CN108609098B - Traveling device with dual operation modes and control method thereof - Google Patents
Traveling device with dual operation modes and control method thereof Download PDFInfo
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- CN108609098B CN108609098B CN201810405430.XA CN201810405430A CN108609098B CN 108609098 B CN108609098 B CN 108609098B CN 201810405430 A CN201810405430 A CN 201810405430A CN 108609098 B CN108609098 B CN 108609098B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K17/00—Cycles not otherwise provided for
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Abstract
The invention discloses a traveling device with dual operation modes and a control method thereof, which relate to the technical field of robot chassis and comprise the following steps: the chassis comprises a chassis support, a pedal device and a pedal sensing device, the upper part of the chassis support is also provided with a pedal supporting part, and the middle part of the pedal supporting part is provided with a bridge main shaft; the pedal device also comprises a lengthened pedal plate, the lengthened pedal plate is used for enabling the user to stand with two feet perpendicular to the advancing direction, the rolling device comprises a driving wheel and auxiliary wheels, the driving wheel is rotatably arranged on the left side and the right side of the chassis support, and when the advancing device with the dual operation modes runs stably, the first auxiliary wheel and the second auxiliary wheel are in a suspended state; the safety is greatly improved through the design of the auxiliary wheel, and the auxiliary wheel sensing device is arranged on the auxiliary wheel, so that the road condition can be judged in the advancing process; meanwhile, the requirement of a user on higher speed can be met by adopting a novel operation mode of lengthening the pedal.
Description
Technical Field
The invention relates to the technical field of robot chassis, in particular to a traveling device with dual operation modes and a control method thereof.
Background
The electric balance car has been applied to the fields of entertainment and short-distance transportation, and at present, the products are mainly used for short-distance transportation and supplementary transportation of public transportation, and the portability and the use convenience of the products are the key points of the products for users. However, the existing similar products have the defects of large volume, inconvenience in carrying and incapability of meeting the requirements of users in portability. Some products are miniaturized, but the structure of the product cannot completely ensure the safe use of the product; the operation principle of the electric balance vehicle, also called a human-computer interaction balance vehicle and a thinking vehicle is mainly established on the basic principle called dynamic stability, the gyroscope and the acceleration sensor in the vehicle body are utilized to detect the change of the vehicle body posture, and a servo control system is utilized to accurately drive a motor to carry out corresponding adjustment so as to keep the balance of the system; the existing electric balance car is only provided with two driving wheels, the forward and backward movement of the existing electric balance car are controlled by the inclination of the whole electric balance car, the steering is realized by stepping on a pedal platform by a user and controlling through the relative rotation angle difference between the two pedal platforms, the safety is not high enough, and the difficulty of beginners in getting on hands is large.
An electric scooter as disclosed in chinese invention patent CN105416469A, comprising: the engine base, the left motor wheel and the right motor wheel are respectively arranged on the left side and the right side of the engine base; the left foot pedal and the right foot pedal are respectively rotatably arranged on the base and rotate back and forth relative to the base; the circuit board is used for sensing the rotation angle of the corresponding pedal and controlling the corresponding motor wheel to work according to the rotation angle of the pedal; the circuit board can control the work of the corresponding motor wheel according to the rotating direction and the rotating angle of the left foot board and the right foot board by rotating the left foot board and the right foot board which are arranged on the base; the electric scooter has lower safety, makes beginners more difficult to learn and cannot ensure stable running on uphill and downhill.
Disclosure of Invention
First, technical problem to be solved
The invention aims at the defects in the prior art, and particularly provides a traveling device with dual operation modes and a control method thereof, so that the problems of low stability and low safety of the traveling device are solved, and the problems that the traditional traveling device has poor control performance in the high-speed traveling process and cannot meet the requirement of a user on higher speed are solved.
