CN106515944B - Electric balance car and operation control system and operation control method thereof - Google Patents
Electric balance car and operation control system and operation control method thereof Download PDFInfo
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- CN106515944B CN106515944B CN201611013174.7A CN201611013174A CN106515944B CN 106515944 B CN106515944 B CN 106515944B CN 201611013174 A CN201611013174 A CN 201611013174A CN 106515944 B CN106515944 B CN 106515944B
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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
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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
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention relates to an electric balance car, an operation control system and an operation control method thereof. The technical problems of poor running stability and the like of the existing electric balance car are solved. The control system comprises a control circuit arranged in the balance car body and two gesture sensors connected to the control circuit, wherein the control circuit is connected with two groups of pressure sensing assemblies, the two groups of pressure sensing assemblies are respectively arranged in two pedal areas of the balance car body and are in one-to-one correspondence with the pedal areas, and each group of pressure sensing assemblies respectively comprises a first pressure sensing mechanism and a second pressure sensing mechanism. The advantages are that: the pressure of the foot front area and the foot rear area is sensed through the first pressure conducting piece and the second pressure conducting piece, so that the stability and the accuracy of the pressure sensing assembly are improved, and the first pressure conducting piece and the second pressure conducting piece can adapt to the foot sizes with different sizes.
Description
Technical Field
The invention belongs to the technical field of electric vehicle equipment, and particularly relates to an electric balance vehicle, an operation control system and an operation control method thereof.
Background
Electric balance cars, also called somatosensory cars, thinking cars, shooting cars, etc. There are mainly one-wheel and two-wheel types on the market. The operation principle is mainly established on a basic principle called dynamic stability, and the change of the posture of the vehicle body is detected by using a gyroscope and an acceleration sensor in the vehicle body, and a servo control system is used for accurately driving a motor to carry out corresponding adjustment so as to keep the balance of the system. The current electrodynamic balance car mainly divide into control rod-type electrodynamic balance car and electrodynamic balance swing car, the former mainly realizes the change of advancing direction through the control rod that can twist reverse, but be equipped with the control rod of torsion on the electrodynamic balance car and necessarily lead to its structure complicacy, increase cost, the latter mainly has two pedal seats that can twist reverse each other to constitute, realizes the change of automobile body advancing direction through twisting the pedal seat, this kind of electrodynamic balance swing car has left out the control rod, but because of its self-structure's restriction, the volume is generally less, and this kind of balance car upper hand is slower, the degree of difficulty of controlling is big.
In order to solve the problems existing in the prior art, long-term exploration is performed, and various solutions are proposed. For example, chinese patent literature discloses a split rotary self-balancing two-wheeled vehicle [ application number: 201420415122.2 it is characterized by that it includes a main frame, two sides of said main frame are equipped with wheels, in the main frame interior a motor and a gyroscope capable of controlling motor speed are set, the main frame includes two separated split frames, between two split frames a connecting shaft is set, and the two split frames can be independently rotated by using connecting shaft as rotating centre, in every split frame a gyroscope and a motor are set, and the split frames include an upper cover pedal and a lower shell, and the gyroscope is fixed in the bottom of upper cover pedal, and the gyroscope is connected with circuit board, and the circuit board is connected with motor, and the motor can be used for driving wheel.
The above scheme realizes the control of the change of the advancing direction of the electric balance car by the foot through canceling the control rod of the electric balance car, liberates the hands of the driver, but the scheme still has the following structure because of the limitation of the scheme: the structure is complex, the direction control sensitivity is low, the operation stability is poor, and the like.
Disclosure of Invention
The invention aims to solve the problems and provides an operation control system of the electric balance car, which is simple and reasonable in structure and high in control precision.
Another object of the present invention is to provide an electric balance car with simple structure and good running stability, which adopts the running control system of the electric balance car.
Another object of the present invention is to provide a method for controlling operation of an electric balance car with simple structure and high automation degree.
