CN106515944A - Electric balance car and operation control system and method thereof - Google Patents
Electric balance car and operation control system and method thereof Download PDFInfo
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- CN106515944A CN106515944A CN201611013174.7A CN201611013174A CN106515944A CN 106515944 A CN106515944 A CN 106515944A CN 201611013174 A CN201611013174 A CN 201611013174A CN 106515944 A CN106515944 A CN 106515944A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 90
- 230000006698 induction Effects 0.000 claims description 83
- 230000005520 electrodynamics Effects 0.000 claims description 54
- 210000002683 foot Anatomy 0.000 claims description 46
- 238000012163 sequencing technique Methods 0.000 claims description 2
- 238000005303 weighing Methods 0.000 claims description 2
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 claims 1
- 230000000712 assembly Effects 0.000 abstract 3
- 238000000429 assembly Methods 0.000 abstract 3
- 230000001939 inductive effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J99/00—Subject matter not provided for in other groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Control Devices (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention relates to an electric balance car and an operation control system and method thereof. The technical problem that existing electric balance cars are poor in operation stability and the like is solved. The control system is arranged on a car body of the balance car with two pedal zones and comprises a control circuit arranged in the car body of the balance car and two attitude sensors connected to the control circuit. Two pressure sensing assemblies are connected to the control circuit. The two pressure sensing assemblies are arranged in the two pedal zones of the car body of the balance car correspondingly and correspond to the pedal zones one to one. Each pressure sensing assembly comprises a first pressure sensing mechanism and a second mechanism sensing mechanism. The control system has the advantages that pressures of the front foot zone and the rear foot zone are sensed through a first pressure conduction piece and a second pressure conduction piece, thus the stability and the accuracy of the pressure sensing assemblies are improved, and the first pressure conduction piece and the second pressure conduction piece can adapt to different foot sizes.
Description
Technical field
The invention belongs to electric vehicle devices technical field, more particularly, to a kind of electrodynamic balance car and its operation control system
And progress control method.
Background technology
Electrodynamic balance car, is called body-sensing car, thinking car, the car that acts as regent etc..Mainly there is two class of single wheel and two-wheel on market.Its fortune
Make principle and be mainly built upon one kind to be referred to as in the general principle of " dynamic stability ", using gyroscope and the acceleration of vehicle body
Degree sensor, detects the change of vehicle body attitude, and utilizes servo-control system, accurately motor is adjusted accordingly
It is whole, to keep the balance of system.Existing electrodynamic balance car is broadly divided into manipulation rod-type electrodynamic balance car and electrodynamic balance is turned round
Car, the former is mainly by the control lever that can be reversed to realize the change of direct of travel, but is provided with electrodynamic balance car
The control lever of torsion necessarily causes its complex structure, increases cost, and the latter is mainly made up of two pedal stands that mutually can be reversed,
The change of car body direct of travel is realized by twisting pedal stand, although this kind of electrodynamic balance swing car eliminate control lever, but
Due to the restriction of its own structure, volume is typically small, and this kind of balance car left-hand seat is slower, and manipulation difficulty is big.
In order to solve the problems, such as prior art, people have carried out long-term exploration, it is proposed that solution miscellaneous
Scheme.For example, Chinese patent literature discloses a kind of split rotary type balanced car with two wheels [application number：
201420415122.2], including main frame of vehicle body, main frame of vehicle body both sides are provided with wheel, be provided with motor and can control in main frame of vehicle body
The gyroscope of motor speed, described main frame of vehicle body include two split vehicle frames being separated from each other, and two split central frame beams set
There is a connecting shaft, two split vehicle frames are rotated by center of rotation of connecting shaft alone, gyroscope are individually provided with each split vehicle frame
And motor, split vehicle frame includes a upper lid pedal and lower house, and gyroscope is fixed on lid pedal bottom, gyroscope connection electricity
Road plate, circuit board connection motor, Motor drive wheel.
Although such scheme controls the row of electrodynamic balance car by eliminating the control lever of electrodynamic balance car, realization with pin
Enter the change in direction, liberated the both hands of driver but due to the restriction of program structure, the program is still existed：Structure
Complexity, direction controlling sensitivity are low, the problems such as operation stability is poor.
The content of the invention
The purpose of the present invention is for the problems referred to above, there is provided a kind of simple and reasonable, high electrodynamic balance of control accuracy
The operation control system of car.
