CN108284906A - Fold motor bicycle and its control system - Google Patents
Fold motor bicycle and its control system Download PDFInfo
- Publication number
- CN108284906A CN108284906A CN201710012441.7A CN201710012441A CN108284906A CN 108284906 A CN108284906 A CN 108284906A CN 201710012441 A CN201710012441 A CN 201710012441A CN 108284906 A CN108284906 A CN 108284906A
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- CN
- China
- Prior art keywords
- balance
- motor
- unit
- folding
- motor bicycle
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K15/00—Collapsible or foldable cycles
- B62K15/006—Collapsible or foldable cycles the frame being foldable
- B62K15/008—Collapsible or foldable cycles the frame being foldable foldable about 2 or more axes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2202/00—Motorised scooters
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of control system folding motor bicycle, including：Central processing unit, driving unit, balancing unit and balance cock, the central processing unit is separately connected the driving unit, the balancing unit and the balance cock, the central processing unit is to the switching signal that is sent out according to the balance cock, control whether the balancing unit cooperates with the driving unit so that the motor bicycle after folding can autobalance car body to carry out；Advantageous effect：The folding motor bicycle control system of the present invention, can make motor bicycle after folding automatically keeps balance, solves motor bicycle in implementation or folded state, needs the balance of manpower holding vehicle body, technical problem inconvenient for use.
Description
Technical field
The present invention relates to a kind of running vehicle more particularly to a kind of folding motor bicycle and its control systems.
Background technology
The folding motor bicycle of the prior art, motor bicycle after folding, due to certain weight, when implementation, vehicle body
It is slightly tilted, needs firmly righting, during entire carry out, need to help vehicle body to fall down to the ground to avoid it always, when resting,
There is still a need for hand steered vehicle bodies to keep balancing, and therefore, motor bicycle use after folding is extremely inconvenient, more arduously, Wu Faman
The weak populations such as sufficient child old man use.
Invention content
The present invention provides a kind of control system folding motor bicycle, and can make motor bicycle after folding automatically keeps balance,
Motor bicycle is solved in implementation or folded state, manpower is needed to keep the balance of vehicle body, technical problem inconvenient for use.
To solve the above problems, technical solution provided by the invention is as follows：The present invention provides a kind of control folding motor bicycle
System processed, the control system include：Central processing unit；Driving unit, including power supply, motor and driving circuit, the drive
Dynamic circuit connects the power supply and the motor, the vehicle wheel rotation for driving motor bicycle；And balancing unit, including inertia survey
Module is measured, the balance for keeping the motor bicycle after folding；Balance cock connects the balancing unit, for controlling
State the open and close of balancing unit；The central processing unit is separately connected the driving unit, the balancing unit and institute
Balance cock is stated, it is single to control the balance to the switching signal sent out according to the balance cock for the central processing unit
Member whether cooperate with the driving unit so that the motor bicycle after folding can autobalance car body to carry out.
According to one preferred embodiment of the present invention, when the motor bicycle is for when riding, the balance cock to be closed described flat
Weigh unit, and the central processing unit controls the driving unit independent operating, and the motor is rotated along single direction；When the electricity
When bicycle folds to carry out, the balance cock opens the balancing unit, and the central processing unit controls the balance system
The driving unit is coordinated to run, the tilting of car body data that the central processing unit is acquired according to the inertia measuring module,
The motor forward or reverse is controlled to reach the balance of the car body.
According to one preferred embodiment of the present invention, the inertia measuring module includes gyroscope and acceleration transducer.
According to one preferred embodiment of the present invention, the control system further includes pressure sensor, and the pressure sensor is set
It is placed in the load-carrying members of the car body.
According to one preferred embodiment of the present invention, the motor is the wheel hub motor being built in wheel.
According to one preferred embodiment of the present invention, the balance cock is set to the folding junction of the car body.