In order to achieve the above purpose, the present invention adopts the following technical scheme: this operation control system of electrodynamic balance car sets up on the balance car automobile body that has two pedal regions, its characterized in that, this control system is including setting up at the control circuit in the balance car automobile body and be connected with two attitude sensor on control circuit, control circuit on be connected with two sets of pressure sensing subassembly and two attitude sensor one-to-one cooperation work, two sets of pressure sensing subassembly set up respectively in two pedal regions of balance car automobile body and pressure sensing subassembly and pedal region one-to-one setting, every set of pressure sensing subassembly includes first pressure sensing mechanism and the second pressure sensing mechanism that links to each other with control circuit respectively, and when the foot of the person of riding's both feet is stepped on in corresponding pedal region respectively, first pressure sensing mechanism and the second pressure sensing mechanism of corresponding foot are located foot front region below and foot back region below respectively. The first pressure sensing mechanism and the second pressure sensing mechanism on the pedal area sense the pressure of the front area and the rear area of the foot, so that the stability and the accuracy of the pressure sensing assembly are improved.
In the operation control system of the electric balance car, the first pressure sensing mechanism comprises at least one first pressure sensor arranged in a pedal area, and the second pressure sensing mechanism comprises at least one second pressure sensor arranged in the pedal area. Namely, the first pressure sensor and the second pressure sensor sense the pressure of the forefoot region and the hindfoot region.
In the operation control system of the electrodynamic balance car, the first pressure sensing mechanism further comprises a first pressure conducting sheet which is arranged right above the first pressure sensor and has an area larger than that of the first pressure sensor, and the first pressure conducting sheet is in contact with the first pressure sensor; the second pressure sensing mechanism further comprises a second pressure conducting sheet which is arranged right above the second pressure sensor and is larger than the second pressure sensor in area, and the second pressure conducting sheet is in contact with the second pressure sensor. Namely, the pressure of the foot is transmitted through the first pressure conducting piece and the second pressure conducting piece respectively, and the first pressure conducting piece and the second pressure conducting piece can adapt to the foot sizes with different sizes.
In the operation control system of the electric balance car, the back surface of the first pressure conducting sheet is provided with a first column body, the number of the first pressure sensors is one, the lower end of the first column body is in contact with the first pressure sensors, and a first elastic reset piece is arranged between the first pressure conducting sheet and the car body of the balance car; the back of the second pressure conducting sheet is provided with a second cylinder, the number of the second pressure sensors is one, the lower end of the first cylinder is in contact with the second pressure sensors, and a second elastic reset piece is arranged between the second pressure conducting sheet and the balance car body. Namely, the first pressure sensor is jacked by the first column body, and the second pressure sensor is jacked by the second column body, so that the detection precision is improved.
In the operation control system of the electric balance car, the first elastic reset piece is a first spring, the first spring is sleeved on the first column body, the upper end of the first spring acts on the first pressure conducting piece, and the lower end of the first spring acts on the car body of the balance car; the second elastic reset piece is a second spring, the second spring is sleeved on the second cylinder, the upper end of the second spring acts on the second pressure conducting sheet, and the lower end of the second spring acts on the balance car body. The structure is convenient for resetting the first pressure conducting piece and the second pressure conducting piece.
In the operation control system of the electrodynamic balance car, a first concave area and a second concave area are arranged in the pedal area, the first pressure conducting sheet is arranged in the first concave area, the shape of the first pressure conducting sheet is matched with that of the first concave area, the first column body is arranged in the central area of the first pressure conducting sheet, a first counter bore which is arranged corresponding to the first column body is arranged in the first concave area, the first pressure sensor is arranged at the bottom of the first counter bore, and the first column body is inserted in the first counter bore; the second pressure conducting strip set up in the second sunken region and the shape of second pressure conducting strip suits with the shape in second sunken region, the second post set up in the central region of second pressure conducting strip, the second sunken region in be equipped with the second counter bore that corresponds the setting with the second post, second pressure sensor set up in second counter bore bottom, the second post insert in the second counter bore. The first pressure conducting piece and the second pressure conducting piece are respectively arranged in the first concave area and the second concave area, so that the pressure sensing component is flush with the surface of the pedal area or slightly exceeds the surface of the pedal area.