Another object of the present invention is for the problems referred to above, there is provided a kind of simple structure, the employing of good operation stability
The electrodynamic balance car of the operation control system of electrodynamic balance car.
Another object of the present invention is for the problems referred to above, there is provided a kind of simple structure, high degree of automation it is electronic
The progress control method of balance car.
To reach above-mentioned purpose, following technical proposal is present invention employs：The operation control system of this electrodynamic balance car, if
Put on the balance car car body with two foot-operated regions, it is characterised in that this control system includes being arranged on balance car car body
Interior control circuit and two attitude transducers are connected with the control circuitry, two groups of pressure are connected with described control circuit
Inductive component and two groups of pressure sensitive components and two attitude transducers cooperating correspondingly, two groups of pressure sensitive components
The two foot-operated regions and pressure sensitive component for being separately positioned on balance car car body are corresponded with foot-operated region and are arranged, each group
Pressure sensitive component includes the first pressure induction mechanism being connected with control circuit and second pressure induction mechanism respectively, and ought ride
The foot of the both feet of passerby is stepped on when corresponding foot-operated region respectively, the first pressure induction mechanism of corresponding foot and second pressure
Induction mechanism is located at below foot proparea and below foot back zone respectively.I.e. by the first pressure induction machine on foot-operated region
Structure and second pressure induction mechanism which enhance this pressure sensitive group sensing the size in foot proparea and foot's back zone pressure
The stability and accuracy of part.
In the operation control system of above-mentioned electrodynamic balance car, described first pressure induction mechanism includes being arranged on pin
At least one first pressure sensor in region is stepped on, described second pressure induction mechanism includes being arranged on foot-operated region at least
One second pressure sensor.Sense after foot proparea and foot i.e. by first pressure sensor and second pressure sensor
The size of area's pressure.
In the operation control system of above-mentioned electrodynamic balance car, described first pressure induction mechanism also includes being arranged on
Directly over first pressure sensor and area more than first pressure sensor first pressure conductive sheet, described first pressure passes
Guide card and first pressure sensor contacts；Described second pressure induction mechanism also includes that being arranged on second pressure sensor just goes up
The second pressure conductive sheet of side and area more than second pressure sensor, described second pressure conductive sheet are sensed with second pressure
Device is contacted.I.e. respectively by first pressure conductive sheet and second pressure conductive sheet transmitting the pressure of foot, and first pressure is passed
Guide card adapts to different size foot size with second pressure conductive sheet.
In the operation control system of above-mentioned electrodynamic balance car, the back side of described first pressure conductive sheet is provided with first
Cylinder, the quantity of first pressure sensor are lower end and the first pressure sensor contacts of and the first cylinder, described the
The first dynamic clamping head and quiet clamping head is provided between one pressure conduction piece and balance car car body；The back side of described second pressure conductive sheet is provided with
Second cylinder, the quantity of second pressure sensor are lower end and the second pressure sensor contacts of and the first cylinder, described
Second pressure conductive sheet and balance car car body between be provided with the second dynamic clamping head and quiet clamping head.Pass through the first cylinder top pressure first pressure
Sensor, by the second cylinder come top pressure second pressure sensor, which enhances the precision of detection.
In the operation control system of above-mentioned electrodynamic balance car, described the first dynamic clamping head and quiet clamping head is the first spring, institute
The first spring stated is set on the first cylinder, and the upper end of the first described spring is acted in first pressure conductive sheet, lower end
Act on balance car car body；The second described dynamic clamping head and quiet clamping head is second spring, and described second spring is set in the second post
On body, the upper end of described second spring is acted in second pressure conductive sheet, and lower end is acted on balance car car body.Using this
Plant the reset that structure is easy to first pressure conductive sheet and second pressure conductive sheet.