Second, technical scheme
To solve the above technical problem, the present invention provides a traveling apparatus having dual operation modes, comprising: the chassis comprises a chassis support, a pedal device and a pedal sensing device, the upper part of the chassis support is also provided with a pedal supporting part, the middle part of the pedal supporting part is provided with a bridge main shaft, the pedal device can rotate around the bridge main shaft as a seesaw, and the pedal sensing device is arranged between the pedal device and the pedal supporting part; the pedal device also comprises a lengthened pedal plate, the lengthened pedal plate is used for enabling the feet of a user to stand in a direction perpendicular to the advancing direction, the rolling device comprises a driving wheel and auxiliary wheels, the auxiliary wheels comprise a first auxiliary wheel and a second auxiliary wheel, the driving wheel is rotatably arranged on the left side and the right side of the chassis support, the first auxiliary wheel and the second auxiliary wheel are respectively rotatably arranged on the front side and the rear side of the chassis support, when the advancing device with the dual operation modes runs stably, the first auxiliary wheel and the second auxiliary wheel are in a suspension state, the advancing device with the dual operation modes further comprises an auxiliary wheel sensing device, and the auxiliary wheel sensing device is used for sensing the pressure information of the first auxiliary wheel and the second auxiliary wheel.
The lengthened foot pedal is arranged at the bottom of the pedal device and can be unfolded in a folding or telescopic mode.
The number of the pedal induction devices is 2, the two pedal induction devices are positioned at the bottom of the pedal device and symmetrically arranged on two sides of the main shaft of the bridge, and the pedal induction devices comprise pedal induction devices A and pedal induction devices B.
The chassis support is internally provided with a controller, the controller is used for receiving pressure information of the pedal sensing device and the auxiliary wheel sensing device, and the controller is used for controlling the movement of the driving wheel through the pressure information of the pedal sensing device and the auxiliary wheel sensing device.
The auxiliary wheel sensing device comprises an auxiliary wheel sensing device E and an auxiliary wheel sensing device F, wherein the auxiliary wheel sensing device E is used for sensing the pressure information of the first auxiliary wheel, and the auxiliary wheel sensing device F is used for sensing the pressure information of the second auxiliary wheel.
Wherein, the action wheel material is rubber, and the action wheel lateral part is equipped with the hole groove.
The auxiliary wheel mounting frame is hinged to the chassis support, a limiting torsion spring is further arranged on a hinged rotating shaft of the auxiliary wheel mounting frame and the chassis support, and the auxiliary wheel sensing device is further used for sensing inclination information of the travelling device.
Wherein, be equipped with the auxiliary wheel support on the auxiliary wheel, the auxiliary wheel support is used for installing with the auxiliary wheel mounting bracket cooperation.
Wherein, auxiliary wheel induction system sets up in auxiliary wheel support upper portion.
A running gear control method having a dual operation mode, comprising the steps of:
the first mode is as follows: the low-speed mode is adopted, the standing direction of the feet of a user is the same as the advancing direction, and after the advancing device with the dual operation mode is started, the advancing device with the dual operation mode enters a stable running state;
when the traveling device with the dual operation mode is controlled to advance in an accelerated manner, the traveling device with the dual operation mode is controlled to incline forwards, the first auxiliary wheel contacts the ground, the auxiliary wheel sensing device E continuously bears pressure due to supporting of the ground, the speed of the driving wheel is increased at the moment, and the traveling device with the dual operation mode advances in an accelerated manner;
when the traveling device with the dual operation mode is controlled to decelerate and brake, the traveling device with the dual operation mode is controlled to incline backwards, the second auxiliary wheel contacts the ground, the auxiliary wheel sensing device F continuously bears pressure due to supporting the ground, at the moment, the speed of the driving wheel is reduced, and the traveling device with the dual operation mode decelerates and advances;
when the traveling device with the dual operation modes is controlled to rotate left, the stress of the pedal sensing device A is greater than that of the pedal sensing device B, and the driving wheel rotates left to travel;
when the traveling device with the dual operation modes is controlled to rotate rightwards, the stress of the pedal induction device A is smaller than that of the pedal induction device B, and the driving wheel rotates rightwards to travel;
when the traveling device with the dual operation mode needs to pass through an obstacle, the first auxiliary wheel firstly contacts the obstacle, the auxiliary wheel sensing device E bears instantaneous pressure due to supporting the ground, and the traveling device with the dual operation mode automatically decelerates and brakes at the moment;