In the operation control system of the electric balance car, the car body of the balance car comprises two pedal seats, each pedal seat is respectively provided with a pedal area, and the two pedal seats are fixedly connected or rotatably connected.
The electrodynamic balance car adopting the operation control system of the electrodynamic balance car is as follows: the electric balance car adopting the operation control system of the electric balance car.
The operation control method of the electric balance car based on the operation control system of the electric balance car is as follows: the operation control method of the electric balance car comprises the following steps:
A. triggering self-balancing: when two feet of a rider are stepped on two pedal areas of the balance car body in sequence, the first pressure sensing mechanism and the second pressure sensing mechanism of the corresponding pedal areas are respectively positioned below the front areas of the corresponding feet and below the rear areas of the corresponding feet, and when the feet are acted by force, the first pressure sensing mechanism and/or the second pressure sensing mechanism transmit collected pressure signals to a control circuit, and the control circuit controls a driving motor corresponding to the pedal areas to work under the action of a gesture sensor corresponding to the pedal areas so as to realize self balance in sequence;
B. load state initialization: when two feet of a rider are respectively positioned in two pedal areas of the body of the balance car and are self-balanced, the control circuit respectively determines the respective load initial states of the corresponding pedal areas according to the stress conditions of the first pressure sensing mechanism and the second pressure sensing mechanism of the corresponding pedal areas in the self-balanced state;
C. and (3) operation control: the control circuit calculates the running intention of the rider according to the respective load initial states of the two pedal areas and the real-time data of the first pressure sensing mechanism and the second pressure sensing mechanism in the two pedal areas, so as to control the electric balance car to run according to the running intention of the rider.
In the above-mentioned operation control method of the electric balance car, in the step C, if the stresses of the two first pressure sensing mechanisms in the two pedal areas located on the left and right sides of the body of the balance car are synchronously increased relative to the initial state of the respective loads or the stresses of the two second pressure sensing mechanisms are synchronously decreased relative to the initial state of the respective loads, the body of the balance car is linearly moved forward; otherwise, the balance car body moves linearly backwards; if the stress increasing amplitude of the left first pressure sensing mechanism relative to the initial load state of the balance car body is larger than that of the right first pressure sensing mechanism or the stress decreasing amplitude of the left second pressure sensing mechanism relative to the initial load state of the balance car body is smaller than that of the right second pressure sensing mechanism relative to the initial load state of the balance car body, the balance car body rotates rightwards; and vice versa.
In the above-mentioned operation control method of the electric balance car, in the above-mentioned step C, the control circuit compares the two first pressure sensing mechanisms and the two second pressure sensing mechanisms in the two pedal areas located at the left and right sides of the body of the balance car with respect to the respective initial states of the load, and ranks the weights in the forward, backward, leftward and rightward directions; if the forward weight is greater than the backward weight and the leftward weight is equal to the rightward weight, the balance car body moves straight forwards; otherwise, the balance car body moves linearly backwards; if the forward weight is greater than the backward weight and the left weight is greater than the right weight, the balance car body rotates rightwards; if the forward weight is greater than the backward weight and the leftward weight is less than the rightward weight, the balance car body rotates leftwards; if the forward weight is smaller than the backward weight and the leftward weight is smaller than the rightward weight, the balance car body rotates leftwards; if the forward weight is smaller than the backward weight and the left weight is larger than the right weight, the balance car body rotates rightwards.
In the operation control method of the electric balance car, the control circuit only controls the stress changes of the two first pressure sensing mechanisms and the two second pressure sensing mechanisms in the two pedal areas on the left side and the right side of the car body of the balance car during operation control; or the control is performed according to the stress changes of the two first pressure sensing mechanisms and the two second pressure sensing mechanisms in the two pedal areas on the left side and the right side of the balance car body and the real-time data changes of the two gesture sensors corresponding to the two pedal areas during the running control.
Compared with the prior art, the electric balance car and the operation control system and the operation control method thereof have the advantages that: the pressure sensing assembly has the advantages that the structure is simple and reasonable, the operation stability is good, the pressure of the foot front area and the foot rear area is sensed through the first pressure conducting piece and the second pressure conducting piece, the stability and the accuracy of the pressure sensing assembly are improved, and the first pressure conducting piece and the second pressure conducting piece can adapt to the foot sizes with different sizes.