In the operation control system of above-mentioned electrodynamic balance car, be provided with described foot-operated region the first sunk area and
Second sunk area, described first pressure conductive sheet be arranged in the first sunk area and the shape of first pressure conductive sheet with
The shape of the first sunk area is adapted, and the first described cylinder is arranged on the central area of first pressure conductive sheet, described
The first counterbore being correspondingly arranged with the first cylinder is provided with first sunk area, described first pressure sensor is arranged on first
Counterbore base, the first described cylinder are inserted in the first counterbore；Described second pressure conductive sheet is arranged on the second sunk area
The interior and shape of second pressure conductive sheet is adapted with the shape of the second sunk area, and the second described cylinder is arranged on the second pressure
The central area of power conductive sheet, is provided with the second counterbore being correspondingly arranged with the second cylinder in the second described sunk area, described
Second pressure sensor be arranged on the second counterbore base, the second described cylinder is inserted in the second counterbore.By first is pressed
Power conductive sheet is separately positioned in the first sunk area and the second sunk area with second pressure conductive sheet, can so make this pressure
Inductive component is flushed with foot-operated region surface or slightly above foot-operated region surface.
In the operation control system of above-mentioned electrodynamic balance car, described balance car car body includes two pedal stands, often
A foot-operated region is respectively equipped with one pedal stand, two pedal stands are connected or two pedal stands are rotatably connected.
Electrodynamic balance car using the operation control system of electrodynamic balance car is as described below：Using above-mentioned electrodynamic balance car
Operation control system electrodynamic balance car.
Progress control method based on the electrodynamic balance car of the operation control system of electrodynamic balance car is as described below：This is electronic
The progress control method of balance car, comprises the steps：
A, triggering self-balancing：When elder generation of the Liang Ge foots post legged of bicyclist is in two foot-operated regions of balance car car body, phase
The first pressure induction mechanism and second pressure induction mechanism that region should be ridden is located at below correspondence foot proparea and foot respectively
First pressure induction mechanism and/or second pressure induction mechanism are by pressing for collecting below back zone and when by foot's active force
Force signal is transmitted to control circuit, control circuit control in the presence of the attitude transducer corresponding to the foot-operated region corresponding to
The driving motor work in the foot-operated region realizes self-balancing with priority；
B, load condition initialization：When bicyclist Liang Ge foots respectively positioned at balance car car body two foot-operated regions and
After self-balancing, control circuit first pressure induction mechanism and second pressure respectively according to corresponding foot-operated region during self-balancing state
The stressing conditions of induction mechanism determine the foot-operated respective load-carrying original state in region of correspondence；
C, operation control：Control circuit is according in two foot-operated respective load-carrying original states in region and two foot-operated regions
First pressure induction mechanism and second pressure induction mechanism real time data calculate bicyclist operation be intended to, so as to control
Electrodynamic balance car is intended to operation according to the operation of bicyclist.
In the progress control method of above-mentioned electrodynamic balance car, in above-mentioned step C, if it is left to be located at balance car car body
In two foot-operated regions of right both sides, two first pressure induction mechanisms synchronously increase relative to respective load-carrying original state stress
Or two second pressure induction mechanisms are synchronously reduced relative to respective load-carrying original state stress, then balance car car body straight line is forward
Operation；Conversely, balance car car body straight line is run backward；If the left side in two foot-operated regions of the balance car car body left and right sides
First pressure induction mechanism relative to respective load-carrying original state stress increasing degree more than right side first pressure induction machine
Structure relative to respective load-carrying original state stress increasing degree or left side second pressure induction mechanism relative at the beginning of respective load-carrying
Beginning state stress reduces amplitude and reduces width relative to respective load-carrying original state stress less than the second pressure induction mechanism on right side
Degree, then balance car car body turns right；Otherwise turn left.
In the progress control method of above-mentioned electrodynamic balance car, in above-mentioned step C, described control circuit is by position
Two first pressure induction mechanisms and two second pressure induction machines in two foot-operated regions of the balance car car body left and right sides
Structure is respectively relative to respective load-carrying original state and is compared and according to carrying out weight row forward, backward, to the left with right direction
Sequence；If weight is more than weight backward and weight is equal to weight to the right to the left forward, balance car car body straight line is run forward；Instead
It, balance car car body straight line is run backward；If weight is more than weight backward and weight, more than weight to the right, is balanced to the left forward
Car car body turns right；If weight is more than weight backward and weight is less than weight to the right to the left forward, balance car car body is to the left
Rotate；If weight is less than weight backward and weight is less than weight to the right to the left forward, balance car car body turns left；If forward
Weight is less than weight backward and weight turns right more than weight to the right, then balance car car body to the left.
