CN110171513B - Double-wheel self-balancing vehicle - Google Patents
Double-wheel self-balancing vehicle Download PDFInfo
- Publication number
- CN110171513B CN110171513B CN201910236512.0A CN201910236512A CN110171513B CN 110171513 B CN110171513 B CN 110171513B CN 201910236512 A CN201910236512 A CN 201910236512A CN 110171513 B CN110171513 B CN 110171513B
- Authority
- CN
- China
- Prior art keywords
- frame
- controller
- communication module
- wireless communication
- guard plate
- Prior art date
- 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.)
- Active
Links
Images
Classifications
-
- 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
- B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
-
- 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
- B62J27/00—Safety equipment
-
- 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
- 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
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
- H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention provides a double-wheel self-balancing vehicle which comprises a frame, wheels, an electric storage device, a pedal device, a driving mechanism, six-axis inertial sensors, a steering trigger device, a wireless communication module and a controller, wherein the wheels are movably connected with the driving mechanism and arranged on two sides of the frame, the electric storage device is fixedly arranged on a bottom plate of a frame, the pedal device is arranged on the upper top surface of the frame, the controller is fixedly connected with the frame and arranged in the frame, the wireless communication module comprises a receiving end and a transmitting end, the six-axis inertial sensors are arranged on one side of the controller, the receiving end of the wireless communication module is arranged on the other side of the controller, the transmitting end of the wireless communication module is fixedly arranged on the steering trigger device, and the steering trigger device is matched with the balance vehicle for. The balance car provided by the invention is stable in operation and reliable in control, and can obtain accurate inclination angle values and angular speed values of the car; and accurate positioning control can be realized.
Description
Technical Field
The invention relates to the technical field of balance cars, in particular to a double-wheel self-balancing car.
Background
The operation principle of the balance car is mainly established on a basic principle called dynamic stability, a gyroscope and an acceleration sensor in the car body are used for detecting the change of the posture of the car body, and a servo control system is used for driving a motor to perform corresponding adjustment so as to keep the balance of the system. The balance car mainly comprises a left car body, a right car body, a rotating mechanism, two hub motors, pedals and the like, wherein the rotating mechanism is connected with the left car body and the right car body, the two hub motors are provided with wheel shafts, and the pedals are positioned between the two hub motors.
The types of the balance cars are various at present, but the following problems are mostly existed.
The gyroscope and the acceleration sensor of the balance car have great interference in signal transmission, great errors exist in the driving of the controller and the actuating mechanism, and meanwhile, corresponding steering indication marks are lacked in the steering process, so that traffic accidents are easy to happen.
In addition, the pedals and the vehicle body of some balance vehicles are fixedly connected, relative displacement does not exist between the pedals and the vehicle body, and the controllability is not strong. If set up the footboard in the inferior valve, and balance car skeleton or inferior valve all suffer the impact easily when crossing the barrier, have reduced the life of footboard and subassembly to a certain extent, and control and maintain inconveniently with the installation.
Disclosure of Invention
The invention provides a double-wheel self-balancing vehicle aiming at one of the defects of the prior art, and the balance vehicle disclosed by the invention overcomes the characteristics of low speed, low convergence and randomness.
The scheme of the invention is as follows: a double-wheel self-balancing vehicle comprises a vehicle frame, wheels, an electric power storage device, a pedal device, a driving mechanism, a six-axis inertial sensor, a steering trigger device, a wireless communication module and a controller, wherein the wheels are movably connected with the driving mechanism and arranged on two sides of the vehicle frame, the electric power storage device is fixedly arranged on a bottom plate of the frame, the pedal device is arranged on the upper top surface of the frame, the controller is fixedly connected with the frame and is arranged in the frame, the wireless communication module comprises a receiving end and a transmitting end, one side of the controller is provided with the six-axis inertial sensor, the other side of the controller is provided with a receiving end of the wireless communication module, the transmitting end of the wireless communication module is fixedly arranged on the steering trigger device, and the steering trigger device is matched with the balance car for use.
Optionally, the electric power storage device includes a plurality of storage batteries, a charging device, a charging port, a charging indicating device and a discharging conversion device, each storage battery is placed at a bottom corner of the frame, a U-shaped fixing device is disposed outside each storage battery, the fixing device and each storage battery are nested and fixedly connected to a bottom plate of the frame, each storage battery includes an input end and an output end, the charging conversion device is connected to the input end, the discharging conversion device is connected to the output end, and the charging port is connected to the charging conversion device.