Drawings
Fig. 1 is a schematic structural view of a balance car body according to the present invention.
Fig. 2 is a schematic structural view of another balance car body according to the present invention.
Fig. 3 is a block diagram of the structure of the present invention.
Fig. 4 is a schematic view of a partial structure of the present invention.
In the figure, a balance car body 1, a foot rest 11, a base 12, a foot pedal region 2, a first pressure sensing mechanism 3, a second pressure sensing mechanism 4, a first pressure sensor 31, a first pressure conducting plate 32, a first column 33, a first spring 34, a first concave region 35, a first counter bore 36, a second pressure sensor 41, a second pressure conducting plate 42, a second column 43, a second spring 44, a second concave region 45, a second counter bore 46, a control circuit 5, an attitude sensor 51 and a pressure sensing assembly 6.
Detailed Description
The invention will be described in further detail with reference to the drawings and the detailed description.
As shown in fig. 1-3, the operation control system of the electric balance car is arranged on a balance car body 1 with two pedal areas 2, wherein, as shown in fig. 1, the balance car body 1 can comprise a base 12, the two pedal areas 2 are respectively arranged on the base 12, meanwhile, as shown in fig. 2, the balance car body 1 can also comprise two pedal areas 11, each pedal area 2 is respectively arranged on each pedal area 11, the two pedal areas 11 are fixedly connected or rotatably connected with the two pedal areas 11, the control system comprises a control circuit 5 arranged in the balance car body 1 and is connected with two gesture sensors 51 on the control circuit 5, two groups of pressure sensing assemblies 6 are respectively arranged on the control circuit 5 and are matched with the two pedal areas 2 of the balance car body 1 in a one-to-one mode, each group of pressure sensing assemblies 6 respectively comprise a first pressure sensing mechanism and a second pressure sensing mechanism 3 which are respectively arranged on the pedal area 4, and a second pressure sensing mechanism is respectively arranged on the pedal area 4, and is positioned on the front of the foot area 4, and the second pressure sensing mechanism is respectively, and the first pedal area 4 is positioned on the foot area and the second pedal area 4 is more accurate, and the second pedal area is the front of the second pedal area 4 is the second pressure sensing mechanism is positioned on the foot area 4.
As shown in fig. 4, the first pressure sensing mechanism 3 in this embodiment includes at least one first pressure sensor 31 disposed in the foot pedal region 2, and the second pressure sensing mechanism 4 includes at least one second pressure sensor 41 disposed in the foot pedal region 2, that is, the magnitude of the forefoot and hindfoot pressures is sensed by the first pressure sensor 31 and the second pressure sensor 41. Specifically, the first pressure sensing mechanism 3 in the present embodiment further includes a first pressure-conducting sheet 32 provided directly above the first pressure sensor 31 and having an area larger than the first pressure sensor 31, the first pressure-conducting sheet 32 being in contact with the first pressure sensor 31; the second pressure sensing mechanism 4 further comprises a second pressure conducting piece 42 which is arranged right above the second pressure sensor 41 and has an area larger than that of the second pressure sensor 41, the second pressure conducting piece 42 is in contact with the second pressure sensor 41, namely, the pressure of the foot is transmitted through the first pressure conducting piece 32 and the second pressure conducting piece 42 respectively, and the first pressure conducting piece 32 and the second pressure conducting piece 42 can adapt to the foot sizes with different sizes. In order to provide accuracy of pressure transmission, the back surface of the first pressure-transmitting sheet 32 is provided with first pillars 33, the number of the first pressure sensors 31 is one, and the lower ends of the first pillars 33 are in contact with the first pressure sensors 31; the back of the second pressure conducting strip 42 is provided with a second column 43, the number of the second pressure sensors 41 is one, the lower end of the first column 33 is in contact with the second pressure sensors 41, namely, the first column 33 is used for pushing the first pressure sensor 31, and the second column 43 is used for pushing the second pressure sensor 41, so that the detection accuracy is improved.