In the progress control method of above-mentioned electrodynamic balance car, described control circuit is in operation control according only to flat
Two first pressure induction mechanisms and two second pressure induction mechanisms in two foot-operated regions of the weighing apparatus car car body left and right sides
Stress change is controlled；Or in described two foot-operated regions in operation control according to the balance car car body left and right sides
The stress change of two first pressure induction mechanisms and two second pressure induction mechanisms and corresponding to the two of two foot-operated regions
The real time data change of individual attitude transducer is controlled.
Compared with prior art, the advantage of this electrodynamic balance car and its operation control system and progress control method exists
In：Simple and reasonable, good operation stability senses foot proparea by first pressure conductive sheet and second pressure conductive sheet
With the size of foot's back zone pressure, the stability and accuracy of this pressure sensitive component, and first pressure conduction are which enhanced
Piece adapts to different size foot size with second pressure conductive sheet.
Description of the drawings
Fig. 1 is the structural representation of one of which balance car car body in the present invention.
Fig. 2 is the structural representation of another balance car car body in the present invention.
Fig. 3 is the structured flowchart of the present invention.
Fig. 4 is the partial structural diagram of the present invention.
In figure, balance car car body 1, pedal stand 11, base 12, foot-operated region 2, first pressure induction mechanism 3, second pressure
Induction mechanism 4, first pressure sensor 31, first pressure conductive sheet 32, the first cylinder 33, the first spring 34, the first depressed area
Domain 35, the first counterbore 36, second pressure sensor 41, second pressure conductive sheet 42, the second cylinder 43, second spring 44, second
Sunk area 45, the second counterbore 46, control circuit 5, attitude transducer 51, pressure sensitive component 6.
Specific embodiment
The present invention will be further described in detail with reference to the accompanying drawings and detailed description.
As Figure 1-3, the operation control system of this electrodynamic balance car, is arranged on the balance with two foot-operated regions 2
On car car body 1, wherein, as shown in figure 1, balance car car body 1 here can include a base 12,2 points of two foot-operated regions
It is not arranged on base 12, meanwhile, as shown in Fig. 2 balance car car body 1 here can also include two pedal stands 11, it is each
A foot-operated region 2 is respectively equipped with pedal stand 11, two pedal stands 11 are connected or two pedal stands 11 are rotatably connected, this control
System processed includes the control circuit 5 being arranged in balance car car body 1 and two attitude transducers is connected with control circuit 5
51, two groups of pressure sensitive components 6 and two groups of pressure sensitive components 6 and two attitude transducers 51 1 are connected with control circuit 5
One accordingly cooperating, two groups of pressure sensitive components 6 are separately positioned on two foot-operated regions 2 and the pressure of balance car car body 1
Inductive component 6 is corresponded with foot-operated region 2 and is arranged, and each group of pressure sensitive component 6 includes what is be connected with control circuit 5 respectively
First pressure induction mechanism 3 and second pressure induction mechanism 4, and when the foot of the both feet of bicyclist is stepped on respectively in corresponding foot-operated
During region 2, the first pressure induction mechanism 3 and second pressure induction mechanism 4 of corresponding foot be located at below foot proparea respectively and
Below foot back zone, i.e., sense by the first pressure induction mechanism 3 and second pressure induction mechanism 4 on foot-operated region 2
Foot proparea and the size of foot's back zone pressure, which enhance the stability and accuracy of this pressure sensitive component.
As shown in figure 4, the first pressure induction mechanism 3 in the present embodiment in the present embodiment includes being arranged on foot-operated region
2 at least one first pressure sensor 31, second pressure induction mechanism 4 include be arranged on foot-operated region 2 at least one
Two pressure sensors 41, i.e., sensed after foot proparea and foot by first pressure sensor 31 and second pressure sensor 41
The size of area's pressure.Specifically, the first pressure induction mechanism 3 in the present embodiment also includes being arranged on first pressure sensor 31
Directly over and area more than first pressure sensor 31 first pressure conductive sheet 32, first pressure conductive sheet 32 and first pressure
Sensor 31 is contacted；Second pressure induction mechanism 4 also includes being arranged on directly over second pressure sensor 41 and area is more than the
The second pressure conductive sheet 42 of two pressure sensors 41, second pressure conductive sheet 42 are contacted with second pressure sensor 41, that is, are divided
Not by first pressure conductive sheet 32 with second pressure conductive sheet 42 transmitting the pressure of foot, and first pressure conductive sheet 32 with
Second pressure conductive sheet 42 adapts to different size foot size.In order to provide the accuracy of pressure transmission, here first pressure
The back side of power conductive sheet 32 is provided with the first cylinder 33, and the quantity of first pressure sensor 31 is the lower end of and the first cylinder 33
Contact with first pressure sensor 31；The back side of second pressure conductive sheet 42 is provided with the second cylinder 43, second pressure sensor 41
Quantity be that the lower end of and the first cylinder 33 is contacted with second pressure sensor 41, i.e., by 33 top pressure first of the first cylinder
Pressure sensor 31, by the second cylinder 43 come top pressure second pressure sensor 41, which enhances the precision of detection.
