311st, the first hole
Hole；312nd, the second hole；313rd, the second anchor ring；33rd, fixing hole；34th, breach；35th, curved portions；36th, rotating shaft；40th, limiting section；
50th, wheel body；51st, wheel shaft；52nd, axis body；53rd, round platform；54th, supporting part；60th, handlebar；61st, car bar；62nd, elastomeric element；63rd, convex
Block；64th, pressure transducer；65th, groove；66th, protuberance；67th, connecting portion.
Specific embodiment
The present invention discloses a kind of balance car, and described balance car includes balance car controlling organization.Balance car controlling organization includes
Handlebar, connects car bar in the middle of described handlebar；Described car bar bottom connection body；It is characterized in that, the outer wall at described handlebar two
It is respectively provided with a pressure sensitive device；Described pressure sensitive device is separately positioned on handlebar apical position, described pressure sensitive dress
Put including projection, the pressure transducer with bump contact；It is provided with groove, described groove and the balance accommodating projection in described handle
Herba Plantaginis enter, the corresponding two side of direction of retreat is respectively provided with a pressure transducer；Described projection is rotatably fixed on bottom portion of groove；
Described balance in-car is additionally provided with the couple, controller for driving balance car wheel movement with pressure transducer.
According to another aspect of the present invention, invention additionally discloses a kind of be based on balance car controlling organization of the present invention
Control method, comprising:
Read two pressure value to pressure sensitive device；
Obtain two maximum pressure value and its corresponding pressure sensitive device；
According to the pressure reduction of two maximum pressure value, and the direction of two pressure value drives balance car vehicle wheel rotation.
Inventor's research finds, the sensor of prior art is arranged on handlebar two ends, vertical with the grip direction of driver,
It needs to hold part conducting pressure, and the decline of pressure ratio being therefore transmitted to sensor is more serious, and to conduct be in the past whole handss
The comprehensive pressure of grip, the actual intention of driver to be judged needs complicated algorithm, comprehensive grip is carried out decompose meter
Calculate, algorithm is extremely complex.Summary reason, this technology does not obtain volume production application so far.Compared with prior art, the present invention
Have the technical effect that using be located at car masthead portion a pressure sensitive device, each pressure sensitive device all can be along balance car
Advance, direction of retreat two is moved；It is respectively used to detect the grip in two former and later two directions of handss, due to pressure sensitive device
It is arranged on handle outer wall, with handss directly contact, it is also identical with grip direction, as long as so according to maximum two that it senses direction
The pressure reduction of pressure value, and the direction of corresponding pressure value just can drive balance car vehicle wheel rotation, realize balance car and turn to, accelerate
With deceleration control, significantly reduce the requirement of device and algorithm requires.Technical solution of the present invention is simple and reliable, and implementation cost is low
Honest and clean.
In describing the invention it is to be understood that term " " center ", " horizontal ", " on ", D score, "left", "right",
The orientation of instruction such as " vertical ", " level ", " top ", " bottom ", " interior ", " outward " or position relationship be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, rather than the device of instruction or hint indication or element must
Must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.Additionally, art
Language " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance or implicit indicate institute
The quantity of the technical characteristic indicating.Thus, define " first ", the feature of " second " can be expressed or implicitly include one
Or more this feature.In describing the invention, unless otherwise stated, " multiple " are meant that two or more.
In addition, term " inclusion " and its any deformation are it is intended that cover non-exclusive comprising.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or is integrally connected；Can
To be to be mechanically connected or electrical connection；Can be to be joined directly together it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Term used herein above is used for the purpose of description specific embodiment and is not intended to limit exemplary embodiment.Unless
Context clearly refers else, and otherwise singulative " one " used herein above, " one " also attempt to including plural number.Also should
When being understood by, term " inclusion " used herein above and/or "comprising" specify stated feature, integer, step, operation,
Unit and/or the presence of assembly, and do not preclude the presence or addition of other features one or more, integer, step, operation, unit,
Assembly and/or a combination thereof.
The invention will be further described for 1-13 and preferred embodiment below in conjunction with the accompanying drawings.
According to an aspect of the present invention, the present invention discloses a kind of balance car controlling organization, including handlebar 60, described handlebar
Car bar 61 is connected in the middle of 60；Described car bar 61 bottom connection body；It is characterized in that, the outer wall at described handlebar 60 two is respectively provided with
One pressure sensitive device；Described pressure sensitive device is separately positioned on handlebar 60 apical position, described pressure sensitive device bag
Include projection 63, the pressure transducer 64 contacting with projection 63；It is provided with the groove 65 accommodating projection 63, described groove in described handle
65 are advanced with balance car, the corresponding two side of direction of retreat is respectively provided with a pressure transducer 64；Described projection 63 is rotatably solid
It is scheduled on groove 65 bottom；Described balance in-car be additionally provided with coupling with pressure transducer 64, be used for driving balance car wheel movement
Controller.