Further, in order to facilitate the resetting of the first pressure conducting piece 32 and the second pressure conducting piece 42, a first elastic resetting piece is arranged between the first pressure conducting piece 32 and the balance car body 1; a second elastic restoring member is arranged between the second pressure conducting piece 42 and the balance car body 1, for example, the first elastic restoring member can be a first spring 34, the first spring 34 is sleeved on the first column body 33, the upper end of the first spring 34 acts on the first pressure conducting piece 32, and the lower end acts on the balance car body 1; the second elastic restoring member may be a second spring 44, where the second spring 44 is sleeved on the second cylinder 43, and an upper end of the second spring 44 acts on the second pressure conducting piece 42, and a lower end acts on the balance car body 1. In order to facilitate standing of the foot in use, the first pressure conducting piece 31 and the second pressure conducting piece 41 can be respectively arranged in the first concave area 35 and the second concave area 45, so that the pressure sensing component is flush with the surface of the pedal area 2 or slightly exceeds the surface of the pedal area 2, namely, the first concave area 35 and the second concave area 45 are arranged in the pedal area 2, the first pressure conducting piece 32 is arranged in the first concave area 35, the shape of the first pressure conducting piece 32 is matched with the shape of the first concave area 35, the second pressure conducting piece 42 is arranged in the second concave area 45, and the shape of the second pressure conducting piece 42 is matched with the shape of the second concave area 45. Specifically, the first cylinder 33 is disposed in the central area of the first pressure conducting plate 32, the first recess area 35 is provided with a first counter bore 36 disposed corresponding to the first cylinder 33, the first pressure sensor 31 is disposed at the bottom of the first counter bore 36, and the first cylinder 33 is inserted into the first counter bore 36; the second cylinder 43 is arranged in the central area of the second pressure conducting piece 42, a second counter bore 46 which is arranged corresponding to the second cylinder 43 is arranged in the second concave area 45, the second pressure sensor 41 is arranged at the bottom of the second counter bore 46, and the second cylinder 43 is inserted into the second counter bore 46.
The electrodynamic balance car adopting the operation control system of the electrodynamic balance car is as follows: the electric balance car adopting the operation control system of the electric balance car.
An operation control method of an electric balance car based on an operation control system of the electric balance car comprises the following steps: A. triggering self-balancing: when two feet of a rider step on the two pedal areas 2 of the balance car body 1 in sequence, the first pressure sensing mechanism 3 and the second pressure sensing mechanism 4 of the corresponding pedal areas 2 are respectively positioned below the front areas and the rear areas of the corresponding feet, and when the feet are acted by force, the first pressure sensing mechanism 3 and/or the second pressure sensing mechanism 4 transmit the acquired pressure signals to the control circuit 5, and the control circuit 5 controls the driving motor corresponding to the pedal areas 2 to work under the action of the gesture sensor 51 corresponding to the pedal areas 2 so as to realize self balance in sequence; B. load state initialization: when two feet of a rider are respectively positioned in two pedal areas 2 of the balance car body 1 and are self-balanced, the control circuit 5 respectively determines the respective load initial states of the corresponding pedal areas 2 according to the stress conditions of the first pressure sensing mechanism 3 and the second pressure sensing mechanism 4 of the corresponding pedal areas 2 in the self-balanced state; C. and (3) operation control: the control circuit 5 calculates the running intention of the rider according to the initial load state of each of the two pedal areas 2 and the real-time data of the first pressure sensing mechanism 3 and the second pressure sensing mechanism 4 in the two pedal areas 2, thereby controlling the electric balance car to run according to the running intention of the rider.
In step C, if the stresses of the two first pressure sensing mechanisms 3 in the two pedal areas 2 located at the left and right sides of the balance car body 1 are synchronously increased relative to the initial load state or the stresses of the two second pressure sensing mechanisms 4 in the two pedal areas are synchronously decreased relative to the initial load state, the balance car body 1 moves forward in a straight line; otherwise, the balance car body 1 runs straight backwards; if the stress increase amplitude of the left first pressure sensing mechanism 3 in the two pedal areas 2 positioned at the left side and the right side of the balance car body 1 is larger than that of the right first pressure sensing mechanism 3 in the initial state of the load respectively, or the stress decrease amplitude of the left second pressure sensing mechanism 4 in the initial state of the load respectively is smaller than that of the right second pressure sensing mechanism 4 in the initial state of the load respectively, the balance car body 1 rotates rightward; and vice versa.
