CN109625137A - One kind two takes turns balance car - Google Patents
One kind two takes turns balance car Download PDFInfo
- Publication number
- CN109625137A CN109625137A CN201910027206.6A CN201910027206A CN109625137A CN 109625137 A CN109625137 A CN 109625137A CN 201910027206 A CN201910027206 A CN 201910027206A CN 109625137 A CN109625137 A CN 109625137A
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- China
- Prior art keywords
- car body
- gesture
- motor
- car
- module
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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.)
- Pending
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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
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- 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
-
- 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
- B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
- B62J50/20—Information-providing devices
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses one kind two to take turns balance car, it include multiple for perceiving the attitude transducer of user's finger gesture including controlling terminal carrier, main control MCU will be sent to by wireless module after the gesture instruction of the collected user of attitude transducer and processing, main control MCU calculates the car body center control instruction of the angular speed and acceleration that need to be applied to car body according to gesture instruction, and motor and motor control module are sent by car body center control instruction, and the velocity of rotation of the wheel of control car body is adjusted by motor and motor control module, control the speed and steering of car body, angular speed and acceleration during digital moving sensor collecting vehicle running body, and car body is controlled by the output of scheduled algorithm, so that car body keeps balance.Attitude transducer by the way that user's finger is arranged in acquires the finger movement information of user and is converted to the control information to car body, realizes the purpose of gesture control car body, is not influenced by the external world.
Description
Technical field
The present invention relates to balance car field, in particular to one kind two takes turns balance car.
Background technique
Electrodynamic balance vehicle is called body-sensing vehicle, thinking vehicle, the vehicle that acts as regent etc., and due to small in size, speed is fast, securely and reliably, is convenient for
User shortens the time from station to unit, is a kind of environmentally protective, amusement and recreation walking-replacing tools.
Mainly there is two class of single wheel and two-wheel in the market.Its operation principles is mainly built upon one kind and is referred to as " dynamic stability "
In the basic principle of (Dynamic Stabilization), using the gyroscope and acceleration transducer of vehicle body, to detect
The variation of vehicle body attitude, and servo-control system is utilized, accurately driving motor is adjusted correspondingly, to keep the flat of system
Weighing apparatus.It is a kind of novel environmentally protective product that modern is used as walking-replacing tool, amusement and recreation.
Currently, existing two wheels self-balancing trolley two independently drives between taking turns coaxial, two wheels, the vehicle body center of gravity of balance car is located at
Above axletree, holding balance is moved forward and backward by vehicle body.Two wheel balance cars rely on itself flexible, simple architectural characteristic,
Be frequently used for geological prospecting, the fields such as disaster area is searched for, rides instead of walk, but nearly all with traditional means using people manually control with it is distant
Based on control control, traditional control method will receive the influence of the external conditions such as weather, landform, illumination, and trolley is caused to be easy to make
At false judgment, and security risk is caused, and increases the response time.
Summary of the invention
The object of the present invention is to provide one kind two to take turns balance car, realizes gesture control body movement shape body, not by weather,
A possibility that external conditions such as illumination influence, and reduce car body false judgment, improves use reliability and safety.
In order to solve the above technical problems, the embodiment of the invention provides one kind two to take turns balance car, including being arranged in user's
Controlling terminal carrier and main control MCU, motor and the motor control module of car body, digital moving sensor, the control are set
Terminals processed include multiple for perceiving the attitude transducer of user's finger gesture, and the controlling terminal carrier is by the posture
The main control MCU, the main control MCU are sent to by wireless module after the gesture instruction of the collected user of sensor and processing
The car body center control instruction of the angular speed and acceleration that need to be applied to the car body is calculated according to the gesture instruction, and
The motor and motor control module are sent by car body center control instruction, and by the motor and motor control module
The velocity of rotation for controlling the wheel of the car body is adjusted, the speed and steering of the car body, the digital moving sensing are controlled
Device acquires the angular speed and acceleration in the car body operational process, and is carried out by the output of scheduled algorithm to the car body
Control, so that the car body keeps balance.