Above-mentioned purpose according to the present invention proposes a kind of folding motor bicycle, including：Crossbeam, front end are connected with front fork, after
End is connected with holder；Front vehicle wheel is set to the front fork bottom；Rear wheel is set to the frame bottom；Among the crossbeam
It is provided with the articulated section for folding bicycle, after folding, the front vehicle wheel coincides with the rear wheel；And control system,
Including：Central processing unit；Driving unit, including power supply, motor and driving circuit, the driving circuit connect the power supply with
The motor, the vehicle wheel rotation for driving motor bicycle；And balancing unit, including inertia measuring module, it is folded for keeping
The balance of the motor bicycle afterwards；Balance cock connects the balancing unit, the unlatching for controlling the balancing unit and pass
It closes；The central processing unit is separately connected the driving unit, the balancing unit and the balance cock, the centre
Reason device controls whether the balancing unit assists with the driving unit to the switching signal sent out according to the balance cock
Make so that the motor bicycle after folding can autobalance car body to carry out.
According to one preferred embodiment of the present invention, when the motor bicycle is for when riding, the balance cock to be closed described flat
Weigh unit, and the central processing unit controls the driving unit independent operating, and the motor is rotated along single direction；When the electricity
When bicycle folds to carry out, the balance cock opens the balancing unit, and the central processing unit controls the balance system
The driving unit is coordinated to run, the tilting of car body data that the central processing unit is acquired according to the inertia measuring module,
The motor forward or reverse is controlled to reach the balance of the car body.
According to one preferred embodiment of the present invention, the inertia measuring module includes gyroscope and acceleration transducer.
According to one preferred embodiment of the present invention, the balance cock is snap switch, and is set to appointing for the articulated section
Meaning side, the folding of the articulated section is to control the opening and closing of the balance cock.
Beneficial effects of the present invention are：The folding motor bicycle control system of the present invention, can make motor bicycle after folding from
It is dynamic to keep balance, it solves motor bicycle in implementation or folded state, manpower is needed to keep the balance of vehicle body, awkward skill
Art problem.
Description of the drawings
It, below will be to embodiment or the prior art in order to illustrate more clearly of embodiment or technical solution in the prior art
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only some invented
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the control system frame diagram that the present invention folds motor bicycle；
Fig. 2 is that the present invention folds one status architecture schematic diagram of bicycle；
Fig. 3 is that the present invention folds the another status architecture schematic diagram of bicycle.
Specific implementation mode
The explanation of following embodiment is referred to the additional illustration, to illustrate the present invention can be used to implement particular implementation
Example.The direction term that the present invention is previously mentioned, such as [on], [under], [preceding], [rear], [left side], [right side], [interior], [outer], [side]
Deng being only the direction with reference to annexed drawings.Therefore, the direction term used be illustrate and understand the present invention, rather than to
The limitation present invention.The similar unit of structure is with being given the same reference numerals in the figure.
The present invention is directed to existing folding motor bicycle, implementation after folding or it is static when, need to be kept away with hand steered hold always
Exempt from it to fall down, more arduously, and then to use make troubles the technical issues of, the present invention can solve the technical problem.
The folding motor bicycle control system of the embodiment of the present invention, including：Central processing unit；Driving unit, including power supply, electricity
Machine and driving circuit, the driving unit are set at the rear wheel of motor bicycle, the driving circuit connect the power supply with
The motor, the vehicle wheel rotation for driving motor bicycle；And balancing unit, including inertia measuring module, it is folded for keeping
The balance of the motor bicycle afterwards；Balance cock connects the balancing unit, the unlatching for controlling the balancing unit and pass
It closes；The central processing unit is separately connected the driving unit, the balancing unit and the balance cock, the centre
Reason device controls whether the balancing unit assists with the driving unit to the switching signal sent out according to the balance cock
Make so that the motor bicycle after folding can autobalance car body to carry out.
The folding motor bicycle control system has following two driving conditions when controlling motor bicycle.
For example, when the folding motor bicycle is riding condition, the balance cock is in off state, the balancing unit
It is stopped, the inertia measuring module no longer collects the inertial data of vehicle body, and the central processing unit drives the driving single
Member conventionally operates, to drive bicycle to move ahead.
For another example, as shown in Figure 1, when the folding bicycle is implementation state, the balance cock 101 is open state,
The balancing unit 102 is started to work, and the inertia measuring module starts to collect the inertial data of the vehicle body, i.e., obtains in real time
Then the angle-data is transmitted to the central processing unit 103 by the angle of inclination of the vehicle body, by the central processing unit
After 103 pairs of angle-datas calculate, to 104 input drive signal of the driving unit, and then it is suitable to control the motor
Hour hands rotation, counterclockwise rotation and rotation angle, by the forward and backward rotation of wheel to offset the angle of inclination of the vehicle body,
Realize the balance of bicycle.