Optionally, the pedal device includes a set of corner pedals, a plurality of direction sensors, a weighing sensor and a plurality of anti-skid pad strips, the anti-skid pad strips are arranged on the upper top surface of the frame at equal intervals, the direction sensors are arranged under the anti-skid pad strips of the pedal device, and the weighing sensor is arranged in the middle of the pedal.
Optionally, the middle part on the last top surface of frame is equipped with the electric quantity pilot lamp, the electric quantity pilot lamp is equipped with five grades of electric quantity pilot lamps.
Optionally, a digital motion processor, an accelerometer and a gyroscope are arranged in the six-axis inertial sensor, and the digital motion processor is connected with the accelerometer and the gyroscope respectively.
Optionally, the frame includes roof, bottom plate, left backplate, right backplate, front fender and backplate, go up roof and bottom plate parallel arrangement, left backplate, right backplate, front fender, backplate respectively with last roof, the perpendicular fixed connection of bottom plate, the front fender and the backplate of frame all are equipped with a set of pilot lamp, the pilot lamp symmetry sets up the front fender the backplate is last.
Optionally, turn to trigger device including the transmitting terminal of protecting neck area, a plurality of piezoresistive pressure sensor, power, wireless communicator and the interface that charges, protect the neck area be rectangular form just protect the neck area and be equipped with the hasp, the power sets up the middle part in neck area, equidistant each all around of power piezoresistive pressure sensor, still be equipped with in the neck area the transmitting terminal of wireless communicator, each piezoresistive pressure sensor with the transmitting terminal of wireless communicator respectively with the power is connected.
Optionally, each piezoresistive pressure sensor is connected with the transmitting end of the wireless communicator and can transmit data.
Optionally, the both sides of roof are equipped with anticollision barrier respectively on the frame, anticollision barrier is crooked towards the direction of wheel, be equipped with the fender under the anticollision barrier, fender fixed connection is in on the frame, the fender with the radian of wheel is corresponding and sets up directly over the wheel.
Optionally, the controller is connected to the driving mechanism, the power storage device, the pedal device, the six-axis inertial sensor, and the receiving end of the wireless communication module, respectively.
The beneficial effects obtained by the invention are as follows: the stable operation and reliable control of the balance car are ensured by adopting the accelerometers in the six-axis inertial sensor and the adjustment of the posture of the car body in the gyroscope; meanwhile, the accelerometer adopts smooth filtering denoising, and a good static angle can be obtained by matching with the control of the controller; the balance car also overcomes the defects of slow speed, slow convergence and randomness, and can obtain accurate car inclination angle values and angular speed values; by using the variable frequency motor to realize accurate operation control, an optimal path can be determined.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is an exploded view of the balance car of the present invention.
Fig. 2 is a schematic structural diagram of the balance car of the present invention.
Fig. 3 is a top view of the balance car of the present invention.
Fig. 4 is a schematic structural diagram of the steering trigger device of the present invention.