Further, for the ease of the reset of first pressure conductive sheet 32 and second pressure conductive sheet 42, here first
The first dynamic clamping head and quiet clamping head is provided between pressure conduction piece 32 and balance car car body 1；Second pressure conductive sheet 42 and balance car car body 1
Between be provided with the second dynamic clamping head and quiet clamping head, for example, the first dynamic clamping head and quiet clamping head here can be the first spring 34, the first 34 sets of spring
It is located on the first cylinder 33, the upper end of the first spring 34 is acted in first pressure conductive sheet 32, and lower end acts on balance car car
On body 1；Second dynamic clamping head and quiet clamping head can be second spring 44, and second spring 44 is set on the second cylinder 43, second spring 44
Upper end act in second pressure conductive sheet 42, lower end is acted on balance car car body 1.In order that the used time is easy to the station of foot
It is vertical, can be by first pressure conductive sheet 31 and second pressure conductive sheet 41 be separately positioned on the first sunk area 35 and second
In sunk area 45, this pressure sensitive component can so flushed with 2 surface of foot-operated region or slightly above 2 table of foot-operated region
Face, i.e., be provided with the first sunk area 35 and the second sunk area 45 in foot-operated region 2 here, and first pressure conductive sheet 32 is arranged
It is adapted with the shape of the first sunk area 35 in the 35 interior and shape of first pressure conductive sheet 32 of the first sunk area, the second pressure
Power conductive sheet 42 is arranged on the shape of the 45 interior and shape of second pressure conductive sheet 42 of the second sunk area and the second sunk area 45
Shape is adapted.Specifically, the first cylinder 33 here is arranged on the central area of first pressure conductive sheet 32, the first sunk area
The first counterbore 36 being correspondingly arranged with the first cylinder 33 is provided with 35, first pressure sensor 31 is arranged on 36 bottom of the first counterbore
Portion, the first cylinder 33 are inserted in the first counterbore 36；Second cylinder 43 is arranged on the central area of second pressure conductive sheet 42, and second
The second counterbore 46 being correspondingly arranged with the second cylinder 43 is provided with sunk area 45, second pressure sensor 41 is arranged on second and sinks
46 bottom of hole, the second cylinder 43 are inserted in the second counterbore 46.
Electrodynamic balance car using the operation control system of electrodynamic balance car is as described below：Using above-mentioned electrodynamic balance car
Operation control system electrodynamic balance car.
Based on the progress control method of the electrodynamic balance car of the operation control system of electrodynamic balance car, comprise the steps：
A, triggering self-balancing：It is when elder generation of the Liang Ge foots post legged of bicyclist is in two foot-operated regions 2 of balance car car body 1, corresponding foot-operated
The first pressure induction mechanism 3 and second pressure induction mechanism 4 in region 2 is located at below correspondence foot proparea and foot back zone respectively
Lower section and when by foot's active force first pressure induction mechanism 3 and/or second pressure induction mechanism 4 by the pressure for collecting
To control circuit 5, it is right that control circuit 5 is controlled in the presence of the attitude transducer 51 corresponding to the foot-operated region 2 signal transmission
Self-balancing should be realized with priority in the work of the driving motor in the foot-operated region 2；B, load condition initialization：When bicyclist's
Respectively positioned at two foot-operated regions 2 of balance car car body 1 and after self-balancing, control circuit 5 is respectively according to self-balancing for Liang Ge foots
The first pressure induction mechanism 3 and the stressing conditions of the second pressure induction mechanism 4 corresponding pin of determination in corresponding foot-operated region 2 during state
Step on 2 respective load-carrying original state of region；C, operation control：Control circuit 5 is initial according to two foot-operated regions, 2 respective load-carrying
The real time data of first pressure induction mechanism 3 and second pressure induction mechanism 4 in state and two foot-operated regions 2 is calculated rides
The operation of passerby is intended to, and is intended to operation according to the operation of bicyclist so as to control electrodynamic balance car.