In step C, the control circuit 5 compares the two first pressure sensing mechanisms 3 and the two second pressure sensing mechanisms 4 in the two pedal areas 2 located at the left and right sides of the balance car body 1 with respect to the respective initial load states and ranks the weights in the forward, backward, leftward and rightward directions; if the forward weight is greater than the backward weight and the leftward weight is equal to the rightward weight, the balance car body 1 moves forward in a straight line; otherwise, the balance car body 1 runs straight backwards; if the forward weight is greater than the backward weight and the leftward weight is greater than the rightward weight, the balance car body 1 rotates rightward; if the forward weight is greater than the backward weight and the leftward weight is less than the rightward weight, the balance car body 1 rotates leftwards; if the forward weight is smaller than the backward weight and the leftward weight is smaller than the rightward weight, the balance car body 1 rotates leftwards; if the forward weight is smaller than the backward weight and the leftward weight is greater than the rightward weight, the balance car body 1 rotates rightward.
More specifically, the control circuit 5 herein controls, at the time of operation control, only in accordance with the force variation of the two first pressure sensing mechanisms 3 and the two second pressure sensing mechanisms 4 in the two pedal areas 2 on the left and right sides of the balance car body 1; or the control is performed according to the stress changes of the two first pressure sensing mechanisms 3 and the two second pressure sensing mechanisms 4 in the two pedal areas 2 on the left side and the right side of the balance car body 1 and the real-time data changes of the two gesture sensors 51 corresponding to the two pedal areas 2 during the operation control.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Although the terms of the balance car body 1, the footstand 11, the base 12, the foot rest area 2, the first pressure sensing mechanism 3, the second pressure sensing mechanism 4, the first pressure sensor 31, the first pressure transmitting sheet 32, the first cylinder 33, the first spring 34, the first recessed area 35, the first counterbore 36, the second pressure sensor 41, the second pressure transmitting sheet 42, the second cylinder 43, the second spring 44, the second recessed area 45, the second counterbore 46, the control circuit 5, the attitude sensor 51, the pressure sensing assembly 6, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely for convenience in describing and explaining the nature of the invention; they are to be interpreted as any additional limitation that is not inconsistent with the spirit of the present invention.
Claims (6)
1. An operation control system of an electric balance car is arranged on a balance car body (1) with two pedal areas (2), and is characterized in that the balance car body (1) comprises two pedal seats (11), each pedal seat (11) is respectively provided with a pedal area (2), the two pedal seats (11) are fixedly connected or the two pedal seats (11) are rotatably connected, the control system comprises a control circuit (5) arranged in the balance car body (1) and two gesture sensors (51) connected to the control circuit (5), the control circuit (5) is connected with two groups of pressure sensing assemblies (6) and the two gesture sensors (51) are matched to work in a one-to-one mode, the two groups of pressure sensing assemblies (6) are respectively arranged in the two pedal areas (2) of the balance car body (1) and the pressure sensing assemblies (6) are respectively arranged in one-to-one mode with the pedal areas (2), each group of pressure sensing assemblies (6) respectively comprise a first pressure sensing mechanism (3) and a second pressure sensing mechanism (4) connected with the control circuit (5) when the two pedal mechanisms (4) are respectively ridden on the corresponding areas, the first pressure sensing mechanism (3) and the second pressure sensing mechanism (4) of the corresponding feet are respectively positioned below the front foot area and below the rear foot area; the first pressure sensing mechanism (3) comprises at least one first pressure sensor (31) arranged in the pedal area (2), and the second pressure sensing mechanism (4) comprises at least one second pressure sensor (41) arranged in the pedal area (2); the first pressure sensing mechanism (3) further comprises a first pressure conducting sheet (32) which is arranged right above the first pressure sensor (31) and has an area larger than that of the first pressure sensor (31), and the first pressure conducting sheet (32) is in contact with the first pressure sensor (31); the second pressure sensing mechanism (4) further comprises a second pressure conducting sheet (42) which is arranged right above the second pressure sensor (41) and has an area larger than that of the second pressure sensor (41), and the second pressure conducting sheet (42) is in contact with the second pressure sensor (41); the back of the first pressure conducting sheet (32) is