FIG. 5 is a block diagram of the correction algorithm of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to embodiments thereof; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The first embodiment is as follows: as shown in fig. 1-5, a two-wheeled self-balancing vehicle includes a frame 12, a wheel 2, an electrical storage device 13, a pedal device 3, a driving mechanism 8, a six-axis inertial sensor 11, a steering triggering device, a wireless communication module 15 and a controller 14, wherein the wheel 2 is movably connected with the driving mechanism 8 and is disposed on two sides of the frame 12, the electrical storage device 13 is fixedly mounted on a bottom plate of the frame 12, the pedal device 3 is disposed on an upper top surface of the frame 12, the controller 14 is fixedly connected with the frame 12 and is disposed inside the frame 12, the wireless communication module 15 includes a receiving end and a transmitting end, one side of the controller 14 is provided with the six-axis inertial sensor 11, the other side of the controller 14 is provided with the receiving end 15 of the wireless communication module, the transmitting end 20 of the wireless communication module is fixedly mounted on the steering triggering device 17, the steering trigger device 17 is used in pair with a balance car. The electric power storage device 13 comprises a plurality of storage batteries, a charging replacing device, a charging port, a charging indicating device and a discharging conversion device, the storage batteries are placed 13 at the bottom corners of the frame 12, the storage batteries are respectively provided with U-shaped fixing devices 9, the fixing devices 9 are fixedly connected with the storage batteries in a nested mode on the bottom plate of the frame, the storage batteries comprise input ends and output ends, the charging conversion device is connected with the input ends, the discharging conversion device is connected with the output ends, and the charging port is connected with the charging conversion device. The pedal device 3 comprises a group of angle pedals, a plurality of direction sensors, a weighing sensor and a plurality of anti-skid filler strips, the anti-skid filler strips are arranged on the upper top surface of the frame 12 at equal intervals, the direction sensors are arranged under the anti-skid filler strips of the pedal device, and the weighing sensor is arranged in the middle of the pedals. Specifically, the frame 12 is rectangular, a circular groove is formed in the position, close to the wheel 2, of the frame 12 for placing the wheel 2 and the driving mechanism 8, the wheel 2 and the driving mechanism 8 are tightly fixed on the frame 12 through screws or bolts, and in the operation process, the controller 14 controls the driving mechanism 8 to rotate, so that the driving control of the wheel 2 is realized. During the rotation, the wheel 3 can rotate along its own axis. The pedal device 3 is fixedly connected with the upper top surface of the frame 12. The storage batteries are respectively arranged on two sides of the driving mechanism 8 and connected with the driving mechanism 8, so that the normal operation of the driving mechanism 8 is ensured. And each storage battery is used as a power supply of the whole balance car, so that the efficient operation of the balance car is ensured. Each U type fixing device 9 cup joints in each the periphery of battery to fix through screw or bolt on the bottom plate of frame 12, in this embodiment, each the battery is established respectively four corners of frame 12 has saved the space of frame, reasonable good use of position in the frame 12. The direction sensors are arranged at the front, the rear, the left and the right of the pedal, the weighing sensor is arranged in the middle of the pedal, when an operator stands on the pedal device, the weighing sensor transmits data to the controller 14, the controller 14 analyzes and records the current weight of the operator, and then the most proper running speed is given to the operator for selection.
The middle part on the upper top surface of the frame 12 is provided with an electric quantity indicating lamp 5, and the electric quantity indicating lamp is provided with five electric quantity indicating lamps 5. Specifically, when the battery is fully charged, the charge indicator lamp 5 is fully turned on. In addition, the electric quantity indications of 5 gears correspond to 20%, 40%, 60%, 80% and 100% of battery information display respectively. The electric quantity display lamp is respectively connected with the storage battery pack and used as a display window of the storage battery device, and can display the specific electric quantity of the battery in real time and guide an operator to charge. In addition, the electric quantity indicator lamp 5 is also connected with the controller 14, and the controller 14 comprehensively analyzes and displays the displayed quantity, so that the displayed electric quantity accurately reflects the current battery capacity. Particularly, when the balance car is charged, the electric quantity indicating lamps can be circularly and sequentially arranged.
The six-axis inertial sensor 11 is internally provided with a digital motion processor, an accelerometer and a gyroscope, and the digital motion processor is respectively connected with the accelerometer and the gyroscope. Specifically, the six-axis inertial sensor serves as an attitude core sensor, a 3-axis accelerometer and a 3-axis gyroscope are integrated inside the six-axis inertial sensor, the six-axis inertial sensor further comprises a digital motion processor DMP, and the six-axis inertial sensor can be connected with other digital sensors and expanded into a 9-axis sensor, can output a 9-axis signal, and establishes complete spatial attitude information. When the chip works normally, the gyroscope and the accelerometer respectively acquire voltage values of an x axis, a y axis and a z axis, then analog signals are converted into digital signals through the analog-to-digital converter, and finally the digital signals are transmitted to the main control chip through the control bus. The six-axis inertial sensor is communicated with other equipment in a 400KHz control bus mode, and a temperature sensor, a 1024-byte FIFO and a high-precision oscillator are embedded in a chip of the six-axis inertial sensor. The digital motion processor DMP may perform fusion calculation on the data of the gyroscope and the accelerometer, and directly output a quaternion, and the controller 14 may obtain the tilt angle of the cart through simple calculation. In addition, the six-axis inertial sensor is not only an inertial sensor, but also an internal digital motion processor can fuse data acquired by the accelerometer and the gyroscope, independently complete attitude calculation and output quaternion related to the attitude. If the system of the balance car adopts DMP to realize data fusion, the controller 14 does not need to additionally execute a fusion algorithm, and has more time to process other tasks such as control algorithm, speed regulation of the driving mechanism 8 and the like, thereby reducing the algorithm pressure of the controller 14 and improving the real-time performance of the system.