In step C, if positioned at two first pressure sensings in two foot-operated regions 2 of 1 left and right sides of balance car car body
Mechanism 3 synchronously increases relative to respective load-carrying original state stress or two second pressure induction mechanisms 4 are relative to respective load-carrying
Original state stress is synchronously reduced, then 1 straight line of balance car car body is run forward；Conversely, 1 straight line of balance car car body is run backward；
If the first pressure induction mechanism 3 in left side is relative to each self-contained in two foot-operated regions 2 of 1 left and right sides of balance car car body
Weight original state stress increasing degree increases relative to respective load-carrying original state stress more than the first pressure induction mechanism 3 on right side
Plus the second pressure induction mechanism 4 in amplitude or left side reduces amplitude less than the of right side relative to respective load-carrying original state stress
Two pressure sensitive mechanisms 4 reduce amplitude relative to respective load-carrying original state stress, then balance car car body 1 turns right；Otherwise
Turn left.
In step C, described control circuit 5 will be located at two in two foot-operated regions 2 of 1 left and right sides of balance car car body
Individual first pressure induction mechanism 3 and two second pressure induction mechanisms 4 are respectively relative to respective load-carrying original state and are compared
And according to carrying out weight sequencing forward, backward, to the left with right direction；If weight is more than weight and to the left weight etc. backward forward
In weight to the right, then 1 straight line of balance car car body is run forward；Conversely, 1 straight line of balance car car body is run backward；If weight forward
More than weight backward and to the left weight turns right more than weight to the right, then balance car car body 1；If weight is more than and weighs backward forward
Weight and to the left weight turn left less than weight to the right, then balance car car body 1；If weight is less than weight backward and to Zuoquan forward
Again less than weight to the right, then balance car car body 1 turns left；If weight is less than weight backward and weight is more than to the right to the left forward
Weight, then balance car car body 1 turn right.
More specifically, two pin of the control circuit 5 here in operation control according only to 1 left and right sides of balance car car body
The stress change for stepping on two first pressure induction mechanisms 3 and two second pressure induction mechanisms 4 in region 2 is controlled；Or
Two first pressure induction machines in described two foot-operated regions 2 in operation control according to 1 left and right sides of balance car car body
The stress change of structure 3 and two second pressure induction mechanisms 4 and two attitude transducers 51 corresponding to two foot-operated regions 2
Real time data change is controlled.
Specific embodiment described herein is only explanation for example spiritual to the present invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement or replaced using similar mode to described specific embodiment
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more having used balance car car body 1, pedal stand 11, base 12, foot-operated region 2, first pressure sense herein
Answer mechanism 3, second pressure induction mechanism 4, first pressure sensor 31, first pressure conductive sheet 32, the first cylinder 33, the first bullet
Spring 34, the first sunk area 35, the first counterbore 36, second pressure sensor 41, second pressure conductive sheet 42, the second cylinder 43,
The arts such as second spring 44, the second sunk area 45, the second counterbore 46, control circuit 5, attitude transducer 51, pressure sensitive component 6
Language, but it is not precluded from the possibility using other terms.It is used for the purpose of more easily describing and explaining this using these terms
The essence of invention；It is all contrary with spirit of the invention to be construed as any additional restriction.
Claims (12)
1. a kind of operation control system of electrodynamic balance car, is arranged on the balance car car body (1) with two foot-operated regions (2)
On, it is characterised in that this control system includes the control circuit (5) being arranged in balance car car body (1) and in control circuit (5)
On be connected with two attitude transducers (51), two groups of pressure sensitive components (6) and two groups are connected with described control circuit (5)
Pressure sensitive component (6) and two attitude transducers (51) cooperating correspondingly, two groups of pressure sensitive components (6) are respectively
The two foot-operated regions (2) and pressure sensitive component (6) for being arranged on balance car car body (1) are corresponded with foot-operated region (2) and are set
Put, each group of pressure sensitive component (6) includes the first pressure induction mechanism (3) and second being connected with control circuit (5) respectively
Pressure sensitive mechanism (4), and when the foot of the both feet of bicyclist is stepped on respectively in corresponding foot-operated region (2), corresponding foot
First pressure induction mechanism (3) and second pressure induction mechanism (4) are located at below foot proparea and below foot back zone respectively.
