CN107380302A - A kind of two-wheel vehicle used left and right self balancing device - Google Patents
A kind of two-wheel vehicle used left and right self balancing device Download PDFInfo
- Publication number
- CN107380302A CN107380302A CN201710676477.5A CN201710676477A CN107380302A CN 107380302 A CN107380302 A CN 107380302A CN 201710676477 A CN201710676477 A CN 201710676477A CN 107380302 A CN107380302 A CN 107380302A
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- microcontroller
- processor
- sensor
- regulating arm
- switch
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- 230000001105 regulatory effect Effects 0.000 claims abstract description 17
- 238000007667 floating Methods 0.000 claims abstract description 10
- 238000013016 damping Methods 0.000 claims abstract description 5
- 238000005303 weighing Methods 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H1/00—Supports or stands forming part of or attached to cycles
- B62H1/10—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
- B62H1/12—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride using additional wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The present invention discloses a kind of two-wheel vehicle used left and right self balancing device, including auxiliary wheel, regulating arm, motor and clutch, control device and microcontroller/processor, auxiliary wheel is arranged on the regulating arm vertically slided, spring damping device and pressure sensor are installed between auxiliary wheel and regulating arm, regulating arm is by motor gear driving or slidably, control device receives each switch and microcontroller/processor signal and sends action command to motor and clutch, and microcontroller/processor input is from signals such as pressure, speed, position sensors.In semi-automatic mode, operator realizes that auxiliary wheel position locking/floating/raised configuration is changed with status switch, switched with fine tuning realize it is left/in/right fine tuning；In automatic mode, pressure, speed, position sensor (or further, inclination, rotation direction sensor) input signal to microcontroller/processor, motor and clutch are acted to adjust vehicle body attitude after obtaining microcontroller/processor instruction signal.
Description
Technical field
The present invention relates to a kind of device for automatically adjusting car body balance, especially a kind of two-wheel vehicle used left and right self-balancing dress
Put.
Background technology
Sulky vehicle such as motorcycle, electric car, there is small volume, and oil consumption is low, pollution it is small, cost is low, it is easy to operate the advantages that.
But with carriage ratio, one big shortcoming be present is exactly in low speed or stopping, and operator is special with need to using pin point to keep balance
When not being that sleet sky road muddy water is more, or during dressing inconvenience.Existing a number of manufacturers both at home and abroad are former with gyroscope in exploitation
Sulky vehicle based on reason, also some manufacturers deploy to fix to reach balance with left and right auxiliary wheel in low speed.But arrive mesh
Before untill, there has been no relatively successfully for consumer receive the vehicle travelled on road surface, its reason is too high nothing more than cost,
Performance is not perfect, operation inconvenience etc..
In the prior art, a kind of lateral stability system for vehicle is described in U.S. Patent No. 8235419, its
Leg assembly including being connected to vehicle, leg assembly have a pair of parallel supporting leg to be extended back from the front end of vehicle；It is fixed
To the be hinged wheel assembly and position control of each distal end, it controls the fortune of leg assembly in response to the operating parameter of vehicle
It is dynamic.One kind is introduced in U.S. Patent No. 8532915 and receives data by multiple sensors to indicate to describe car status information
Apparatus and method；The information comprises at least the direction of vehicle frame, and the front-wheel of vehicle is wrapped in vehicle relative to the direction of framework
The orientation and rotating speed (gyroscopes frame for being coupled to vehicle) of the gyroscope flywheel contained, and the present speed of vehicle；Gyro
Instrument can be relative to the front wheels and rear wheels framework relative to vehicle or the height of chassis above ground side relative to vehicle in the vertical of vehicle
To.
The content of the invention
To solve the two wheeler cost that balance is kept in low speed or stopping that prior art has some manufacturer's exploitations
Too high, performance is not perfect and unhandy defect, the present invention provide a kind of two-wheel vehicle used left and right self balancing device, simply
Practicality, operation operation nature facility, in automatic mode with certain intellectuality, be such vehicle a kind of new trial with
Improve.
To achieve the above object, the present invention uses following technical proposals：
A kind of two-wheel vehicle used left and right self balancing device, the left and right self balancing device include auxiliary wheel, regulating arm, motor
And clutch, control device and microcontroller/processor, auxiliary wheel are arranged on the regulating arm vertically slided, auxiliary wheel and tune
Spring damping device and pressure sensor are installed, regulating arm adjusts brachium or freedom by motor gear driving between joint arm
Slide, control device receives the signal of each switch and microcontroller/processor, and sends regulating arm lock to motor and clutch
Determine, float, adjust and pack up four elemental motion instructions, microcontroller/processor input is from pressure sensor, velocity sensor
And the signal of position sensor.