Turn to trigger device including the emitter 20 and the interface that charges of protecting neck area 17, a plurality of piezoresistive pressure sensor 18, power 23, wireless communicator, the neck area is rectangular form just protect and be equipped with hasp 19 on the neck area 17, the power sets up protect the middle part in neck area 17, the equidistant each that is equipped with all around of power 23 piezoresistive pressure sensor 18, still be equipped with in the neck area 17 the emitter 20 of wireless communicator, each piezoresistive pressure sensor 18 with the emitter of wireless communicator respectively with the power is connected. Each piezoresistive pressure sensor 18 is connected to the transmitting end 20 of the wireless communicator and can transmit data. Specifically, the triggering of the steering triggering device needs to be realized by pressing or stretching the neck protecting band 17 by twisting the neck during the process of turning the head of the operator. The neck protecting band 17 can be sleeved at the neck position of an operator, when the operator turns left, the piezoresistive pressure sensor 18 on the left side of the neck protecting band 17 receives an extruded signal, meanwhile, the piezoresistive pressure sensor 18 on the right side of the neck protecting band 17 receives a stretching signal, signals on two sides are subtracted to obtain a difference signal, the difference signal is compared with a set trigger value, if the difference signal exceeds the trigger value, left-turning operation can be achieved, meanwhile, the left-turning signal is sent to the receiving end 15 of the wireless communicator through the transmitting end 20 of the wireless communicator, the receiving end 15 of the wireless communicator sends the signal to the controller 14, and the controller 14 can light the left-turning lamp. The operation of turning right is similar to the operation of turning left. Particularly, when the operator does not perform a steering operation, the operator performs a head lowering operation, the piezoresistive pressure sensor 18 of the neck guard 17 does not receive a large stretching signal on the left side of the neck guard 17 and a large stretching signal on the right side of the neck guard 17, and only receives a stretching signal on the middle portion of the neck, at this time, a left-turning operation and a right-turning operation are not triggered, but the signals are still transmitted to the receiving end 15 of the wireless communicator through the transmitting end 20 of the wireless communicator, the receiving end 15 of the wireless communicator transmits the signals to the controller 14, and the controller 14 turns off the left-turning lamp or the right-turning lamp.
The both sides of roof are equipped with anti-collision guardrail respectively on frame 12, anti-collision guardrail 1 orientation the direction of wheel 2 is crooked, be equipped with fender 7 under anti-collision guardrail 1, fender 7 fixed connection be in on frame 12, fender 7 with the radian of wheel 2 is corresponding and sets up directly over wheel 2. Specifically, the crash barrier 1 ensures that the trouser legs of the operator are rolled up with the wheels to cause traffic accidents. A mudguard 7 is arranged between the anti-collision guardrail 1 and the wheel 2, and the mudguard 7 extends towards the position right above the wheel, so that the sewage or dirt splashing in the running process of the balance car is ensured, and the clothes of an operator are stained. In addition, when the balance car needs to be carried, an operator can hold the rail of the anti-collision guardrail 1 to move or carry the balance car. Meanwhile, the anti-collision guardrail 1 is provided with a gripping rod, and the gripping rod is parallel to the plane of the pedal.
The controller 14 is connected to the driving mechanism 8, the electric storage device 13, the pedal device 3, the six-axis inertial sensor 11, and the receiving end 15 of the wireless communication module, respectively. Specifically, the controller is connected with the driving mechanism 8, the electric storage device 13, the pedal device 3, the six-axis inertial sensor 11 and the receiving end 15 of the wireless communication module through wires to exchange data, so that the controller 14 controls and operates the driving mechanism 8, the electric storage device 13, the pedal device 3 and the six-axis inertial sensor 11. The receiving end 15 of the wireless communication module continuously receives the data of the transmitting end 20 of the wireless communication module, and then transmits the data to the controller 14, and the controller 14 controls the turn-on or turn-off of the pilot lamp 6 after receiving the control signal.