2. the operation control system of electrodynamic balance car according to claim 1, it is characterised in that described first pressure sense
Mechanism (3) is answered including at least one first pressure sensor (31) for being arranged on foot-operated region (2), described second pressure sensing
Mechanism (4) includes at least one second pressure sensor (41) for being arranged on foot-operated region (2).
3. the operation control system of electrodynamic balance car according to claim 2, it is characterised in that described first pressure sense
Answer that mechanism (3) also includes being arranged on directly over first pressure sensor (31) and area is more than the of first pressure sensor (31)
One pressure conduction piece (32), described first pressure conductive sheet (32) are contacted with first pressure sensor (31)；Described second
Pressure sensitive mechanism (4) also includes being arranged on directly over second pressure sensor (41) and area is more than second pressure sensor
(41) second pressure conductive sheet (42), described second pressure conductive sheet (42) are contacted with second pressure sensor (41).
4. the operation control system of electrodynamic balance car according to claim 3, it is characterised in that described first pressure is passed
The back side of guide card (32) is provided with the first cylinder (33), and the quantity of first pressure sensor (31) is one and the first cylinder (33)
Lower end is contacted with first pressure sensor (31), is provided between described first pressure conductive sheet (32) and balance car car body (1)
First dynamic clamping head and quiet clamping head；The back side of described second pressure conductive sheet (42) is provided with the second cylinder (43), second pressure sensor
(41) quantity is contacted with second pressure sensor (41) for the lower end of and the first cylinder (33), and described second pressure is passed
The second dynamic clamping head and quiet clamping head is provided between guide card (42) and balance car car body (1).
5. the operation control system of electrodynamic balance car according to claim 4, it is characterised in that the first described elasticity is multiple
Position part is the first spring (34), and described the first spring (34) is set on the first cylinder (33), described the first spring (34)
Upper end act in first pressure conductive sheet (32), lower end is acted on balance car car body (1)；The second described elastic reset
Part () is second spring (44), and described second spring (44) is set on the second cylinder (43), described second spring (44)
Upper end act in second pressure conductive sheet (42), lower end is acted on balance car car body (1).
6. the operation control system of the electrodynamic balance car according to claim 4 or 5, it is characterised in that described foot-operated area
The first sunk area (35) and the second sunk area (45) are provided with domain (2), described first pressure conductive sheet (32) is arranged on
First sunk area (35) is interior and the shape of first pressure conductive sheet (32) is adapted with the shape of the first sunk area (35), institute
The first cylinder (33) stated is arranged on the central area of first pressure conductive sheet (32), sets in described the first sunk area (35)
There is the first counterbore (36) being correspondingly arranged with the first cylinder (33), described first pressure sensor (31) is arranged on the first counterbore
(36) bottom, described the first cylinder (33) are inserted in the first counterbore (36)；Described second pressure conductive sheet (42) is arranged on
Second sunk area (45) is interior and the shape of second pressure conductive sheet (42) is adapted with the shape of the second sunk area (45), institute
The second cylinder (43) stated is arranged on the central area of second pressure conductive sheet (42), sets in described the second sunk area (45)
There is the second counterbore (46) being correspondingly arranged with the second cylinder (43), described second pressure sensor (41) is arranged on the second counterbore
(46) bottom, described the second cylinder (43) are inserted in the second counterbore (46).
7. the operation control system of the electrodynamic balance car according to any one in claim 1-5, it is characterised in that described
Balance car car body (1) including two pedal stands (11), be respectively equipped with one foot-operated region (2) on each pedal stand (11), two
Pedal stand (11) is connected or two pedal stands (11) are rotatably connected.
8. the electrodynamic balance of the operation control system of the electrodynamic balance car in a kind of employing claim 1-7 described in any one
Car.