To, for motor bicycle in implementation or stationary state, vehicle body can be automatically regulated to be statokinetic, not have to artificial auxiliary,
It is laborsaving convenient when use.
Specifically, the inertia measuring module includes gyroscope and acceleration transducer；Wherein, the gyroscope is for surveying
Angular speed, what is utilized is principle of inertia, and the acceleration transducer is the force balance principle of linear acceleration utilized；Add
Measured value of the velocity sensor in the long period is correct, and within a short period of time due to the presence of signal noise, and it is wrong
Difference；And gyroscope is then relatively accurate within a short period of time and the long period there will be with drift and have error；Therefore, it is necessary to two
Person mutually adjusts to ensure to measure the precision at inclination angle.
Further, the control system further includes pressure sensor, and the pressure sensor is set to holding for the car body
On weight structure, the pressure sensor connects the central processing unit 103, the pressure sensor；Specifically, the motor bicycle
Rear wheel be provided with pedal structure, the pedal structure includes the first pedal on the left of the rear wheel, Yi Jiwei
The second pedal on the right side of the rear wheel, first pedal are individually fixed in the wheel shaft of the wheel in second pedal
End；The pressure sensor is set to first pedal in the second pedal surface, is stepped down on pedal for measuring both feet
Pressure can drive motor bicycle to move ahead by the way that pressure data is transferred to the central processing unit 103, when turning, by by body
It can turn towards target direction inclination.
Above-mentioned purpose according to the present invention proposes a kind of folding motor bicycle, including：Crossbeam, front end are connected with front fork, and rear end connects
It is connected to holder；Front vehicle wheel is set to the front fork bottom；Rear wheel is set to the frame bottom；Setting among the crossbeam
It is useful for the articulated section of folding bicycle, after folding, the front vehicle wheel coincides with the rear wheel；And control system, including：
Central processing unit；Driving unit, including power supply, motor and driving circuit, the driving circuit connect the power supply with it is described
Motor, the vehicle wheel rotation for driving motor bicycle；And balancing unit, including inertia measuring module, for keeping after folding
The balance of the motor bicycle；Balance cock connects the balancing unit, the open and close for controlling the balancing unit；
The central processing unit is separately connected the driving unit, the balancing unit and the balance cock, the central processing
Device controls whether the balancing unit assists with the driving unit to the switching signal sent out according to the balance cock
Make so that the motor bicycle after folding can autobalance car body to carry out.
As shown in Fig. 2, the riding condition of the folding motor bicycle for the embodiment of the present invention, the folding motor bicycle includes cross
Beam, the crossbeam include front beam 201 and rear cross beam 202, and the front end of the front beam 201 is connected with front fork 203, after described
The rear end of crossbeam 202 is connected with holder 204, hinged between the front beam 201 and the rear cross beam 202, the front beam 201
Junction with the rear cross beam 202 is articulated section 205, so that car body can fold；Front vehicle wheel 206 is set to the front fork
203 bottoms；Rear wheel 207 is set to 204 bottom of the holder；Handlebar 208 is fixed on 203 top of the front fork；
As shown in figure 3, the folded state of the folding motor bicycle for the embodiment of the present invention, the folding motor bicycle includes crossbeam,
The crossbeam includes front beam 301 and rear cross beam 302, and the front end of the front beam 301 is connected with front fork, the rear cross beam
302 rear end is connected with holder 304, hinged between the front beam 301 and the rear cross beam 302, the front beam 301 and institute
The junction for stating rear cross beam 302 is articulated section 305, so that car body can fold；Front vehicle wheel 306 is set to the front fork bottom；
Rear wheel 307 is set to 304 bottom of the holder；Handlebar 308 is fixed on the front fork top；At this point, by the front beam
301 rotate relative to the connecting pin of the rear cross beam 302, realize the doubling of motor bicycle, make the front vehicle wheel 306 and the rear wheel
307 coincide；At this point, the balance system is opened, the balance for being rotated up to car body of wheel is controlled.