Example two: on the basis of the first embodiment, the correction algorithm is adopted for optimization in the present embodiment, and the specific expression is as follows:
PWM＝angle·Kp+Gyro_y·Kd+V·Kps+Vi·Kis+Gyro_z·Kpt
wherein:
angle: deviation of equilibrium angle (inclination angle)
Gyro _ y: angular velocity of y-axis
V: deviation of speed
And Vi: integral of velocity deviation
Gyro _ z: angular velocity of z-axis
The correction algorithm block diagram is shown in fig. 5 below. The setting steps of the correction algorithm are as follows: (1) only adding a proportional control link into the control system, setting other parameters to be zero, increasing a parameter Z until the system generates critical oscillation, and finally determining that Z is 60-70% of the current value; (2) after the parameter Z is determined, a larger Ti value is randomly selected, then Ti is gradually reduced until the system oscillates, then Ti is gradually increased until the system oscillates, and finally the parameter Ti is determined to be 150% -180% of the current value; (3) the parameter Td is determined by 30% of the value obtained when oscillation is not performed, in the same manner as the Z method. When the system output is not oscillating, the proportional gain Z is increased as much as possible, the integral time constant Ti is decreased, and the derivative time constant Td is increased. Therefore, DMP does not involve strict timing problems, it can be placed in the master function, and it can reduce the algorithmic stress of the controller 14, resulting in a tilt angle of the self-balancing robot.
Example three: on the basis of the first embodiment and the second embodiment, the collision avoidance device 22 is disposed in the rack of the present embodiment, the collision avoidance device 22 includes the distance measuring sensor 10, and the collision avoidance device 22 is connected to the controller 14 and can transmit data to the controller 14. A circular through hole is formed in the middle of the front guard plate of the frame 12, and the distance measuring sensor 10 is arranged opposite to the through hole, where the distance measuring sensor 10 includes, but is not limited to, the following examples: ultrasonic ranging sensor, infrared ranging sensor, laser ranging sensor. The collision avoidance device 22 is preset with a safety distance value, a braking distance value and an emergency braking distance value. When the balance car is far away from the obstacle, the distance measuring sensor 10 transmits the signal to the controller 14, and the controller 14 compares the signal with preset set values of the safe distance value, the braking distance value and the emergency braking distance value. If the distance is too close, emergency braking measures are taken to prevent the balance car from generating collision accidents; if the distance between the controller 14 and the obstacle is a safe distance, the controller controls the driving mechanism to run at a constant speed; if the distance to the obstacle is within the braking distance, the controller 14 controls the driving mechanism to take a braking measure. The addition of the collision avoidance device 22 ensures a safer and more reliable operation of the balance car.
In conclusion, the balance car ensures stable operation and reliable control by adopting the accelerometers in the six-axis inertial sensor and the gyroscope to adjust the posture of the car body; meanwhile, the accelerometer adopts smooth filtering denoising and can obtain a good static angle by matching with the control of the controller; the balance car also overcomes the defects of slow speed, slow convergence and randomness, and can obtain accurate car inclination angle values and accurate car angular speed values; the accurate operation control is realized by using the variable frequency motor, so that the optimal path can be determined; the running direction can be accurately controlled through various sensors arranged on the pedal; accurate steering indication of the vehicle can be achieved by adopting the steering trigger device.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Furthermore, elements therein may be updated as technology develops, i.e., many elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of the exemplary configurations including implementations. However, configurations may be practiced without these specific details, for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
In conclusion, it is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that these examples are intended to be illustrative only and are not intended to limit the scope of the invention. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (9)