and a second mode: adopting a high-speed mode, unfolding the lengthened pedal plates from the front end and the rear end of the pedal device, standing the user with two feet perpendicular to the advancing direction, and enabling the advancing device with the dual operation modes to enter a stable running state after starting the advancing device with the dual operation modes;
when the traveling device with the dual operation mode is controlled to advance in an accelerated manner, the traveling device with the dual operation mode is controlled to incline forwards, the first auxiliary wheel contacts the ground, the auxiliary wheel sensing device E continuously bears pressure due to supporting of the ground, the speed of the driving wheel is increased at the moment, and the traveling device with the dual operation mode advances in an accelerated manner;
when the traveling device with the dual operation mode is controlled to decelerate and brake, the traveling device with the dual operation mode is controlled to incline backwards, the second auxiliary wheel contacts the ground, the auxiliary wheel sensing device F continuously bears pressure due to supporting the ground, at the moment, the speed of the driving wheel is reduced, and the traveling device with the dual operation mode decelerates and advances;
when the traveling device with the dual operation modes is controlled to rotate left, the stress of the pedal sensing device A is greater than that of the pedal sensing device B, and the driving wheel rotates left to travel;
when the traveling device with the dual operation modes is controlled to rotate rightwards, the stress of the pedal induction device A is smaller than that of the pedal induction device B, and the driving wheel rotates rightwards to travel;
when the traveling device having the dual operation mode needs to pass through an obstacle, the first auxiliary wheel contacts the obstacle first, the auxiliary wheel sensing device E receives instantaneous pressure due to supporting the ground, and at this time, the traveling device having the dual operation mode automatically decelerates and brakes.
Third, beneficial effect
Compared with the prior art, the travelling device with the dual operation modes has the advantages that the stability and the safety of the travelling device with the dual operation modes are greatly improved through the design of the auxiliary wheels, meanwhile, the auxiliary wheel sensing devices are arranged on the auxiliary wheels, so that the judgment of the road conditions of the travelling device with the dual operation modes in the travelling process is facilitated, and the control mode of the travelling device with the dual operation modes is optimized; meanwhile, the novel operation mode of the lengthened pedal plate is adopted, so that the control performance in the high-speed traveling process is greatly improved, and the requirement of a user on higher speed can be met.
Drawings
FIG. 1 is a schematic view of a traveling apparatus having dual operation modes according to the present invention;
in the figure: 1 is a chassis; 3E is an auxiliary wheel sensing device E; 3F is an auxiliary wheel sensing device F; 4 is a chassis bracket; 5 is a pedal device; 6 is a pedal induction device; 6a is a pedal induction device A; 6B is a pedal induction device B; 7 is a driving wheel; 8 is a pedal support part; 9 is an auxiliary wheel mounting frame; 10 is a bridge main shaft; 11 is a hole groove; 12 is a first auxiliary wheel; 13 is a second auxiliary wheel; 14 is a lengthened pedal plate; and 15 is an auxiliary wheel bracket.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The first embodiment is as follows:
a traveling apparatus having dual operation modes according to a first embodiment of the present invention, as shown in fig. 1, includes: the chassis comprises a chassis 1 and a rolling device, wherein the chassis 1 comprises a chassis support 4, a pedal device 5 and a pedal induction device 6, the upper part of the chassis support 4 is also provided with a pedal support part 8, the middle part of the pedal support part 8 is provided with a bridge main shaft 10, the pedal device 5 can rotate around the bridge main shaft 10 as a seesaw, a user controls a traveling device in the rotating process through the pedal device 5, and the pedal induction device 6 is arranged between the pedal device 5 and the pedal support part 8; the pedal device 5 further comprises an extendable pedal 14, the extendable pedal 14 is used for enabling a user to stand with feet perpendicular to the advancing direction, the rolling device comprises a driving wheel 7 and auxiliary wheels, the auxiliary wheels comprise a first auxiliary wheel 12 and a second auxiliary wheel 13, the driving wheel 7 is rotatably arranged on the left side and the right side of the chassis support 4, the first auxiliary wheel 12 and the second auxiliary wheel 13 are respectively rotatably arranged on the front side and the rear side of the chassis support 4, when the advancing device with the dual operating mode runs stably, the first auxiliary wheel 12 and the second auxiliary wheel 13 are in a suspended state, the advancing device with the dual operating mode further comprises an auxiliary wheel sensing device, and the auxiliary wheel sensing device is used for sensing pressure information of the first auxiliary wheel 12 and the second auxiliary wheel 13; in a specific application, the driving wheel 7 adopts a motor wheel, and can respond very quickly when an accident happens.