Specifically, described projection 63 includes the protuberance 66 on prominent groove 65 surface；Rotatably fix with groove 65 bottom
The connecting portion 67 connecting；Described connecting portion 67 both sides are respectively provided with a described pressure transducer 64；Described protuberance 66 both sides set
Flexible part 62.Pressure transducer 64 bottom, respectively with 67 liang of side contacts of connecting portion, when connecting portion 67 swing
Trigger different pressure transducers 64 respectively, controller just can induce the different directions of pressure value, thus controlling balance car
Turn to, advance or retreat.Certainly, pressure sensitive device can also have other structures form, will not be described here.
This enforcement also mode also discloses a kind of balance car wheel securing structure, and described balance car includes car body 10, described
Car body 10 bottom is provided with support arm 30, and described support arm 30 one end and car body 10 bottom are rotatably fixed, and the other end and wheel can
Rotate and fix；Described support arm 30 is provided with through hole 31, is provided with the shank 12 that can move along through hole 31, described car in through hole 31
Body 10 bottom is additionally provided with the first location hole 21 and the second location hole 22 with shank 12 cooperation, and described support arm 30 rotates to expansion
During state, described shank 12 coordinates with the first location hole 21；When described support arm 30 rotates to contraction state, described shank 12 with
Second location hole 22 coordinates.
Shank 12 includes connecting post 121, the fixed column 122 being connected with connecting post 121 end；The horizontal stroke of described fixed column 122
Cross-sectional width is more than the cross-sectional width of connecting post 121；Described fixed column 122 and connecting post 121 junction form the first anchor ring
123；Accordingly, described through hole 31 includes the first hole 311 being adapted to connecting post 121, the second hole being adapted to fixed column 122
Hole 312；Described first hole 311 and the second hole 312 junction form the second anchor ring 313；It is socketed with described connecting post 121
Spring 124；Described spring 124 two ends pass through the first anchor ring 123 respectively and the second anchor ring 313 positions.Due to depositing of spring 124
, shank 12 can prop up the plane of body bottom portion always, once rotating to the first location hole 21 or the position of the second location hole 22,
Shank 12 automatically inserts in the first location hole 21 or the second location hole 22 under the effect of spring 124 elastic force, without manual intervention
Can achieve and be automatically positioned.
Wheel includes wheel body 50 and wheel shaft 51 part；Described wheel shaft 51 part includes axis body 52, and described axis body 52 one end is worn
Enter wheel body 50, the other end is provided with switching part；The described switching part one side contrary with axis body 52 is provided with and is flexibly connected with connector
Supporting part 54；Supporting part 54 is rotatably fixed with described support arm 30.In general, wheel shaft 51 be all thinner it is not easy to
Realize rotatable fixed structure, the contact area of rotating shaft 36 part can be increased by switching part, on the one hand easily with connecting
Part is fixed, and on the other hand positions with car body 10 contacts side surfaces in wheel deployed condition, improves stability when wheel runs.
Switching part is a round platform 53；Described supporting part 54 is fixed on the position of round platform 53 disalignment.Supporting part 54 disalignment, flat
During weighing apparatus car running status, due to the left and right of gravity and human pressure, supporting part 54 can run to minimum point by nature, form stable state fixed
Bit architecture, now, the integrated disc portions of supporting part 54 top have more areas and car body 10 contacts side surfaces, and such wheel is vertical
Direction has disk to position, and the connector that horizontal position is equipped with bottom supports, and double side support can effectively disperse the load-bearing of wheel, more surely
Gu it is durable.
Described car body 10 bottom is provided with arc groove 20, and described first location hole 21 and the second location hole 22 are separately positioned on
The two ends of arc groove 20.Arc groove 20 has guide function to shank 12, that is, define the rotating range of whole support arm 30,
Avoid that slewing area is excessive to cause wheel to collide with miscellaneous part.
Car body 10 bottom is additionally provided with the limiting section 40 of arc；Wheel in a folded configuration, the top of medial surface and limiting section 40
Portion's contact positioning.Support arm 30 one end fixing with wheel shaft 51 is provided with breach 34；The other end is curved portions 35；In described breach 34
It is provided with rotating shaft 36；Described supporting part 54 is embedded in breach 34 and is socketed with rotating shaft 36.Because the avoiding structure of breach 34 is so that whole
Rotational structure is all smaller, is conducive to reduction balance car body 10 to amass.Limiting section 40 is intrados towards the side of support arm 30,
Support arm 30 curved portions 35 just can avoid when rotation.
Limiting section 40 crown center site location highest, for the medial surface contact positioning with wheel；Middle part both sides
For extending to the inclined-plane of car body 10 bottom.Wheel passes through chamfered transition after folding, and turns to limiting section 40 crown center position and stretches tight
Tightly, the wheel alignment after folding is realized by the stress tightened, buckle structure that need not be complicated, embodiment is simple and fixing
Firm, it is not afraid of slip and cause to come off.