1. A double-wheel self-balancing vehicle comprises a vehicle frame (12), wheels (2), an electric storage device (13), a pedal device (3), a driving mechanism (8), six-axis inertial sensors (11), a steering triggering device, a wireless communication module (15) and a controller (14), and is characterized in that the wheels (2) are movably connected with the driving mechanism (8) and are arranged on two sides of the vehicle frame (12), the electric storage device (13) is fixedly arranged on a bottom plate of the vehicle frame (12), the pedal device (3) is arranged on the upper top surface of the vehicle frame (12), the controller (14) is fixedly connected with the vehicle frame (12) and is arranged inside the vehicle frame (12), the wireless communication module (15) comprises a receiving end and a transmitting end, the six-axis inertial sensors (11) are arranged on one side of the controller (14), a receiving end (15) of a wireless communication module is arranged on the other side of the controller (14), a transmitting end (20) of the wireless communication module is fixedly arranged on the steering trigger device (17), and the steering trigger device (17) is matched with the balance car for use;
the front side and the rear side of the frame (12) are respectively provided with a guide lamp (6), and the guide lamps (6) are connected with the steering trigger device;
the steering trigger device comprises a neck guard belt (17), a plurality of piezoresistive pressure sensors (18), a power supply (23), a transmitting end (20) of a wireless communicator and a charging interface, wherein the neck guard belt is in a long strip shape, a lock catch (19) is arranged on the neck guard belt (17), the power supply is arranged in the middle of the neck guard belt (17), the piezoresistive pressure sensors (18) are arranged on the periphery of the power supply (23) at equal intervals, the transmitting end (20) of the wireless communicator is further arranged in the neck guard belt (17), and the piezoresistive pressure sensors (18) and the transmitting end (20) of the wireless communicator are respectively connected with the power supply;
the double-wheel self-balancing vehicle is optimized by adopting a correction algorithm, and the specific expression is as follows:
PWM＝angle·Kz+Gyro_y·Kd+V·Kzs+Vi·Kis+Gyro_z·Kzt
wherein:
angle is the equilibrium angular deviation, Gyro _ y is the y-axis angular velocity, V is the velocity deviation, Vi is the velocity deviation integral, Gyro _ z is the z-axis angular velocity, KzFor balancing angle proportional parameters, Kd is y-axis angle differential parameter, Kzs is a velocity ratio parameter, Kis is a velocity integral parameter, Kzt is a z-axis angular velocity ratio parameter.
2. The two-wheeled self-balancing vehicle as claimed in claim 1, wherein the power storage device (13) comprises a plurality of storage batteries, a charge conversion device, a charge port, a charge indication device and a discharge conversion device, each storage battery is placed (13) at a bottom corner of the frame (12), a U-shaped fixing device (9) is arranged outside each storage battery, the fixing device (9) is nested in each storage battery and fixedly connected to a bottom plate of the frame, each storage battery comprises an input end and an output end, the charge conversion device is connected to the input end, the discharge conversion device is connected to the output end, and the charge port is connected to the charge conversion device.
3. The double-wheel self-balancing vehicle as claimed in claim 2, wherein the pedal device (3) comprises a set of pedals, a plurality of direction sensors, a weighing sensor and a plurality of anti-skid filler strips, the anti-skid filler strips are arranged on the upper top surface of the frame (12) at equal intervals, the direction sensors are arranged right below the anti-skid filler strips of the pedal device, and the weighing sensor is arranged in the middle of the pedals.
4. The two-wheeled self-balancing vehicle as claimed in claim 3, characterized in that the middle part of the upper top surface of the frame (12) is provided with a power indicator (5), and the power indicator is provided with a five-gear power indicator.
5. The double-wheel self-balancing vehicle according to claim 4, characterized in that the six-axis inertial sensor (11) is provided with a digital motion processor, an accelerometer and a gyroscope, the digital motion processor being connected to the accelerometer and the gyroscope respectively.
6. The two-wheel self-balancing vehicle as claimed in claim 5, wherein the vehicle frame (12) includes an upper top plate, a bottom plate, a left guard plate, a right guard plate, a front guard plate and a rear guard plate, the upper top plate and the bottom plate are arranged in parallel, the left guard plate, the right guard plate, the front guard plate and the rear guard plate are respectively and fixedly connected with the upper top plate and the bottom plate in a perpendicular manner, the front guard plate and the rear guard plate of the vehicle frame (12) are respectively provided with a set of the guide lamps (6), and the guide lamps (6) are symmetrically arranged on the front guard plate and the rear guard plate.
7. The self-balancing double-wheel vehicle according to claim 6, characterized in that each piezoresistive pressure sensor (18) is connected to the transmitting end (20) of the wireless communicator and is capable of data transmission.