The crane span structure main shaft 10 is located the chassis support 4 center, and in the specific application process, through adopting modes such as bearing installation to install pedal device 5 on crane span structure main shaft 10 to with pedal device 5 both sides and the soft connection of pedal supporting part 8, both can play the effect of protection, can also improve the stability of the device operation of marcing simultaneously.
The lengthened pedal plate 14 is arranged at the bottom of the pedal device 5, and the lengthened pedal plate 14 can be unfolded in a folding or telescopic mode; in the traditional travelling mode, namely the mode one, the directions of both feet of a user are consistent with the travelling direction, and the front surface of the body faces the travelling direction; when the lengthened foot pedal 14 is used, i.e., the mode two, the user stands with both feet perpendicular to the traveling direction; in the specific implementation process, the lengthened pedal plate 14 is folded at the bottom of the pedal device 5, a telescopic rod can be used for extending the extended position of the lengthened pedal plate 14, and in the second mode, a user still controls the traveling device through the pedal sensing device 6.
Specifically, the number of the pedal induction devices 6 is 2, two pedal induction devices 6 are positioned at the bottom of the pedal device 5 and symmetrically arranged at two sides of the bridge main shaft 10, and the pedal induction devices 6 comprise a pedal induction device A6a and a pedal induction device B6B.
The front end and the rear end of the chassis support 4 are respectively provided with an auxiliary wheel mounting frame 9, the auxiliary wheel mounting frames 9 are used for mounting a first auxiliary wheel 12 and a second auxiliary wheel 13, a controller is arranged in the chassis support 4 and used for receiving pressure information of the pedal sensing device 6 and the auxiliary wheel sensing device, the controller is used for controlling the motion of the driving wheel 7 through the pressure information of the pedal sensing device 6 and the auxiliary wheel sensing device, the auxiliary wheel sensing device comprises an auxiliary wheel sensing device E3E and an auxiliary wheel sensing device F3F, the auxiliary wheel sensing device E3E is used for sensing the pressure information of the first auxiliary wheel 12, and the auxiliary wheel sensing device F3F is used for sensing the pressure information of the second auxiliary wheel 13; in the specific implementation process, the pressure information sensed by the pedal sensing device A6a, the pedal sensing device B6B, the auxiliary wheel sensing device E3E and the auxiliary wheel sensing device F3F is transmitted to the controller.
The driving wheel 7 is made of rubber, and a hole groove 11 is formed in the side portion of the driving wheel 7.
The auxiliary wheel mounting rack 9 is hinged with the chassis support 4, a limiting torsion spring is further arranged on a hinged rotating shaft of the auxiliary wheel mounting rack 9 and the chassis support 4, the control effect is further enhanced, and the auxiliary wheel sensing device is further used for sensing inclination information of the traveling device, namely when the traveling device is accelerated or decelerated, the auxiliary wheel can have corresponding inclination change, so that more signals are provided for the control of the controller; and be equipped with auxiliary wheel support 15 on the auxiliary wheel, auxiliary wheel support 15 is used for installing with auxiliary wheel mounting bracket 9 cooperation, and auxiliary wheel induction system sets up on auxiliary wheel support 15 upper portion, and it is more convenient to install, and the auxiliary wheel activity is more nimble simultaneously.