provided with a first column body (33), the number of the first pressure sensors (31) is one, the lower end of the first column body (33) is in contact with the first pressure sensors (31), and a first elastic resetting piece is arranged between the first pressure conducting sheet (32) and the balance car body (1); the back of the second pressure conducting sheet (42) is provided with a second column (43), the number of the second pressure sensors (41) is one, the lower end of the first column (33) is contacted with the second pressure sensors (41), and a second elastic resetting piece is arranged between the second pressure conducting sheet (42) and the balance car body (1); the first elastic reset piece is a first spring (34), the first spring (34) is sleeved on the first column body (33), the upper end of the first spring (34) acts on the first pressure conducting piece (32), and the lower end of the first spring acts on the balance car body (1); the second elastic reset piece is a second spring (44), the second spring (44) is sleeved on the second cylinder (43), the upper end of the second spring (44) acts on the second pressure conducting piece (42), and the lower end of the second spring acts on the balance car body (1); the pedal area (2) is internally provided with a first concave area (35) and a second concave area (45), the first pressure conducting piece (32) is arranged in the first concave area (35), the shape of the first pressure conducting piece (32) is matched with that of the first concave area (35), the first column body (33) is arranged in the central area of the first pressure conducting piece (32), the first concave area (35) is internally provided with a first counter bore (36) which is arranged corresponding to the first column body (33), the first pressure sensor (31) is arranged at the bottom of the first counter bore (36), and the first column body (33) is inserted in the first counter bore (36); the second pressure conducting piece (42) is arranged in the second concave area (45), the shape of the second pressure conducting piece (42) is matched with that of the second concave area (45), the second cylinder (43) is arranged in the central area of the second pressure conducting piece (42), a second counter bore (46) which is arranged corresponding to the second cylinder (43) is arranged in the second concave area (45), the second pressure sensor (41) is arranged at the bottom of the second counter bore (46), and the second cylinder (43) is inserted into the second counter bore (46); when two feet of a rider are stepped on the two pedal areas (2) of the balance car body (1) in sequence, the first pressure sensing mechanism (3) and the second pressure sensing mechanism (4) corresponding to the pedal areas (2) are respectively positioned below the front areas and the rear areas of the feet, and when the feet are acted on, the first pressure sensing mechanism (3) and/or the second pressure sensing mechanism (4) transmit collected pressure signals to the control circuit (5), and the control circuit (5) controls the driving motor corresponding to the pedal areas (2) to work under the action of the gesture sensor (51) corresponding to the pedal areas (2) so as to realize self balance in sequence.
2. An electrodynamic balance car employing the operation control system of electrodynamic balance car of claim 1.
3. An operation control method of an electric balance car based on the operation control system of the electric balance car as claimed in claim 1, characterized in that the method comprises the following steps:
A. triggering self-balancing: when two feet of a rider step on the two pedal areas (2) of the balance car body (1) in sequence, the first pressure sensing mechanism (3) and the second pressure sensing mechanism (4) of the corresponding pedal areas (2) are respectively positioned below the front areas and the rear areas of the corresponding feet, and when the feet are acted by force, the first pressure sensing mechanism (3) and/or the second pressure sensing mechanism (4) transmit collected pressure signals to the control circuit (5), and the control circuit (5) controls the driving motor corresponding to the pedal areas (2) to work under the action of the gesture sensor (51) corresponding to the pedal areas (2) so as to realize self balance in sequence;
B. load state initialization: after two feet of a rider are respectively positioned in two pedal areas (2) of a balance car body (1) and are self-balanced, a control circuit (5) determines respective load initial states of the corresponding pedal areas (2) according to stress conditions of a first pressure sensing mechanism (3) and a second pressure sensing mechanism (4) of the corresponding pedal areas (2) in a self-balanced state;
C. and (3) operation control: the control circuit (5) calculates the running intention of the rider according to the respective load initial states of the two pedal areas (2) and the real-time data of the first pressure sensing mechanism (3) and the second pressure sensing mechanism (4) in the two pedal areas (2), so as to control the electric balance car to run according to the running intention of the rider.