Wherein, the controlling terminal carrier include microcontroller, the gesture control gloves that are connect with the microcontroller with
And the attitude transducer of the middle fingers of the gesture control gloves, the third finger, the back of the hand is set, the attitude transducer passes through
The microcontroller, institute are sent to after acquiring and handling angular speed and acceleration information in the gesture information of the finger of user
Microcontroller is stated to handle the gesture information of the finger and be converted to after the gesture instruction through the wireless module
It is sent to the main control MCU.
Wherein, the attitude transducer is MPU6050 attitude transducer.
Wherein, the wireless module is bluetooth module, WIFI module or Zigbee module.
It wherein, further include that the LED display connecting immediately ahead of the car body with the main control MCU is set, for showing
The identification information of the gesture instruction is with the running state information of the car body.
It wherein, further include the voice module being connect with the LED display, the main control MCU, it is presently described for illustrating
The running state information of car body.
Wherein, the main control MCU is the main control MCU for including STM32F407 chip.
Wherein, the motor and motor control module are the motor and motor control mould for including TB6612FNG driving chip
Block.
Wherein, the microcontroller is 32 8-digit microcontroller of STM32F103C8T6.
Wherein, the digital moving sensor is MPU6050 digital moving sensor.
Two wheel balance cars provided by the embodiment of the present invention have the advantage that compared with prior art
The two wheels balance car, the attitude transducer by the way that user's finger is arranged in acquire the finger movement information of user simultaneously
It is converted to the control information to car body, realizes the purpose of gesture control car body, not by the extraneous item such as weather, illumination
A possibility that part influences, and reduces car body false judgment, improves use reliability and safety.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of structural schematic diagram of specific embodiment of two wheels balance car provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to FIG. 1, the structure that Fig. 1 is a kind of specific embodiment of two wheels balance car provided in an embodiment of the present invention is shown
It is intended to.
In a specific embodiment, it is described two wheel balance car, including be arranged in the controlling terminal carrier 10 of user with
And main control MCU 20, motor and motor control module 30, the digital moving sensor 50 of car body 40, the controlling terminal are set
Carrier 10 includes multiple for perceiving the attitude transducers 11 of user's finger gesture, and the controlling terminal carrier 10 is by the posture
The main control MCU 20, the master are sent to by wireless module after the gesture instruction of the collected user of sensor 11 and processing
Control MCU20 calculates 40 center of car body of the angular speed and acceleration that need to be applied to the car body 40 according to the gesture instruction
Control instruction, and the motor and motor control module 30 are sent by the 40 center control instruction of car body, and by the electricity
Machine and motor control module 30 adjust the velocity of rotation for controlling the wheel of the car body 40, control the car body 40 speed and
It turns to, the digital moving sensor 50 acquires the angular speed and acceleration in 40 operational process of car body, and by pre-
Fixed algorithm output controls the car body 40, so that the car body 40 keeps balance.
Attitude transducer 11 by the way that user's finger is arranged in acquires the finger movement information of user and carries out identification conversion
For the control information to car body 40, the purpose of gesture control car body 40 is realized, is not influenced by external conditions such as weather, illumination,
A possibility that reducing 40 false judgment of car body, improves use reliability and safety.
Controlling terminal carrier 10 in the present invention be not be set up directly on car body 40, but user on hand, lead to
Gesture is crossed to be controlled, and in the present invention, the gesture of user is acquired by attitude transducer 11, for how to identify,
How gesture instruction is converted into corresponding control instruction without limitation.
In one embodiment of the invention, the controlling terminal carrier 10 includes microcontroller and the microcontroller
The gesture control gloves of connection and the posture sensing that the middle finger of the gesture control gloves, the third finger, the back of the hand are set
Device 11, the angular speed and acceleration letter in gesture information that the attitude transducer 11 passes through the finger for acquiring and handling user
The microcontroller is sent to after breath, the microcontroller handles the gesture information of the finger and is converted to the hand
The main control MCU 20 is sent to by the wireless module after gesture instruction.
By the way that glove structure is arranged, attitude transducer 11 is arranged on the finger of gloves, carries out gesture motion in user
While, it will drive corresponding attitude transducer 11 and move, attitude transducer 11 can obtain and the user's finger same direction and angle
The movement of degree, such as obtain corresponding acceleration and angular speed etc., then attitude transducer 11 is obtained by microprocessor 12
The corresponding finger information of gesture identified, according to preset program, determine this gesture for accelerate, slow down or turn,
And corresponding acceleration and turning rate etc..
Posture tactility apparatus in the present invention, for acquiring the gesture information of user, the invention is not limited to above-mentioned hands
Nested structure, posture tactility apparatus therein can be set in finger tip, also can be set in finger belly, and the main structure of gloves can be with
It is cotton, rubber, is also possible to dedicated material, while is connect attitude transducer 11 with microprocessor 12 with conducting wire, wherein
Conducting wire can be hidden in gloves, can also be arranged in the inner or outer side of gloves.
In addition, in the present invention, the similar structure with ring of attitude transducer 11 can also be conveyed using wireless signal
Mode avoid excessively high in summer hand temperature so that user is not necessarily to wearing gloves, improve the comfort that uses of user.
Attitude transducer 11 in the present invention is primarily used to the acceleration of measurement finger, including finger bending and finger
Acceleration when expansion can also control simultaneously using by the way of both hands, can also be realized not using referring to that combination shares more
Same finger exports control, and the present invention is for the quantity of the attitude transducer 11, specific setting position and measuring accuracy
It is not specifically limited, in one embodiment, the attitude transducer 11 is MPU6050 attitude transducer.
Due to needing to believe the gesture of attitude transducer 11 and the collected user of controlling terminal carrier 10 in the present invention
It ceases corresponding instruction and is transferred to active MCU, control command is sent from main control MCU 20 to remaining part, due to attitude transducer 11
And controlling terminal carrier 10 is with user, it, can not although belonging to a part of two wheel balance cars without in car body 40
Wire signal transmission is realized so needing using wireless signal transmission using wireless module, kind of the present invention for wireless module
Without limitation, the wireless module can be bluetooth module for class and the type of signal transfer protocol, or WIFI module,
It can also be Zigbee module, or other wireless signal transmission modules, the present invention are not especially limited this, this is wireless
Module is generally integrated into controlling terminal carrier 10, can be integrated together with microprocessor 12.
Bluetooth module therein is typically chosen the bluetooth module using 2.4GHz frequency.
In the present invention due to two wheel balance cars during the motion, various parameters can be received, for convenience maintenance and
User is facilitated to know the operating status of balance car, the two wheels balance car further includes that setting exists in one embodiment of the invention
The LED display that 40 front of car body is connect with the main control MCU 20, for showing the identification information of the gesture instruction
With the running state information of the car body 40.
By the way that LED display is arranged, shows the operating status of car body 40, can enable a user to more reasonably carry out
System setting such as inputs corresponding gesture instruction setting according to the needs of users, and users different in this way can be according to different
It needs, the mode of operation for selecting oneself to be most accustomed to, optimal, most suitable control mode is obtained, if feeling existing gesture control
Wisdom processed is unsmooth, can carry out existing change, can pass through LED display and confirm.
LED display is used in the present invention, is and the liquid because the two wheels balance car is to operate in the sun when most
Crystal display screen is needed in backlight, and luminous efficiency is not so good as LED display, and prolonged sunlight irradiation can make its service life
It quickly reduces, and maximum brightness is generally also not so good as LED display, thus in order to improve service life and display effect, it adopts
LED display can also be replaced, the present invention is to display screen and form if there is more preferably display screen in future with LED display
Without limitation, used LED display can be traditional semiconductor LED display screen to content, or OLED display screen,
Or the LED display of other materials.
Since LED display is mounted on the front of car body 40 during using two wheel balance cars, but due to user
Usually station is on car body 40, and the glasses of user have been generally more than 1m at a distance from LED display, in use if wanted
Know current operating status, directly some inconveniences of observation LED display, is not on the one hand seen apart from too far, on the other hand
It bows when driving and is easy to happen traffic accident.
In order to solve this technical problem, traffic accident is avoided and reduces, in one embodiment of the present of invention
In, the two wheels balance car further includes the voice module connecting with the LED display, the main control MCU 20, is worked as illustrating
The running state information of the preceding car body 40.
By the way that voice module is arranged, the automatic motion state for playing and working as front vehicle body 40 can be, as forward speed is more than
It when 30km/h, alarms automatically, such as turn left or carries out voice prompting when turning right, such as slow down or remind user when accelerating
Deng in addition, user can also run shape body by the current car body 40 of finger instructions query.
Main control MCU 20 in the present invention, which acts on, is to receive the gesture instruction that microprocessor 12 transmits, to motor and motor
The motor of control module 30 sends instruction to control the revolving speed of balance car two-wheel, to be accelerated, be slowed down, turn etc. to grasp
Make, in the present invention without limitation for algorithm used by active MCU and chip type, the general main control MCU 20 is packet
Include the main control MCU 20 of STM32F407 chip.
Similarly, type, the model of motor and motor employed in motor control module 30 are not specifically limited, it is right
It is not specifically limited in its driving chip therein, in one embodiment, the motor and motor control module 30 are to include
The motor and motor control module 30 of TB6612FNG driving chip.
Digital moving sensor 50 is used to acquire the angular speed and acceleration during moving of car in the present invention, generally will
Angular speed and acceleration will control trolley by the output quantity of pid algorithm as input quantity, make its balance, certainly not
It is confined to using pid algorithm, it can also be not specifically limited using other algorithms, the present invention, the present invention is for number
The type of motion sensor 50 is not specifically limited, and in one embodiment, the digital moving sensor 50 is MPU6050 number
Motion sensor 50.
The acceleration of the gesture of user that microcontroller is used to obtain attitude transducer 11 in the present invention, linear velocity,
The information such as angular speed carry out processing identification, the corresponding operational order of user gesture are calculated, and be transmitted to main control MCU 20, by leading
Dynamic MCU sends to motor and motor control module 30 and orders, to be accelerated, be slowed down, turn etc. to operate, the present invention is for micro-
Without limitation, in one embodiment, the microcontroller is 32 microcontrollers of STM32F103C8T6 to the type of processor 12
Device.
In the present invention, for the microprocessor of gesture identification 12 and the MCU from operating instruction to each component, Ke Yiwei that send
Two independent units a, or conglomerate is fully integrated and is arranged on car body 40.
In addition, two wheel balance cars meeting power modules in the present invention, in one embodiment, the input of the power module
Voltage is provided by the nickel lithium battery of 7.2V 2000mAh.The power module provides stable voltage for each section of system, main
There are the voltage of 7V, 5V and 3.3V, this is not limited by the present invention.
In one embodiment of the present of invention, the operation logic of two wheel balance cars is as follows:
The angular speed and acceleration that digital moving sensor acquires car body are exported using pid algorithm and are controlled as input quantity
Amount controls car body.When car body is located at forward-lean state, adjusts car body forward by a small margin, balance body gravity.It is static
When state, gravity balance does not need to adjust.When car body is in layback state, adjusts car body backward by a small margin, make body gravity
Forward.When car body needs to turn to, by adjusting the running speed of car body wheel or so motor, to realize steering.When
When car body needs, revolver motor slows down, and car body turns left；When car body is turned right, right wheel decelerating through motor, car body will turn right.
In controlling terminal carrier, when translational motion occurs for finger or finger is swung up and down, attitude transducer
Angular speed and linear acceleration can be acquired, engine is handled using DMP digital moving, is transmitted currently after Kalman filtering by frame
Angle and acceleration information are transmitted to MCU.Angular speed and acceleration on two fingers and the back of the hand pass through as three groups of input quantities
Algorithm can judge current represented gesture, to obtain command adapted thereto.