In specific implementation, the chassis support 4 adopts a rigid frame structure to reduce the overall weight; according to the use requirement, the auxiliary wheel can adopt the arrangement of a universal wheel; the angle sensor can adopt a gyroscope, a Hall sensor, a photoelectric sensor or an infrared sensor.
A running gear control method having a dual operation mode, comprising the steps of:
the first mode is as follows: the low-speed mode is adopted, the standing direction of the feet of a user is the same as the advancing direction, and after the advancing device with the dual operation mode is started, the advancing device with the dual operation mode enters a stable running state;
when the travel device having the dual operation mode is controlled to accelerate forward, the travel device having the dual operation mode is controlled to incline forward, the first auxiliary wheel 12 contacts the ground, the auxiliary wheel sensing device E3E continuously receives pressure due to supporting the ground, and at this time, the speed of the driving wheel 7 is increased, and the travel device having the dual operation mode accelerates forward;
when the travel device having the dual operation mode is controlled to decelerate and brake, the travel device having the dual operation mode is controlled to incline backward, the second auxiliary wheel 13 contacts the ground, the auxiliary wheel sensing device F3F continuously receives pressure due to supporting the ground, and at this time, the speed of the driving wheel 7 is reduced, and the travel device having the dual operation mode decelerates and advances;
when the traveling device with the dual operation mode is controlled to rotate left, the force applied by the pedal sensing device A6a is greater than the force applied by the pedal sensing device B6B, and the driving wheel 7 rotates left to travel;
when the traveling device with the dual operation mode is controlled to rotate to the right, the stress of the pedal induction device A6a is smaller than the stress of the pedal induction device B6B, and the driving wheel 7 rotates to the right to travel;
when the traveling apparatus having the dual operation mode needs to pass through an obstacle, the first auxiliary wheel 12 first contacts the obstacle, the auxiliary wheel sensing means E3E receives instantaneous pressure from the supporting ground, and the traveling apparatus having the dual operation mode automatically decelerates and brakes;
and a second mode: adopting a high-speed mode, unfolding the lengthened pedal plate 14 from the front end and the rear end of the pedal device 5, standing the user with both feet perpendicular to the advancing direction, and enabling the advancing device with the dual operation modes to enter a stable running state after starting the advancing device with the dual operation modes;
when the travel device having the dual operation mode is controlled to accelerate forward, the travel device having the dual operation mode is controlled to incline forward, the first auxiliary wheel 12 contacts the ground, the auxiliary wheel sensing device E3E continuously receives pressure due to supporting the ground, and at this time, the speed of the driving wheel 7 is increased, and the travel device having the dual operation mode accelerates forward;
when the travel device having the dual operation mode is controlled to decelerate and brake, the travel device having the dual operation mode is controlled to incline backward, the second auxiliary wheel 13 contacts the ground, the auxiliary wheel sensing device F3F continuously receives pressure due to supporting the ground, and at this time, the speed of the driving wheel 7 is reduced, and the travel device having the dual operation mode decelerates and advances;
when the traveling device with the dual operation mode is controlled to rotate left, the force applied by the pedal sensing device A6a is greater than the force applied by the pedal sensing device B6B, and the driving wheel 7 rotates left to travel;
when the traveling device with the dual operation mode is controlled to rotate to the right, the stress of the pedal induction device A6a is smaller than the stress of the pedal induction device B6B, and the driving wheel 7 rotates to the right to travel;
when the traveling apparatus having the dual operation mode needs to pass through an obstacle, the first auxiliary wheel 12 first contacts the obstacle, and the auxiliary wheel sensing means E3E is instantaneously pressed by the supporting ground, and the traveling apparatus having the dual operation mode automatically decelerates and brakes.