When the motor bicycle is for when riding, the balance cock to close the balancing unit, the central processing unit control
The driving unit independent operating is made, the motor is rotated along single direction；It is described flat when the motor bicycle is folded to carry out
Weighing apparatus switch opens the balancing unit, and the central processing unit controls the balance system and coordinates the driving unit operation, institute
State the tilting of car body data that central processing unit is acquired according to the inertia measuring module, control the motor forward or reverse with
Reach the balance of the car body.
The inertia measuring module includes gyroscope and acceleration transducer；Wherein, the gyroscope is used for angular velocity
, what is utilized is principle of inertia, and the acceleration transducer is the force balance principle of linear acceleration utilized；Acceleration passes
Measured value of the sensor in the long period is correct, and within a short period of time due to the presence of signal noise, and have error；And top
Spiral shell instrument is then relatively accurate within a short period of time and the long period there will be with drift and have error；It is mutual that therefore, it is necessary to the two
It adjusts to ensure to measure the precision at inclination angle.
According to one preferred embodiment of the present invention, the balance cock is snap switch, and is set to the articulated section 305
Arbitrary side, the folding of the articulated section 305 is to control the opening and closing of the balance cock；Wherein, when the articulated section 305 is closed
When（That is riding condition）, the elastic tip of the snap switch and the opposite other end of the articulated section 305 are inconsistent, the balance
Switch is OFF state；When the articulated section 305 of stating is opened（That is folded state）, the elastic tip of the snap switch bounces, described flat
Weighing apparatus switch is ON state, and then opens balance system；Therefore, balance system can be opened by the action of folding, without excessive behaviour
Make.
The folding motor bicycle control system of the present invention, can make motor bicycle after folding automatically keeps balance, solves electricity
Bicycle needs manpower to keep the balance of vehicle body, technical problem inconvenient for use in implementation or folded state.
In conclusion although the present invention is disclosed above with preferred embodiment, above preferred embodiment is not to limit
The system present invention, those skilled in the art can make various changes and profit without departing from the spirit and scope of the present invention
Decorations, therefore protection scope of the present invention is subject to the range that claim defines.
Claims (10)
1. a kind of control system folding motor bicycle, which is characterized in that the control system includes：
Central processing unit；Driving unit, including power supply, motor and driving circuit, the driving circuit connect the power supply with
The motor, the vehicle wheel rotation for driving motor bicycle；And balancing unit, including inertia measuring module, it is folded for keeping
The balance of the motor bicycle afterwards；Balance cock connects the balancing unit, the unlatching for controlling the balancing unit and pass
It closes；The central processing unit is separately connected the driving unit, the balancing unit and the balance cock, the centre
Reason device controls whether the balancing unit assists with the driving unit to the switching signal sent out according to the balance cock
Make so that the motor bicycle after folding can autobalance car body to carry out.
2. control system according to claim 1, which is characterized in that when the motor bicycle is used to ride, the balance
Switch closes the balancing unit, and the central processing unit controls the driving unit independent operating, and the motor is along single side
To rotation；When the motor bicycle is folded to carry out, the balance cock opens the balancing unit, the central processing unit control
Making the balance system coordinates the driving unit operation, the central processing unit to be acquired according to the inertia measuring module
Tilting of car body data control the motor forward or reverse to reach the balance of the car body.
3. control system according to claim 1, which is characterized in that the inertia measuring module includes gyroscope and acceleration
Spend sensor.
4. control system according to claim 1, which is characterized in that the control system further includes pressure sensor, institute
Pressure sensor is stated to be set in the load-carrying members of the car body.
5. control system according to claim 1, which is characterized in that the motor is the wheel hub electricity being built in wheel
Machine.
6. control system according to claim 1, which is characterized in that the balance cock is set to the folding of the car body
Junction.
7. a kind of folding motor bicycle, which is characterized in that including crossbeam, front end is connected with front fork, and rear end is connected with holder；Front truck
Wheel, is set to the front fork bottom；Rear wheel is set to the frame bottom；It is provided with for folded bicycle among the crossbeam
The articulated section of body, after folding, the front vehicle wheel coincides with the rear wheel；And control system, including：Central processing unit；
Driving unit, including power supply, motor and driving circuit, the driving circuit connects the power supply and the motor, for driving
The vehicle wheel rotation of dynamic motor bicycle；And balancing unit, including inertia measuring module, for keeping the motor bicycle after folding
Balance；Balance cock connects the balancing unit, the open and close for controlling the balancing unit；The central processing
Device is separately connected the driving unit, the balancing unit and the balance cock, and the central processing unit is to according to institute
The switching signal that balance cock is sent out is stated, controls whether the balancing unit cooperates with the driving unit so that the electricity
Bicycle after folding can autobalance car body to carry out.
8. folding motor bicycle according to claim 7, which is characterized in that
When the motor bicycle is for when riding, the balance cock to close the balancing unit, central processing unit control institute
Driving unit independent operating is stated, the motor is rotated along single direction；When the motor bicycle is folded to carry out, the balance is opened
It closes and opens the balancing unit, the central processing unit controls the balance system and coordinates the driving unit operation, in described
The tilting of car body data that central processor is acquired according to the inertia measuring module control the motor forward or reverse to reach
The balance of the car body.
9. folding motor bicycle according to claim 7, which is characterized in that the inertia measuring module includes gyroscope and adds
Velocity sensor.
10. folding motor bicycle according to claim 7, which is characterized in that the balance cock is snap switch, and is arranged
Arbitrary side in the articulated section, the folding of the articulated section is to control the opening and closing of the balance cock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710012441.7A CN108284906A (en) | 2017-01-09 | 2017-01-09 | Fold motor bicycle and its control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710012441.7A CN108284906A (en) | 2017-01-09 | 2017-01-09 | Fold motor bicycle and its control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108284906A true CN108284906A (en) | 2018-07-17 |
Family
ID=62819227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710012441.7A Pending CN108284906A (en) | 2017-01-09 | 2017-01-09 | Fold motor bicycle and its control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108284906A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103818506A (en) * | 2014-03-03 | 2014-05-28 | 杨顺 | Ultra short folding electrical bicycle |
| CN203844935U (en) * | 2014-02-28 | 2014-09-24 | 鲍炜 | Quasi-two-wheeled electric vehicle |
| KR20150017448A (en) * | 2013-08-06 | 2015-02-17 | 한국철도기술연구원 | the transportation device for a person |
| CN104627296A (en) * | 2014-09-26 | 2015-05-20 | 杭州云造科技有限公司 | Intelligent folding electric bicycle |
| CN104859770A (en) * | 2014-02-24 | 2015-08-26 | 嘉兴斯麦龙电子科技有限公司 | Transformable self-balancing two-wheeled electric vehicle |
| CN105365965A (en) * | 2015-12-21 | 2016-03-02 | 昆山引强电子科技有限公司 | Electric bicycle having dual purposes of self-balance and riding |
| CN205311796U (en) * | 2015-10-12 | 2016-06-15 | 孙延东 | Intelligence foldable electric scooter |
| CN205769871U (en) * | 2016-06-28 | 2016-12-07 | 无锡科乐威尔智能科技有限公司 | Portable folding electric bicycle |
-
2017
- 2017-01-09 CN CN201710012441.7A patent/CN108284906A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150017448A (en) * | 2013-08-06 | 2015-02-17 | 한국철도기술연구원 | the transportation device for a person |
| CN104859770A (en) * | 2014-02-24 | 2015-08-26 | 嘉兴斯麦龙电子科技有限公司 | Transformable self-balancing two-wheeled electric vehicle |
| CN203844935U (en) * | 2014-02-28 | 2014-09-24 | 鲍炜 | Quasi-two-wheeled electric vehicle |
| CN103818506A (en) * | 2014-03-03 | 2014-05-28 | 杨顺 | Ultra short folding electrical bicycle |
| CN104627296A (en) * | 2014-09-26 | 2015-05-20 | 杭州云造科技有限公司 | Intelligent folding electric bicycle |
| CN205311796U (en) * | 2015-10-12 | 2016-06-15 | 孙延东 | Intelligence foldable electric scooter |
| CN105365965A (en) * | 2015-12-21 | 2016-03-02 | 昆山引强电子科技有限公司 | Electric bicycle having dual purposes of self-balance and riding |
| CN205769871U (en) * | 2016-06-28 | 2016-12-07 | 无锡科乐威尔智能科技有限公司 | Portable folding electric bicycle |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20180717 |