Further, the left and right self balancing device includes locking/floating/rise switch and manual/automatic selector switch, lock
Fixed/floating/rise switch is connected with manual/automatic selector switch, and manual/automatic selector switch is connected with control device.
Further, the left and right self balancing device include it is left/in/right fine tuning switch, it is left/in/right fine tuning switch with manually/
Automatic transfer switch and microcontroller/processor are connected.
Further, the left and right self balancing device includes inclination sensor, inclination sensor and microcontroller/processor phase
Even.
Further, the left and right self balancing device includes rotation direction sensor, rotation direction sensor and microcontroller/processor phase
Even.
Beneficial effect：
In semi-automatic mode, operator realizes auxiliary wheel position locking/floating/raised configuration to the present invention with status switch
Conversion, switched with fine tuning realize it is left/in/right fine tuning；In automatic mode, pressure, speed, position sensor (or further, incline
Degree, rotation direction sensor) input signal to microcontroller/processor, motor and clutch obtain microcontroller/processor instruction signal
Act afterwards to adjust vehicle body attitude；The present invention is simple for structure, and vehicle operating operation nature is easy, in automatic mode by letter
Prompt intellectualized operation replaces manual operation.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the present invention；
Fig. 2 is the control principle block diagram of the present invention；
Fig. 3 is the control principle block diagram of the present invention in a manual mode；
Fig. 4 is a kind of control principle block diagram of the present invention in automatic mode；
Fig. 5 is another control principle block diagram of the present invention in automatic mode.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples.
A kind of two-wheel vehicle used left and right self balancing device of the present invention, based on left and right auxiliary wheel and regulating arm, pass through half
Automatic or automatic mode controls left-right balance, and it, which is acted, includes putting down/rising, contact ground, regulating arm locking, and left, center, right
Several steps such as fine tuning.As shown in figure 1, basic structure includes some tooth guide wheels 208 and circle guide wheel 209, rack 202 (as tune
Joint arm), control device 204, motor and clutch 203, pressure sensor 207, spring and damping unit 206 and auxiliary wheel
201.Tooth guide wheel 208 engages with rack 202, moves up and down rack 202, and control device 204 receives each switch and microcontroller/place
Manage the signal of device 205 and send action command to motor and clutch 203, motor and clutch 203 connect a tooth guide wheel
208, motor and clutch 203 drive according to action command or stop the tooth guide wheel 208 or be allowed to free rotation, rack
Auxiliary wheel 201 is installed on 202, pressure sensor 207 and spring and damping dress are installed between auxiliary wheel 201 and rack 202
Put 206.
As shown in Fig. 2 control device 204 connects motor and clutch 203 and causes motor to turn or stop, clutch closes
Or point.In semi-automatic mode, locking/floating/rise switchs 101 signals and is sent to control through manually/automatic change-over 102
Device 204.In automatic mode, the signal of pressure sensor 207, velocity sensor 3, position sensor 4 etc. pass to microcontroller/
Processor 205 is computed rear object command and delivers to control device 204 through manually/automatic change-over 102.A slip left side/in/right thin
Tune switch 103 further adjusts posture.
As shown in figure 3, only operating in a manual mode, locking/floating/rise switchs 101 signals through manually/automatic conversion
Switch 102 is sent to control device 204, and control device 204 connects motor and clutch 203, control device 204 use relay
Device and its extension class can meet to require, because low speed high torque motor often has auto-lock function in itself, therefore without additionally locking
Determine device；Otherwise need to add a locking device.
As shown in figure 4, in automatic mode, in the case of simplest, the input of microcontroller/processor 205 passes from pressure
Sensor 207, velocity sensor 3, the signal of position sensor 4 (detection auxiliary wheel 201 height and position) then calculate regulating arm
Action.What wherein the data of velocity sensor 3 can be used to control auxiliary wheel 201 the state such as puts down/rises, floats, locking.Position passes
Sensor 4 can find out the height and position of auxiliary wheel 201 and extreme position, and pressure sensor 207 can find out the pressure that auxiliary wheel 201 is born
Power.Pressure sensor 207 and the data of position sensor 4 can be used to the left and right pose adjustment under locking or quick condition.Micro-control
The result of system/processor 205 exports completes motor and clutch 203 acts to control device 204.Specific operation process is with
Section.In such a mode, operator still can by it is left/in/right fine tuning switch 103 carries out stance adjustment to meet special demands.