Example two:
the difference between the second embodiment and the first embodiment is that the auxiliary wheel mounting frame 9 and the auxiliary wheel support 15 are directly fixed or flexibly connected, meanwhile, the auxiliary wheel mounting frame 9 and the chassis support 4 are not hinged, a shock absorption device is arranged between the auxiliary wheel mounting frame 9 and the chassis support 4 or between the auxiliary wheel mounting frame 9 and the auxiliary wheel support 15, a hydraulic shock absorption device, a spring shock absorption device and the like can be adopted, when the traveling device with the dual operation modes encounters an obstacle in the traveling process, both early warning and braking and speed reduction can be performed in advance through the auxiliary wheel sensing device, a shock absorption buffering effect can be achieved, and the safety and stability of the traveling device with the dual operation modes in the traveling process are greatly improved.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make several improvements and modifications without departing from the technical principle of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention.
Claims (10)
1. A travel device having dual modes of operation, characterized by: the traveling device having a dual operation mode includes: the chassis (1) comprises a chassis support (4), a pedal device (5) and a pedal sensing device (6), a pedal supporting part (8) is further arranged at the upper part of the chassis support (4), a bridge main shaft (10) is arranged in the middle of the pedal supporting part (8), the pedal device (5) can rotate around the bridge main shaft (10) as a seesaw, and the pedal sensing device (6) is arranged between the pedal device (5) and the pedal supporting part (8); the pedal arrangement (5) further comprises an elongated foot pedal (14), the elongated foot pedal (14) being intended for a user to stand with both feet perpendicular to the direction of travel, the rolling device comprises a driving wheel (7) and auxiliary wheels, the auxiliary wheels comprise a first auxiliary wheel (12) and a second auxiliary wheel (13), the driving wheel (7) can be rotatably arranged at the left side and the right side of the chassis support (4), the first auxiliary wheel (12) and the second auxiliary wheel (13) can be respectively rotatably arranged at the front side and the rear side of the chassis support (4), and the first auxiliary wheel (12) and the second auxiliary wheel (13) are in a suspended state when the traveling apparatus having the dual operation mode is smoothly driven, the traveling device having the dual operation mode further includes an auxiliary wheel sensing device for sensing pressure information of the first auxiliary wheel (12) and the second auxiliary wheel (13).
2. A traveller with dual modes of operation as claimed in claim 1, wherein: the lengthened pedal plate (14) is arranged at the bottom of the pedal device (5), and the lengthened pedal plate (14) can be unfolded in a folding or telescopic mode.
3. A traveller with dual modes of operation as claimed in claim 2, wherein: the number of the pedal induction devices (6) is 2, the two pedal induction devices (6) are positioned at the bottom of the pedal device (5) and symmetrically arranged on two sides of the bridge main shaft (10), and each pedal induction device (6) comprises a pedal induction device A (6a) and a pedal induction device B (6B).
4. A traveller with dual modes of operation as claimed in claim 1, wherein: both ends respectively are equipped with an auxiliary wheel mounting bracket (9) around chassis support (4), auxiliary wheel mounting bracket (9) are used for the installation first auxiliary wheel (12) with second auxiliary wheel (13), be equipped with the controller in chassis support (4), the controller is used for receiving pedal induction system (6) with auxiliary wheel induction system's pressure information, the controller is used for passing through pedal induction system (6) with auxiliary wheel induction system's pressure information control the motion of action wheel (7).
5. A traveller with dual modes of operation as claimed in claim 4, wherein: the auxiliary wheel sensing device comprises an auxiliary wheel sensing device E (3E) and an auxiliary wheel sensing device F (3F), wherein the auxiliary wheel sensing device E (3E) is used for sensing the pressure information of the first auxiliary wheel (12), and the auxiliary wheel sensing device F (3F) is used for sensing the pressure information of the second auxiliary wheel (13).
6. A traveller with dual modes of operation as claimed in claim 1, wherein: the driving wheel (7) is made of rubber, and a hole groove (11) is formed in the side portion of the driving wheel (7).
7. A traveller with dual modes of operation as claimed in claim 5, wherein: the auxiliary wheel mounting frame (9) is hinged to the chassis support (4), a limiting torsion spring is further arranged on a hinged rotating shaft of the auxiliary wheel mounting frame (9) and the chassis support (4), and the auxiliary wheel sensing device is further used for sensing inclination information of the travelling device.
8. A traveller with dual modes of operation as claimed in claim 7, wherein: the auxiliary wheel is provided with an auxiliary wheel support (15), and the auxiliary wheel support (15) is used for being installed in a matched mode with the auxiliary wheel installation frame (9).
9. A traveller with dual modes of operation as claimed in claim 8, wherein: the auxiliary wheel sensing device is arranged at the upper part of the auxiliary wheel bracket (15).
10. A running gear control method having a dual operation mode, characterized in that: the traveling apparatus control method having the dual operation mode is implemented by: the traveling device having a dual operation mode includes: the chassis (1) comprises a chassis support (4), a pedal device (5) and a pedal sensing device (6), a pedal supporting part (8) is further arranged at the upper part of the chassis support (4), a bridge main shaft (10) is arranged in the middle of the pedal supporting part (8), the pedal device (5) can rotate around the bridge main shaft (10) as a seesaw, and the pedal sensing device (6) is arranged between the pedal device (5) and the pedal supporting part (8); the pedal arrangement (5) further comprises an elongated foot pedal (14), the elongated foot pedal (14) being intended for a user to stand with both feet perpendicular to the direction of travel, the rolling device comprises a driving wheel (7) and auxiliary wheels, the auxiliary wheels comprise a first auxiliary wheel (12) and a second auxiliary wheel (13), the driving wheel (7) can be rotatably arranged at the left side and the right side of the chassis support (4), the first auxiliary wheel (12) and the second auxiliary wheel (13) can be respectively rotatably arranged at the front side and the rear side of the chassis support (4), and the first auxiliary wheel (12) and the second auxiliary wheel (13) are in a suspended state when the traveling apparatus having the dual operation mode is smoothly driven, the traveling device having the dual operation mode further includes an auxiliary wheel sensing device for sensing pressure information of the first auxiliary wheel (12) and the second auxiliary wheel (13);
the lengthened pedal plate (14) is arranged at the bottom of the pedal device (5), and the lengthened pedal plate (14) can be unfolded in a folding or telescopic mode;
the number of the pedal induction devices (6) is 2, the two pedal induction devices (6) are positioned at the bottom of the pedal device (5) and are symmetrically arranged at two sides of the bridge main shaft (10), and each pedal induction device (6) comprises a pedal induction device A (6a) and a pedal induction device B (6B);
the front end and the rear end of the chassis support (4) are respectively provided with an auxiliary wheel mounting rack (9), the auxiliary wheel mounting racks (9) are used for mounting the first auxiliary wheel (12) and the second auxiliary wheel (13), a controller is arranged in the chassis support (4), the controller is used for receiving pressure information of the pedal sensing device (6) and the auxiliary wheel sensing device, and the controller is used for controlling the movement of the driving wheel (7) through the pressure information of the pedal sensing device (6) and the auxiliary wheel sensing device;
the auxiliary wheel sensing device comprises an auxiliary wheel sensing device E (3E) and an auxiliary wheel sensing device F (3F), the auxiliary wheel sensing device E (3E) is used for sensing the pressure information of the first auxiliary wheel (12), and the auxiliary wheel sensing device F (3F) is used for sensing the pressure information of the second auxiliary wheel (13); the control method comprises the following steps:
the first mode is as follows: adopting a low-speed mode, enabling a user to stand on both feet in the same direction as the advancing direction, and enabling the advancing device with the dual operation mode to enter a stable running state after starting the advancing device with the dual operation mode;
when the running gear with the dual operation mode is controlled to accelerate, the running gear with the dual operation mode is controlled to incline forwards, the first auxiliary wheel (12) contacts the ground, the auxiliary wheel sensing device E (3E) is continuously stressed by supporting the ground, the speed of the driving wheel (7) is increased, and the running gear with the dual operation mode accelerates to advance;
when the traveling device with the dual operation mode is controlled to decelerate and brake, the traveling device with the dual operation mode is controlled to incline backwards, the second auxiliary wheel (13) is contacted with the ground, the auxiliary wheel sensing device F (3F) is continuously stressed by supporting the ground, at the moment, the speed of the driving wheel (7) is reduced, and the traveling device with the dual operation mode decelerates and advances;
when the traveling device with the dual operation mode is controlled to rotate left, the stress of the pedal induction device A (6a) is greater than that of the pedal induction device B (6B), and the driving wheel (7) rotates left to travel;
when the traveling device with the dual operation mode is controlled to rotate to the right, the stress of the pedal induction device A (6a) is smaller than that of the pedal induction device B (6B), and the driving wheel (7) rotates to the right to travel;
when the traveling device with the dual operation mode needs to pass through an obstacle, the first auxiliary wheel (12) firstly contacts the obstacle, the auxiliary wheel sensing device E (3E) is subjected to instantaneous pressure due to supporting the ground, and the traveling device with the dual operation mode automatically decelerates and brakes;
and a second mode: adopting a high-speed mode, unfolding the lengthened pedal plate (14) from the front end and the rear end of the pedal device (5), standing the feet of a user in a direction perpendicular to the advancing direction, and enabling the advancing device with the dual operation mode to enter a stable running state after starting the advancing device with the dual operation mode;
when the running gear with the dual operation mode is controlled to accelerate, the running gear with the dual operation mode is controlled to incline forwards, the first auxiliary wheel (12) contacts the ground, the auxiliary wheel sensing device E (3E) is continuously stressed by supporting the ground, the speed of the driving wheel (7) is increased, and the running gear with the dual operation mode accelerates to advance;
when the traveling device with the dual operation mode is controlled to decelerate and brake, the traveling device with the dual operation mode is controlled to incline backwards, the second auxiliary wheel (13) is contacted with the ground, the auxiliary wheel sensing device F (3F) is continuously stressed by supporting the ground, at the moment, the speed of the driving wheel (7) is reduced, and the traveling device with the dual operation mode decelerates and advances;
when the traveling device with the dual operation mode is controlled to rotate left, the stress of the pedal induction device A (6a) is greater than that of the pedal induction device B (6B), and the driving wheel (7) rotates left to travel;
when the traveling device with the dual operation mode is controlled to rotate to the right, the stress of the pedal induction device A (6a) is smaller than that of the pedal induction device B (6B), and the driving wheel (7) rotates to the right to travel;
when the traveling apparatus having the dual operation mode needs to pass through an obstacle, the first auxiliary wheel (12) first contacts the obstacle, and the auxiliary wheel sensing means E (3E) receives instantaneous pressure from the supporting ground, at which time the traveling apparatus having the dual operation mode automatically decelerates and brakes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810405430.XA CN108609098B (en) | 2018-04-29 | 2018-04-29 | Traveling device with dual operation modes and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810405430.XA CN108609098B (en) | 2018-04-29 | 2018-04-29 | Traveling device with dual operation modes and control method thereof |
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| Publication Number | Publication Date |
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| CN108609098A CN108609098A (en) | 2018-10-02 |
| CN108609098B true CN108609098B (en) | 2019-12-27 |
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| CN201810405430.XA Active CN108609098B (en) | 2018-04-29 | 2018-04-29 | Traveling device with dual operation modes and control method thereof |
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| CN (1) | CN108609098B (en) |
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| CN108609098A (en) | 2018-10-02 |
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