Support arm 30 one end relative with wheel is provided with fixing hole 33；Described car body 10 bottom is provided with and is adapted to fixing hole 33
Locating dowel 11；It is rotatably solid with car body 10 bottom with the cooperation realization of locating dowel 11 that described support arm 30 passes through fixing hole 33
Fixed.Locating dowel 11 can be realized using screw rod.
According to another aspect of the present invention, present embodiment is also disclosed one kind and is controlled based on balance car of the present invention
The control method of mechanism, comprising:
S11, reading two pressure value to pressure sensitive device；
S12, two pressure value obtaining maximum and its corresponding pressure sensitive device；
S13, the pressure reduction according to two maximum pressure value, and two pressure value direction drive balance car wheel turn
Dynamic.
The pressure reduction of two pressure value according to maximum absolute value, and corresponding pressure value direction drive balance car wheel turn
Dynamic method substantially has following three kinds of situations.
If corresponding pressure value is in the same direction, and it is respectively positioned on balance car direction of advance, control balance car to slow down.When balance vehicle speed
Too fast, it is in inertia and instinct, the both hands of driver can be pulled a cart handle backward, that is, be located at two feelings of stress of balance car direction of advance
The pressure answering device can be larger, now controls balance car to slow down, to guarantee driving safety.
If corresponding pressure value is in the same direction, and it is respectively positioned on balance car direction of retreat, control balance car to accelerate.When driver needs
When controlling balance car to accelerate, out of habit and instinct, driver can tend to the hands go-cart handle, that is, be located at balance car retrogressing side
To the pressure of two pressure sensitive devices can be larger, now control balance car to accelerate.
If corresponding pressure value is reversely, control balance car toward pressure value for balance car direction of advance pressure sensitive device institute
In directional steering, and the angle turning to is controlled according to pressure reduction.Specifically, the pressure of right side direction of advance is more than buffer brake；
The pressure of left side direction of advance is less than buffer brake；Now, two maximum pressure values of selection are respectively right side direction of advance
Pressure value and the pressure value of left side direction of retreat, now, pressure value is the pressure sensitive device place side of balance car direction of advance
Turn right to for right side, now controlling balance car；Conversely, controlling balance car to turn left.
Above content is to further describe it is impossible to assert with reference to specific preferred implementation is made for the present invention
Being embodied as of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of present inventive concept, some simple deduction or replace can also be made, all should be considered as belonging to the present invention's
Protection domain.
Claims (10)
1. a kind of balance car controlling organization, including handlebar, connects car bar in the middle of described handlebar；Described car bar bottom connection body；
It is characterized in that, the outer wall at described handlebar two is respectively provided with a pressure sensitive device；Described pressure sensitive device is respectively provided with
In handlebar apical position, described pressure sensitive device includes projection, the pressure transducer with bump contact；It is provided with described handle
Accommodate the groove of projection, described groove is advanced with balance car, the corresponding two side of direction of retreat is respectively provided with a pressure transducer；
Described projection is rotatably fixed on bottom portion of groove；Described balance in-car be additionally provided with coupling with pressure transducer, be used for driving flat
The controller of weighing apparatus car wheel movement.
2. balance car controlling organization according to claim 1 is it is characterised in that described projection includes prominent groove surfaces
Protuberance；The connecting portion being rotatably fixedly connected with bottom portion of groove；Described connecting portion both sides are respectively provided with a described pressure sensing
Device；Described protuberance both sides are provided with elastomeric element.
3. balance car controlling organization according to claim 1 is it is characterised in that described vehicle bottom is provided with support arm, institute
State support arm one end rotatably to fix with vehicle bottom, the other end is rotatably fixed with wheel；Described support arm is provided with through hole,
It is provided with the shank that can move along through hole, described vehicle bottom is additionally provided with the first location hole and second with shank cooperation in through hole
Location hole, when described support arm rotates to deployed condition, described shank coordinates with the first location hole；Described support arm rotates to receipts
During contracting state, described shank coordinates with the second location hole.
4. balance car controlling organization according to claim 3 is it is characterised in that described shank includes connecting post, and is connected
The fixed column that column end connects；The cross-sectional width of described fixed column is more than the cross-sectional width of connecting post；Described fixed column with
Connecting post junction forms the first anchor ring；Accordingly, described through hole includes the first hole being adapted to connecting post, fits with fixed column
The second hole joined；Described first hole and the second hole junction form the second anchor ring；It is socketed with spring in described connecting post；
Described both ends of the spring passes through the first anchor ring and the second anchor ring positioning respectively；
Described wheel includes wheel body and axle portion；Described axle portion includes axis body, and described axis body one end penetrates wheel body, another
End is provided with switching part；The described switching part one side contrary with axis body is provided with the supporting part being flexibly connected with connector；Supporting part with
Described support arm is rotatably fixed；Described switching part is a round platform；Described supporting part is fixed on the position of round platform disalignment；
Described support arm one end fixing with wheel shaft is provided with breach；The other end is curved portions；It is provided with rotating shaft in described breach；Described
Supporting part is embedded in breach and is socketed with rotating shaft.