9. a kind of electrodynamic balance car of the operation control system of the electrodynamic balance car based on described in any one in claim 1-7
Progress control method, it is characterised in that this method comprises the steps：
A, triggering self-balancing：When elder generation of the Liang Ge foots post legged of bicyclist is in two foot-operated region (2) of balance car car body (1),
The first pressure induction mechanism (3) and second pressure induction mechanism (4) of corresponding foot-operated region (2) is located at correspondence foot proparea respectively
The first pressure induction mechanism (3) and/or second pressure induction machine below lower section and foot back zone and when by foot's active force
Structure (4) transmits the pressure signal for collecting to control circuit (5), and control circuit (5) is in the appearance corresponding to the foot-operated region (2)
Control to realize putting down certainly with priority corresponding to the driving motor work of the foot-operated region (2) in the presence of state sensor (51)
Weighing apparatus；
B, load condition initialization：When the Liang Ge foots of bicyclist are respectively positioned at two foot-operated regions (2) of balance car car body (1)
And after self-balancing, control circuit (5) first pressure induction mechanism respectively according to corresponding foot-operated region (2) during self-balancing state
(3) foot-operated region (2) respective load-carrying original state corresponding with the determination of the stressing conditions of second pressure induction mechanism (4)；
C, operation control：Control circuit (5) is according to two foot-operated respective load-carrying original states of region (2) and two foot-operated regions
(2) real time data of first pressure induction mechanism (3) and second pressure induction mechanism (4) in calculates the operation meaning of bicyclist
Figure, is intended to operation according to the operation of bicyclist so as to control electrodynamic balance car.
10. the progress control method of electrodynamic balance car according to claim 9, it is characterised in that in above-mentioned step C
In, if it is relative to be located at two first pressure induction mechanisms (3) in two foot-operated regions (2) of balance car car body (1) left and right sides
Synchronously increase in respective load-carrying original state stress or two second pressure induction mechanisms (4) are relative to respective load-carrying original state
Stress is synchronously reduced, then balance car car body (1) straight line is run forward；Conversely, balance car car body (1) straight line is run backward；If position
In two foot-operated regions (2) of balance car car body (1) left and right sides, the first pressure induction mechanism (3) in left side is relative to respective
Load-carrying original state stress increasing degree is received relative to respective load-carrying original state more than the first pressure induction mechanism (3) on right side
The second pressure induction mechanism (4) in power increasing degree or left side reduces amplitude less than the right side relative to respective load-carrying original state stress
The second pressure induction mechanism (4) of side reduces amplitude relative to respective load-carrying original state stress, then balance car car body (1) is to the right
Rotate；Otherwise turn left.
The progress control method of 11. electrodynamic balance cars according to claim 9, it is characterised in that in above-mentioned step C
In, described control circuit (5) will be positioned at two first pressures in two of balance car car body (1) left and right sides foot-operated regions (2)
Power induction mechanism (3) and two second pressure induction mechanisms (4) be respectively relative to respective load-carrying original state be compared and by
Before being pointed into, carry out weight sequencing backward, to the left with right direction；If forward weight more than weight backward and to the left weight equal to
Right weight, then balance car car body (1) straight line run forward；Conversely, balance car car body (1) straight line is run backward；If weight forward
More than weight backward and to the left weight turns right more than weight to the right, then balance car car body (1)；If weight is more than backward forward
Weight and to the left weight turn left less than weight to the right, then balance car car body (1)；If forward weight less than weight backward and to
Zuoquan is less than weight to the right again, then balance car car body (1) turns left；If weight is less than weight backward and weight is big to the left forward
In weight to the right, then balance car car body (1) turns right.
The progress control method of the 12. electrodynamic balance cars according to claim 9 or 10 or 11, it is characterised in that described
Two first in two foot-operated regions (2) of the control circuit (5) in operation control according only to balance car car body (1) left and right sides
The stress change of pressure sensitive mechanism (3) and two second pressure induction mechanisms (4) is controlled；Or it is described in operation control
According to two first pressure induction mechanisms (3) in two foot-operated regions (2) of balance car car body (1) left and right sides and two when processed
The stress change of second pressure induction mechanism (4) and the reality of two attitude transducers (51) corresponding to two foot-operated regions (2)
When data variation be controlled.
Applications Claiming Priority (2)
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|---|---|---|---|
| CN201610375026 | 2016-05-30 | ||
| CN2016103750263 | 2016-05-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN106515944B (en) | 2023-04-28 |
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