As shown in figure 5, in automatic mode, under more satisfactory framework, sensor, which includes velocity sensor, (can use car
Itself band) 3, inclination sensor 5, the pressure sensor 207 and position sensor 4 of rotation direction sensor 6 and left and right adjusting arm,
Each sensor input signal is to microcontroller/processor 205.Specific algorithm can use each parameter or the affinel of its trigonometric function
Inear models, or highest second order.When car speed is down to it is relatively low when (such as 10 kilometers/hour or so), speed pass
Sensor 3 senses speed, is calculated by microcontroller/processor 205, and control left and right two-arm is put down by stowed position, works as wheel contacts
During ground, put down action and stop and enter quick condition；When speed further reduces (such as 3-6 kilometers/hour or so), speed
Sensor 3 senses speed, is calculated by microcontroller/processor 205, and locking device works, and now left and right two-arm locks, vehicle
Now traveling stops such as carriage.Hereafter operator also slidably it is left/in/the further regulation vehicle attitudes of right fine tuning switch 103.
Certainly if bringing to a halt, vehicle can be directly entered locking of contacting to earth without floating step by putting down.When by starting to walk to normal
During traveling, contrary operation.When speed reaches certain speed (such as 3-6 kilometers/hour or so), locking transition is floating,
After speed is further up (such as 10 kilometers/hour or so), left and right two-arm is packed up, this rear vehicle traveling such as traditional two-wheeled
Car.When only using pressure sensor 207, basic poses adjustment work can be also completed by induction pressure.Inclination sensor 5 and steering
When sensor 6 senses lateral inclination and the anglec of rotation, it can be calculated by microcontroller/processor 205 more smooth and complicated
Action under operating mode.
In summary, the present invention it is a kind of it is two-wheel vehicle used with auxiliary wheel come the left and right realized it is semi-automatic/automatic balancing arrangement,
When low speed, auxiliary wheel is fallen by stowed position, is contacted to earth and is in quick condition.When speed is lower, regulating arm locking, now
Vehicle is such as carriage.The device has semi- or fully automated two kinds of operator schemes, and under semi-automatic state, operator only needs to press
Some switches, each work can be completed；, it is necessary to add some sensors and a microcontroller/processor again under auto state,
But under auto state, left and right vehicle wheel balance is paid close attention to without operator.
Limiting the scope of the invention, one of ordinary skill in the art should be understood that in technical scheme
On the basis of, those skilled in the art need not pay the various modifications that creative work can make or deformation still the present invention's
Within protection domain.
Claims (5)
- A kind of 1. two-wheel vehicle used left and right self balancing device, it is characterised in that：The left and right self balancing device includes auxiliary wheel (201), regulating arm, motor and clutch (203), control device (204) and microcontroller/processor (205), auxiliary wheel (201) it is arranged on the regulating arm vertically slided, auxiliary wheel (201) is provided with spring damping device between regulating arm (206) and pressure sensor (207), regulating arm adjusts brachium or slidably, control device by motor gear driving (204) signal of each switch and microcontroller/processor (205) is received, and regulating arm position is sent to motor and clutch (203) Put locking, float, adjust and pack up four elemental motion instructions, microcontroller/processor (205) input comes from pressure sensor (207), the signal of velocity sensor (3) and position sensor (4).
- 2. two-wheel vehicle used left and right self balancing device according to claim 1, it is characterised in that：The left and right self-balancing dress Put including locking/floating/rise switch (101) and manual/automatic selector switch (102), locking/floating/rise switch (101) It is connected with manual/automatic selector switch (102), manual/automatic selector switch (102) is connected with control device (204).
- 3. two-wheel vehicle used left and right self balancing device according to claim 1 or 2, it is characterised in that：The left and right is certainly flat The device that weighs include it is left/in/right fine tuning switch (103), it is left/in/right fine tuning switch (103) and manual/automatic selector switch (102) And microcontroller/processor (205) is connected.
- 4. two-wheel vehicle used left and right self balancing device according to claim 1, it is characterised in that：The left and right self-balancing dress Put and be connected including inclination sensor (5), inclination sensor (5) with microcontroller/processor (205).