5. balance car controlling organization according to claim 3 is it is characterised in that described vehicle bottom is provided with arc groove,
Described first location hole and the second location hole are separately positioned on the two ends of arc groove；Described vehicle bottom is additionally provided with the limit of arc
Position portion；In a folded configuration, medial surface is positioned wheel with the top contact of limiting section；Described limiting section crown center site location
Highest, for the medial surface contact positioning with wheel；Middle part both sides are the inclined-plane extending to vehicle bottom；Described support arm
One end relative with wheel is provided with fixing hole；Described vehicle bottom is provided with the locating dowel being adapted to fixing hole；Described support arm leads to
The cooperation realization crossing fixing hole with locating dowel is rotatably fixed with vehicle bottom.
6. a kind of control method based on the arbitrary described balance car controlling organization of claim 1-5 is it is characterised in that each is pressed
Power induction installation includes corresponding balance car advance, two pressure value of direction of retreat；Methods described includes:
Read the pressure value of two pressure sensitive devices；
Obtain two maximum pressure value and its corresponding direction；
The pressure reduction of two pressure value according to maximum absolute value, and the direction driving balance car vehicle wheel rotation of corresponding pressure value.
7. control method according to claim 6 is it is characterised in that described two pressure value according to maximum absolute value
Pressure reduction, and corresponding pressure value direction drive balance car vehicle wheel rotation method include:
If corresponding pressure value is in the same direction, and it is respectively positioned on balance car direction of advance, control balance car to slow down.
8. control method according to claim 6 is it is characterised in that described two pressure value according to maximum absolute value
Pressure reduction, and corresponding pressure value direction drive balance car vehicle wheel rotation method include:
If corresponding pressure value is in the same direction, and it is respectively positioned on balance car direction of retreat, control balance car to accelerate.
9. control method according to claim 6 is it is characterised in that described two pressure value according to maximum absolute value
Pressure reduction, and corresponding pressure value direction drive balance car vehicle wheel rotation method include:
If corresponding pressure value is reversely, control balance car toward pressure value for balance car direction of advance pressure sensitive device place side
To steering, and the angle turning to is controlled according to pressure reduction.
10. a kind of balance car is it is characterised in that include described balance car controlling organization as arbitrary in claim 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610767008.XA CN106347546A (en) | 2016-08-30 | 2016-08-30 | Balance vehicle and mechanism and method for controlling balance vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610767008.XA CN106347546A (en) | 2016-08-30 | 2016-08-30 | Balance vehicle and mechanism and method for controlling balance vehicle |
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| Publication Number | Publication Date |
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| CN106347546A true CN106347546A (en) | 2017-01-25 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610767008.XA Withdrawn CN106347546A (en) | 2016-08-30 | 2016-08-30 | Balance vehicle and mechanism and method for controlling balance vehicle |
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| Country | Link |
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| CN (1) | CN106347546A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106275174A (en) * | 2016-09-05 | 2017-01-04 | 尚艳燕 | A kind of balance car controlling organization based on handlebar and control method |
| WO2018039911A1 (en) * | 2016-08-30 | 2018-03-08 | 尚艳燕 | Balancing vehicle control mechanism, control method and balancing vehicle |
| CN108407942A (en) * | 2017-02-10 | 2018-08-17 | Robo3株式会社 | Sufficient ejector half distorts the hands-free balanced pedal vehicle of steering-type |
| CN108438128A (en) * | 2018-02-09 | 2018-08-24 | 纳恩博（北京）科技有限公司 | The vehicles and its control method, control device and storage medium |
-
2016
- 2016-08-30 CN CN201610767008.XA patent/CN106347546A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018039911A1 (en) * | 2016-08-30 | 2018-03-08 | 尚艳燕 | Balancing vehicle control mechanism, control method and balancing vehicle |
| CN106275174A (en) * | 2016-09-05 | 2017-01-04 | 尚艳燕 | A kind of balance car controlling organization based on handlebar and control method |
| CN108407942A (en) * | 2017-02-10 | 2018-08-17 | Robo3株式会社 | Sufficient ejector half distorts the hands-free balanced pedal vehicle of steering-type |
| CN108438128A (en) * | 2018-02-09 | 2018-08-24 | 纳恩博（北京）科技有限公司 | The vehicles and its control method, control device and storage medium |
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Application publication date: 20170125 |