4. The operation control method of an electric balance car according to claim 3, wherein in the step C, if the two first pressure sensing mechanisms (3) in the two pedal areas (2) located on both sides of the balance car body (1) are increased in force synchronization with respect to the respective load initial states or the two second pressure sensing mechanisms (4) are decreased in force synchronization with respect to the respective load initial states, the balance car body (1) is operated straight forward; otherwise, the balance car body (1) runs linearly backwards; if the stress increase amplitude of the first pressure sensing mechanism (3) on the left side in the two pedal areas (2) on the left side and the right side of the balance car body (1) is larger than that of the first pressure sensing mechanism (3) on the right side relative to the initial state of the load respectively, or the stress decrease amplitude of the second pressure sensing mechanism (4) on the left side relative to the initial state of the load respectively is smaller than that of the second pressure sensing mechanism (4) on the right side relative to the initial state of the load respectively, the balance car body (1) rotates leftwards; and conversely, to the right.
5. A method for controlling the operation of an electrodynamic balance car according to claim 3 wherein in said step C, said control circuit (5) compares the two first pressure sensing means (3) and the two second pressure sensing means (4) in the two pedal areas (2) located on the left and right sides of the balance car body (1) with respect to the respective initial load conditions and weights the two first pressure sensing means and the two second pressure sensing means in the forward, backward, leftward and rightward directions, respectively; if the forward weight is greater than the backward weight and the leftward weight is equal to the rightward weight, the balance car body (1) moves forwards in a straight line; otherwise, the balance car body (1) runs linearly backwards; if the forward weight is greater than the backward weight and the left weight is greater than the right weight, the balance car body (1) rotates leftwards; if the forward weight is greater than the backward weight and the leftward weight is less than the rightward weight, the balance car body (1) rotates rightward; if the forward weight is smaller than the backward weight and the leftward weight is smaller than the rightward weight, the balance car body (1) rotates rightward; if the forward weight is smaller than the backward weight and the left weight is larger than the right weight, the balance car body (1) rotates leftwards.
6. The operation control method of the electric balance car according to claim 3, 4 or 5, wherein the control circuit (5) controls the operation according to the stress changes of the two first pressure sensing mechanisms (3) and the two second pressure sensing mechanisms (4) in the two pedal areas (2) on the left side and the right side of the balance car body (1); or the control is performed according to the stress changes of the two first pressure sensing mechanisms (3) and the two second pressure sensing mechanisms (4) in the two pedal areas (2) on the left side and the right side of the balance car body (1) and the real-time data changes of the two gesture sensors (51) corresponding to the two pedal areas (2) during the operation control.
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| JP3981733B2 (en) * | 2003-09-17 | 2007-09-26 | 独立行政法人産業技術総合研究所 | Parallel two-wheel passenger cart |
| CN103600799B (en) * | 2013-10-17 | 2015-12-23 | 上海交通大学 | Based on steering control system and the balanced car with two wheels thereof of pressure sensor |
| CN104512502B (en) * | 2014-12-29 | 2017-06-16 | 南京快轮智能科技有限公司 | With gravity's center control direction without the electric motor car of handle Double-wheel self-balancing and its control method |
| CN105346650A (en) * | 2015-12-01 | 2016-02-24 | 杭州骑客智能科技有限公司 | Electric balance vehicle |
| CN105539659A (en) * | 2015-12-28 | 2016-05-04 | 广东龙昕科技有限公司 | Intelligent electric balance car of bolt rotary shaft structure |
| CN105501356B (en) * | 2016-01-15 | 2018-09-11 | 厉学战 | A kind of two-wheel balance car |
| CN207000687U (en) * | 2016-05-30 | 2018-02-13 | 浙江酷迪健康科技有限公司 | The operation control system of electrodynamic balance car and the electrodynamic balance car using the system |
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