- 5. the two-wheel vehicle used left and right self balancing device according to claim 1 or 4, it is characterised in that：The left and right is certainly flat Weighing apparatus device includes rotation direction sensor (6), and rotation direction sensor (6) is connected with microcontroller/processor (205).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710676477.5A CN107380302A (en) | 2017-08-09 | 2017-08-09 | A kind of two-wheel vehicle used left and right self balancing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710676477.5A CN107380302A (en) | 2017-08-09 | 2017-08-09 | A kind of two-wheel vehicle used left and right self balancing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107380302A true CN107380302A (en) | 2017-11-24 |
Family
ID=60345122
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710676477.5A Pending CN107380302A (en) | 2017-08-09 | 2017-08-09 | A kind of two-wheel vehicle used left and right self balancing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113173218A (en) * | 2021-06-09 | 2021-07-27 | 江苏爱玛车业科技有限公司 | Intelligent auxiliary system of electric two-wheeled vehicle |
| CN115352564A (en) * | 2022-09-02 | 2022-11-18 | 深圳市慧星辰科技有限公司 | Control device and method for intelligent balance scooter |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4595213A (en) * | 1983-05-28 | 1986-06-17 | Kimihiro Tsuchie | Auxiliary wheel arrangement of bicycle |
| CN2281935Y (en) * | 1996-12-19 | 1998-05-20 | 林淑珺 | Motorcycle with lift auxiliary wheel |
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| CN103057635A (en) * | 2011-10-21 | 2013-04-24 | 邹帆 | Bestriding type self-balancing two-wheeled electric car |
| CN203078638U (en) * | 2013-02-06 | 2013-07-24 | 刘胜 | Auxiliary balance mechanism of coaxial two-wheeled electric vehicle |
| CN103600801A (en) * | 2013-10-17 | 2014-02-26 | 上海交通大学 | Steering control system based on infrared sensor and self-balancing bicycle thereof |
| CN204498604U (en) * | 2015-04-02 | 2015-07-29 | 柳铮 | A kind of automatic balancing arrangement |
| CN105539658A (en) * | 2015-12-24 | 2016-05-04 | 鲍炜 | Safe two-wheeled self-balancing vehicle |
| CN205440617U (en) * | 2016-03-16 | 2016-08-10 | 黄铃华 | Motorcycle by rotary speed control supports |
| CN106314645A (en) * | 2015-06-23 | 2017-01-11 | 代志斌 | Vehicle balancing device and method for adjusting vehicle balance |
| CN106627963A (en) * | 2016-11-18 | 2017-05-10 | 王徽 | In-line electric car rear wheel steering self-balancing control device and method |
-
2017
- 2017-08-09 CN CN201710676477.5A patent/CN107380302A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4595213A (en) * | 1983-05-28 | 1986-06-17 | Kimihiro Tsuchie | Auxiliary wheel arrangement of bicycle |
| CN2281935Y (en) * | 1996-12-19 | 1998-05-20 | 林淑珺 | Motorcycle with lift auxiliary wheel |
| CN1304842A (en) * | 2001-01-05 | 2001-07-25 | 冯永忠 | Sedan with auxiliary wheel |
| CN1796216A (en) * | 2004-12-28 | 2006-07-05 | 朱元景 | Two wheels automobile balanced by using aerodynamic force |
| CN1740024A (en) * | 2005-08-17 | 2006-03-01 | 刘栋玲 | Adjustable auxiliary wheel for motorcycle |
| CN1872614A (en) * | 2006-06-30 | 2006-12-06 | 宁波Gqy视讯股份有限公司 | Standing and seating two-way type balanced car with two wheels |
| CN102442367A (en) * | 2010-10-09 | 2012-05-09 | 连三郎 | Motorcycle with automatic lifting auxiliary wheel frames |
| CN103057635A (en) * | 2011-10-21 | 2013-04-24 | 邹帆 | Bestriding type self-balancing two-wheeled electric car |
| CN202694150U (en) * | 2012-05-11 | 2013-01-23 | 朱弘 | Automatic auxiliary balance device for bicycle riding learning |
| CN203078638U (en) * | 2013-02-06 | 2013-07-24 | 刘胜 | Auxiliary balance mechanism of coaxial two-wheeled electric vehicle |
| CN103600801A (en) * | 2013-10-17 | 2014-02-26 | 上海交通大学 | Steering control system based on infrared sensor and self-balancing bicycle thereof |
| CN204498604U (en) * | 2015-04-02 | 2015-07-29 | 柳铮 | A kind of automatic balancing arrangement |
| CN106314645A (en) * | 2015-06-23 | 2017-01-11 | 代志斌 | Vehicle balancing device and method for adjusting vehicle balance |
| CN105539658A (en) * | 2015-12-24 | 2016-05-04 | 鲍炜 | Safe two-wheeled self-balancing vehicle |
| CN205440617U (en) * | 2016-03-16 | 2016-08-10 | 黄铃华 | Motorcycle by rotary speed control supports |
| CN106627963A (en) * | 2016-11-18 | 2017-05-10 | 王徽 | In-line electric car rear wheel steering self-balancing control device and method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113173218A (en) * | 2021-06-09 | 2021-07-27 | 江苏爱玛车业科技有限公司 | Intelligent auxiliary system of electric two-wheeled vehicle |
| CN115352564A (en) * | 2022-09-02 | 2022-11-18 | 深圳市慧星辰科技有限公司 | Control device and method for intelligent balance scooter |
| CN115352564B (en) * | 2022-09-02 | 2024-04-19 | 深圳市慧星辰科技有限公司 | Control device and method for intelligent balance scooter |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171124 |
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