In conclusion two wheels balance car provided in an embodiment of the present invention, by the attitude transducer that user's finger is arranged in
It acquires the finger movement information of user and is converted to the control information to car body, realize the mesh of gesture control car body
, do not influenced by external conditions such as weather, illumination, reduce car body false judgment a possibility that, improve use reliability and
Safety.
Two wheels balance car provided by the present invention is described in detail above.Specific case used herein is to this
The principle and embodiment of invention is expounded, method of the invention that the above embodiments are only used to help understand and
Its core concept.It should be pointed out that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the protection of the claims in the present invention
In range.
Claims (10)
1. one kind two takes turns balance car, which is characterized in that including the controlling terminal carrier of user is arranged in and car body is arranged in
Main control MCU, motor and motor control module, digital moving sensor, the controlling terminal carrier include multiple for perceiving use
The attitude transducer of family finger gesture, the controlling terminal carrier is by the gesture instruction of the collected user of the attitude transducer
And the main control MCU is sent to by wireless module after handling, the main control MCU calculates needs according to the gesture instruction and applies
It is added to the angular speed of the car body and the car body center control instruction of acceleration, and sends car body center control instruction to
The motor and motor control module, and the rotation for controlling the wheel of the car body is adjusted by the motor and motor control module
Speed, controls the speed and steering of the car body, and the digital moving sensor acquires the angle in the car body operational process
Speed and acceleration, and the car body is controlled by the output of scheduled algorithm, so that the car body keeps balance.
2. two wheels balance car as described in claim 1, which is characterized in that the controlling terminal carrier includes microcontroller and institute
It states the gesture control gloves of microcontroller connection and the institute of the middle finger of the gesture control gloves, the third finger, the back of the hand is set
Attitude transducer is stated, the attitude transducer passes through acquisition and handles the angular speed in the gesture information of the finger of user and add
The microcontroller is sent to after velocity information, the microcontroller is handled and is converted to the gesture information of the finger
The main control MCU is sent to by the wireless module after the gesture instruction.
3. two wheels balance car as claimed in claim 2, which is characterized in that the attitude transducer is MPU6050 attitude transducer.
4. it is as described in claim 1 two wheel balance car, which is characterized in that the wireless module be bluetooth module, WIFI module or
Zigbee module.
5. as described in claim 1-4 any one two wheel balance car, which is characterized in that further include setting the car body just before
The square LED display being connect with the main control MCU, for showing the identification information of the gesture instruction with the operation of the car body
Status information.
6. two wheels balance car as claimed in claim 5, which is characterized in that further include and the LED display, the main control MCU
The voice module of connection, for illustrating the running state information of presently described car body.
7. two wheels balance car as claimed in claim 6, which is characterized in that the main control MCU is the master for including STM32F407 chip
Control MCU.
8. two wheels balance car as claimed in claim 7, which is characterized in that the motor and motor control module are to include
The motor and motor control module of TB6612FNG driving chip.
9. two wheels balance car as claimed in claim 9, which is characterized in that the microcontroller is STM32F103C8T6 32 micro-
Controller.
10. two wheels balance car as claimed in claim 9, which is characterized in that the digital moving sensor is MPU6050 number fortune
Dynamic sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910027206.6A CN109625137A (en) | 2019-01-11 | 2019-01-11 | One kind two takes turns balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910027206.6A CN109625137A (en) | 2019-01-11 | 2019-01-11 | One kind two takes turns balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109625137A true CN109625137A (en) | 2019-04-16 |
Family
ID=66061740
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910027206.6A Pending CN109625137A (en) | 2019-01-11 | 2019-01-11 | One kind two takes turns balance car |
Country Status (1)
| Country | Link |
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| CN (1) | CN109625137A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115320764A (en) * | 2021-11-19 | 2022-11-11 | 钭俊龙 | Two-wheeled electric balance car controlled by mobile terminal and control method |
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| CN115320764A (en) * | 2021-11-19 | 2022-11-11 | 钭俊龙 | Two-wheeled electric balance car controlled by mobile terminal and control method |
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Application publication date: 20190416 |
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| RJ01 | Rejection of invention patent application after publication |