8. The two-wheel self-balancing vehicle according to claim 7, characterized in that the frame (12) is provided with crash barriers on both sides of the top plate, the crash barriers (1) are bent toward the wheels (2), a fender (7) is provided under the crash barriers (1), the fender (7) is fixedly connected to the frame (12), and the fender (7) corresponds to the radian of the wheels (2) and is provided directly above the wheels (2).
9. The two-wheeled self-balancing vehicle according to claim 8, characterized in that the controller (14) is connected to the driving mechanism (8), the accumulator (13), the pedal device (3), the six-axis inertial sensor (11) and the receiving end (15) of the wireless communication module, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910236512.0A CN110171513B (en) | 2019-03-27 | 2019-03-27 | Double-wheel self-balancing vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910236512.0A CN110171513B (en) | 2019-03-27 | 2019-03-27 | Double-wheel self-balancing vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110171513A CN110171513A (en) | 2019-08-27 |
| CN110171513B true CN110171513B (en) | 2021-01-26 |
Family
ID=67689357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910236512.0A Active CN110171513B (en) | 2019-03-27 | 2019-03-27 | Double-wheel self-balancing vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110171513B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110824235A (en) * | 2019-11-05 | 2020-02-21 | 广东恒普建设工程有限公司 | Step voltage detection device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9586471B2 (en) * | 2013-04-26 | 2017-03-07 | Carla R. Gillett | Robotic omniwheel |
| CN104512502B (en) * | 2014-12-29 | 2017-06-16 | 南京快轮智能科技有限公司 | With gravity's center control direction without the electric motor car of handle Double-wheel self-balancing and its control method |
| CN104724233A (en) * | 2015-01-28 | 2015-06-24 | 西南大学 | Directly-driven two-wheeled self-balancing electric vehicle |
| CN105691532B (en) * | 2016-04-14 | 2018-04-24 | 四川大学 | A kind of Double-wheel self-balancing electric car with hand brake system |
| CN208654640U (en) * | 2018-06-30 | 2019-03-26 | 安徽师范大学 | Two-wheeled balanced robot's control system |
-
2019
- 2019-03-27 CN CN201910236512.0A patent/CN110171513B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110171513A (en) | 2019-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4556831B2 (en) | Traveling apparatus and control method thereof | |
| US7222007B2 (en) | Attitude sensing system for an automotive vehicle relative to the road | |
| KR100950952B1 (en) | Control method of traveling dolly and traveling dolly | |
| JP4816058B2 (en) | Traveling apparatus and control method thereof | |
| CN105129005B (en) | A kind of two-wheeled balance car | |
| US7451033B2 (en) | Lateral and longitudinal velocity determination for an automotive vehicle | |
| US6684140B2 (en) | System for sensing vehicle global and relative attitudes using suspension height sensors | |
| US20060097683A1 (en) | Mobile robot | |
| US20050080542A1 (en) | Reference signal generator for an integrated sensing system | |
| JP2014151721A (en) | Wheel Walker | |
| CN106882341A (en) | A kind of Self-Balancing vehicle device waterborne | |
| CN110171513B (en) | Double-wheel self-balancing vehicle | |
| Mahler et al. | Mathematical model and control strategy of a two-wheeled self-balancing robot | |
| US20190061457A1 (en) | Attitude estimation apparatus and transportation machine | |
| CN113752770A (en) | Semi-active suspension control system and method, computer storage medium, and electronic device | |
| CN109878579B (en) | Active safety control system of articulated vehicle based on control moment gyroscope | |
| CN113031612B (en) | Balance car system based on intelligent control, control method and computer readable storage medium | |
| JP2007045330A (en) | Traveling device and its control method | |
| Ramadhan et al. | PENS-wheel (self balancing one-wheel vehicle) mechanical design and sensor system | |
| Chien et al. | Design and implementation of two-wheeled self-balancing vehicle based on load sensors | |
| CN105599761A (en) | Method and device for controlling advancing posture of mobile scanning car | |
| CN220290073U (en) | Integrated sensing controller for unmanned automobile | |
| JP2004069071A (en) | Hub bearing having slip sensor for measuring road surface friction coefficient | |
| Kuntal et al. | Advancements in Control Algorithms and Key Components for Self-Balancing Electric Unicycles: A Comprehensive Review | |
| CN213862527U (en) | Intelligent balance car with image acquisition function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |