CN113147971B - Vehicle control method and vehicle - Google Patents
Vehicle control method and vehicle Download PDFInfo
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- CN113147971B CN113147971B CN202110395468.5A CN202110395468A CN113147971B CN 113147971 B CN113147971 B CN 113147971B CN 202110395468 A CN202110395468 A CN 202110395468A CN 113147971 B CN113147971 B CN 113147971B
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- vehicle
- frame
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- control
- controller
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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
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/01—Motorcycles with four or more wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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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
- B62K21/00—Steering devices
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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
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/02—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips hand actuated
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a vehicle, comprising: a frame; the driving module is arranged at the bottom of the frame and used for providing power output for the vehicle, and the driving module comprises at least two driving wheels; the control module is arranged on the frame and is used for being controlled by a driver; and the first controller is arranged in the driving modules or on the frame, wherein the control module is in communication connection with the first controller, and the first controller can acquire control information of the control module so as to control synchronous rotation or differential rotation of the two driving wheels. Through first controller and control module communication connection, acquire control module's manipulation information, then will need the instruction of operation to transmit for drive module, make the convenient operation of vehicle, wherein, two action wheels carry out the differential rotation, can make the vehicle turn to or drift to can promote user's amusement experience.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle control method and a vehicle.
Background
In the related art, the drift car is an electric-driven riding sport or entertainment tool, but some drift car products only have single riding entertainment purposes, and have the problem of inconvenient operation during operation, and the wheels of the drift car cannot effectively complete corresponding drift motions according to instructions during operation, so that the entertainment experience is poor.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide a vehicle which is simple and convenient to operate, good in steering and drifting effects and good in entertainment experience.
The vehicle according to the present invention includes: a frame; the driving module is arranged at the bottom of the frame and used for providing power output for the vehicle, and the driving module comprises at least two driving wheels; the control module is arranged on the frame and used for being controlled by a driver; and the first controller is arranged in the driving module or on the frame, wherein the control module is in communication connection with the first controller, and the first controller can acquire control information of the control module so as to control synchronous rotation or differential rotation of the two driving wheels.
According to the vehicle, the first controller is in communication connection with the control module, control information of the control module is obtained, then the command needing to be operated is transmitted to the driving module, the driving module executes the command needing to be operated, and therefore the vehicle is convenient to operate, wherein the two driving wheels rotate in a differential speed mode, the vehicle can be steered or drifted, and therefore entertainment experience of a user can be improved.
In some examples of the invention, the driving module comprises a housing, the first controller is arranged in the housing, the driving module is detachably connected with the frame, the driving module is detached from the frame and used as a balance car capable of being used independently, and the first controller can control the two driving wheels to rotate according to the load condition of the balance car.
In some examples of the invention, the driving module comprises a housing, the first controller is arranged on the frame, the driving module comprises a second controller arranged in the housing, and the first controller is in communication connection with the second controller to control the two driving wheels to rotate; the driving module is detachably connected with the frame, the driving module is detached from the frame and used as a balance car capable of being used independently, and the second controller can control the two driving wheels to rotate according to the load bearing condition of the balance car.
In some examples of the present invention, the driving module further includes a sensor disposed on the housing, the housing is further provided with a rotatable steering control shaft, and the first controller or the second controller controls the two driving wheels to rotate at different speeds according to a rotation angle of the steering control shaft detected by the sensor.
In some examples of the present invention, the steering control shaft is located at one side of the housing in the width direction, a first end of the steering control shaft is pivotally connected to the housing, and a second end of the steering control shaft is used for connecting a control lever.
In some examples of the invention, the drive module further comprises a sensor disposed on the housing, the housing comprising two pedal structures and a twist-on shaft, the two pedal structures being pivotally connected by the twist-on shaft; the first controller or the second controller controls the two driving wheels to rotate at different speeds according to the angle information of the torsion shaft detected by the sensor; or the first controller or the second controller controls the two driving wheels to rotate in a differential speed mode according to the inclination angle information of the two pedal structures relative to the ground, which is detected by the sensor.
In some examples of the invention, the drive module further comprises a power supply element disposed within the housing and electrically connected to the capstan; the driving wheel comprises a wheel body and a hub motor, wherein the wheel body is rotatably arranged on the shell, the hub motor is arranged in the wheel body, and the power supply element is used for supplying power to the hub motor.
In some examples of the invention, the vehicle further comprises a transit module disposed at a bottom of the frame, and the drive module is detachably connected with the housing through the transit module.
In some examples of the invention, the vehicle further comprises a seat disposed on the frame; the manipulation module includes: the operating rod is rotatably connected with the frame and is positioned on the front side of the seat; the control lever is in wired connection or wireless connection with the first controller, and the first controller respectively controls the two driving wheels to rotate according to the swing angle of the control lever.
In some examples of the present invention, the vehicle further includes a shooting device provided on the frame, at least one side in the width direction of the seat is mounted with the shooting device, and a trigger end of the shooting device is provided on the operating lever.
In some examples of the invention, the vehicle further comprises a guard connected to the frame and surrounding an outer periphery of the frame; the guard device includes: collision frame and buffer, collision frame with connect and around the frame the periphery of frame, the buffer set up in the deviation of collision frame the periphery side of frame.
In some examples of the invention, the vehicle further comprises an armor device comprising a plurality of building blocks or puzzle pieces, wherein the combined building blocks or puzzle pieces form a housing and are arranged on the frame.
In some examples of the invention, the vehicle further comprises a driven wheel module arranged at the bottom of the frame and spaced from the driving module, the driven wheel module comprises a support frame detachably connected with the frame, at least one driven wheel is mounted on the support frame, and the driven wheel is a universal wheel or a Mecanum wheel or an omni-directional wheel; or at least one driven wheel is arranged at the bottom of the frame, and the driven wheel is a universal wheel or a Mecanum wheel or an omnidirectional wheel.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is an exploded view of a vehicle according to the present invention;
FIG. 2 is a schematic view of a drive module;
fig. 3 is a schematic structural view of a vehicle according to the present invention when a drive module is not mounted;
FIG. 4 is a schematic structural diagram of a vehicle according to the present invention;
fig. 5 is a schematic view of the structure of the shooting device.
FIG. 6 is a schematic illustration of a vehicle with a guard installed;
FIG. 7 is a schematic illustration of a vehicle with an armored device installed;
FIG. 8 is a schematic view of a vehicle with a steering wheel and pedals mounted;
FIG. 9 is a flow chart of a driving method;
fig. 10 is a flowchart of another driving method.
Reference numerals are as follows:
a vehicle 1;
a frame 10; a support frame 11; a first controller 12;
a drive module 20; a drive pulley 21; a wheel body 22; a hub motor 23;
a housing 24; a pedal structure 240; a second controller 241;
a driven wheel module 30; a driven pulley 31; a manipulation module 40; a joystick 41; a trigger end 410;
a mounting bracket 42; a steering wheel 43; an accelerator pedal 44; a deceleration pedal 45;
a patching module 50; a mounting plate 51; a first adapter bracket 52;
a seat 60; a shooting device 70; a guard 80; an armor device 90.
Detailed Description
Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.
A vehicle 1 according to an embodiment of the invention is described below with reference to fig. 1-10, the vehicle 1 may be a drift car for entertainment. Certainly, the vehicle of this application protection can also be kart or feel the car.
As shown in fig. 1, 3 and 4, a vehicle 1 according to an embodiment of the present invention includes a frame 10, a driving module 20, a steering module 40 and a first controller 12. The driving module 20 is disposed at the bottom of the frame 10 for providing power output for the vehicle 1, and the driving module 20 includes at least two driving wheels 21. That is, at least two driving wheels 21 of the driving module 20 may be power output wheels, thereby driving the vehicle 1 to travel on the road surface.
The control module 40 is arranged on the vehicle frame 10 and used for being controlled by a driver, the first controller 12 is arranged in the driving module 20 or on the vehicle frame 10, the control module 40 is in communication connection with the first controller 12, the first controller 12 is in communication connection with the driving module 20, and the first controller 12 controls synchronous rotation or differential rotation of the two driving wheels 21 by acquiring control information of the control module 40.
Specifically, when the user operates the steering module 40, since the steering module 40 is in communication connection with the first controller 12, the steering command is transmitted to the first controller 12, the first controller 12 performs processing, the first controller 12 is in communication connection with the driving module 20, the first controller 12 transmits the command to be executed to the driving module 20, and the driving module 20 executes the command to drive the two driving wheels 21 to rotate, so that the vehicle 1 runs on the road surface.
It should be noted that when the two driving wheels 21 rotate at the same time at the same speed, the two driving wheels 21 can rotate synchronously, and when the two driving wheels 21 rotate at different speeds, the two driving wheels 21 can rotate differentially, that is, perform related actions such as steering or drifting.
Therefore, the first controller 12 is in communication connection with the control module 40, control information of the control module 40 can be acquired, instructions needing to be operated are transmitted to the driving module 20, the driving module 20 executes the instructions needing to be operated, operation of the vehicle 1 can be more convenient, and different rotation effects of the two driving wheels 21 can be achieved through different operations of the control module 40, wherein the two driving wheels 21 rotate at different speeds, the vehicle 1 can be steered or drifted, and entertainment performance of the vehicle 1 can be improved.
According to an alternative embodiment of the present invention, as shown in fig. 9, the driving module 20 includes a housing 24, the first controller 12 is disposed in the housing 24, and the driving module 20 is detachably connected to the vehicle frame 10, the driving module 20 is detached from the vehicle frame 10 to serve as a balance vehicle capable of being used independently, and the first controller 12 is capable of controlling the two driving wheels 21 to rotate according to the load condition of the balance vehicle. Drive module 20 and frame 10 detachably connect, can make the structure of vehicle 1 more have the operability like this, it is also more simple and convenient when the part of installation or replacement damage, avoid the user to appear bigger economic loss, also can improve the accomodation nature of vehicle 1, and drive module 20 is dismantled down as the balance car that can independently use by frame 10, because first controller 12 sets up in shell 24, two action wheels 21 of first controller 12 can be controlled according to the load situation control of balance car and are rotated, thereby can realize the diversity of vehicle 1 structure and function.
According to another alternative embodiment of the present invention, as shown in fig. 10, the driving module 20 includes a housing 24, the first controller 12 is disposed on the frame 10, the driving module 20 includes a second controller 241, the second controller 241 is disposed in the housing 24, the first controller 12 is in communication connection with the second controller 241 to control the rotation of the two driving wheels 21, the driving module 20 is detachably connected with the frame 10, the driving module 20 is detached from the frame 10 to be used as a balance car capable of being used independently, and the second controller 241 is capable of controlling the rotation of the two driving wheels 21 according to the loading condition of the balance car. When the first controller 12 and the second controller 241 are provided, the first controller 12 is in communication connection with the second controller 241, so that the two driving wheels 21 can be controlled to rotate, and after the driving module 20 is detached from the frame 10, because the second controller 241 is arranged in the housing 24, the second controller 241 can control the two driving wheels 21 to rotate according to the load condition of the balance car, so that the diversity of the structure and the function of the vehicle 1 can be realized.
Optionally, the driving module 20 further includes a sensor disposed on the housing 24, the housing 24 is provided with a rotatable steering control shaft, and the first controller 12 or the second controller 241 controls the two driving wheels 21 to rotate at different speeds according to the rotation angle of the steering control shaft detected by the sensor. That is to say, the rotatable steering control shaft is disposed on the housing 24, when the driving module 20 is used as a balance car to perform steering operation, a user can rotate the steering control shaft by a corresponding angle, and the first controller 12 or the second controller 241 receives information of the rotation angle of the steering control shaft and correspondingly performs differential rotation for controlling the two driving wheels 21, so that the driving module 20 can accurately perform a corresponding steering action according to the rotation angle of the steering control shaft, thereby ensuring the accuracy and effectiveness of the balance car during movement, and improving the safety of the vehicle 1 during movement to a certain extent. The balance car with the structure can further facilitate the rapid steering or drifting of the vehicle 1.
Of course, the sensor is arranged on the shell 24 of the driving module 20, and the sensor can better detect and feed back the real-time load condition, and also can make the driving module 20 more reasonable and safer when bearing, so as to avoid the situation that the balance car is easily damaged due to the overlarge load, thereby ensuring the normal and safe operation of the driving module 20. The sensor can be connected with the controller inside the driving module 20, so that the controller can effectively know the real-time load condition detected by the sensor, and can also perform corresponding adjustment according to the load condition, so that the sensor can control the two driving wheels 21 to synchronously rotate to realize forward or backward according to the detected load condition of the balance car. Specifically, the steering control shaft is located on one side in the width direction of the housing 24, a first end of the steering control shaft is pivotally connected to the housing 24, and a second end of the steering control shaft is used for connecting a control lever. One end of the steering control shaft is connected with the shell 24 in a pivoting mode, the other end of the steering control shaft is used for being connected with the control rod, a user can control the steering control shaft by operating the control rod, and therefore corresponding differential rotation can be achieved, the steering control shaft is arranged in a reasonable and effective mode, meanwhile, the operation is more convenient, and the overall stability of the balance car is better. The joystick may be a leg joystick, i.e. it may be manipulated by the legs of the user when standing on the balance car.
In an alternative embodiment, not shown, the drive module 20 further comprises a sensor arranged on the housing 24, the housing 24 comprising two pedal structures and a torque shaft, the two pedal structures being pivotally connected by the torque shaft. The sensor can detect the real-time load condition of feedback, also can make drive module 20 can be more reasonable and safe when bearing, avoids the load too big and leads to the balance car easily to be damaged to can guarantee drive module 20 can normal, safe operation.
Here, the detection information of the sensor is not limited to one.
For example, a sensor may be used to detect the angular information of the torque shaft, and the first controller 12 or the second controller 241 may control the differential rotation of the two driving wheels 21 based on the angular information of the torque shaft detected by the sensor. Therefore, corresponding differential rotation can be accurately performed according to the rotation angle information of the torsion shaft, the accuracy and effectiveness of the vehicle 1 and the driving module 20 during movement can be ensured, and the safety of the vehicle 1 during movement can be improved to a certain extent. The sensor can be connected with the controller inside the driving module 20, so that the controller can effectively know the real-time load condition detected by the sensor, and can also perform corresponding adjustment according to the load condition, so that the sensor can control the driving wheel 21 to synchronously rotate to realize forward or backward according to the detected load condition of the balance car.
As another example, a sensor may be used to detect the inclination information of the two pedal structures with respect to the ground, and the first controller 12 or the second controller 241 may control the differential rotation of the two driving wheels 21 according to the inclination information of the two pedal structures with respect to the ground detected by the sensor. Therefore, corresponding differential rotation can be accurately performed according to the inclination angle information of the two pedal structures relative to the ground, the accuracy and the effectiveness of the vehicle 1 and the driving module 20 during movement can be ensured, and the safety of the vehicle 1 during movement is improved to a certain extent.
The sensor can be connected with a controller inside the driving module 20, so that the controller can effectively know the real-time load condition detected by the sensor and can also perform corresponding adjustment according to the load condition, and thus, the sensor can control the driving wheel 21 to synchronously rotate to realize advancing or retreating according to the detected load condition of the balance car. Such a drive module 20 is a swing car, which is one type of balance car.
As shown in fig. 1, the driving module 20 further includes a power supply element disposed in the housing 24 and electrically connected to the driving wheel 21. The driving module 20 is further provided with a power supply element, so that the power supply element is more environment-friendly and can avoid environmental pollution, and the power supply element is electrically connected with the driving wheel 21, so that the power supply element can drive the driving wheel 21 to rotate, and the vehicle 1 is driven to move. The power supply element may be a battery pack disposed in the housing 24, that is, the driving module 20 has the battery pack alone, which may facilitate the independent use of the driving module 20, and it is not necessary to arrange the power supply element separately for the driving module 20 on the vehicle frame 10, which may simplify the structure of the vehicle 1.
Alternatively, as shown in fig. 1, 2 and 4, the driving wheel 21 includes a wheel body 22 and a hub motor 23, wherein the wheel body 22 is rotatably disposed on the housing 24, the hub motor 23 is disposed in the wheel body 22, and the power supply element is used for supplying power to the hub motor 23. Set up in wheel body 22 in-wheel motor 23, can make action wheel 21's structure more firm and reasonable, and power supply unit is used for in-wheel motor 23 power supply, can make power supply unit drive in-wheel motor 23, makes action wheel 21 can rotate to drive the motion of vehicle 1. Of course, the driving module 20 can also be fixedly mounted on the frame 10 in a non-detachable manner, for example: welding, need not pass through many times of installation, can realize the integrated design of vehicle 1, also make the whole frame 10 structure of vehicle 1 more stable like this, the difficult condition such as subassembly drops that appears takes place.
According to an alternative embodiment of the present invention, as shown in fig. 1, 3 and 4, the vehicle 1 further includes a patching module 50, the patching module 50 is disposed at the bottom of the frame 10, and the driving module 20 is detachably connected with the housing 24 through the patching module 50. Switching module 50 can play the switching effect, and drive module 20 passes through switching module 50 and is connected with shell 24 detachably, can make vehicle 1's structure more have the operability, and also can be more simple and convenient when the part of installation or replacement damage, avoids the user to appear bigger economic loss, also can improve vehicle 1's accomodation nature.
Wherein the patching module 50 includes straps that are disposed at the bottom of the frame 10 and that are used to secure the housing 24. The provision of the straps for securing the housing 24 allows the drive module 20 to be fixedly mounted to the adaptor module 50, which makes the overall structure of the vehicle 1 more stable, thereby improving the safety of the vehicle 1 during movement. The arrangement of the binding band can increase the convenience of mounting and dismounting the driving module 20, and can facilitate the conversion of entertainment modes for users, thereby further improving the use experience of the users.
Further, as shown in fig. 1, 3 and 4, the patching module 50 may further include a mounting plate 51, the mounting plate 51 is disposed between the frame 10 and the shell 24, and the mounting plate 51 is adapted to an end surface of the shell 24 facing the frame 10. Mounting plate 51 is provided, mounting plate 51 is disposed between frame 10 and housing 24, that is, housing 24 is disposed on the side of mounting plate 51 away from frame 10, and mounting plate 51 is fitted to the end surface of housing 24 facing to frame 10, so that housing 24 is just clamped on the side of mounting plate 51 away from frame 10, and drive module 20 can be better fixedly mounted on adaptor module 50. The mounting plate 51 can play a role in switching, and can further limit the shell 24, so that the mounting reliability of the shell 24 at the mounting plate 51 can be ensured.
Further, as shown in fig. 1, 3 and 4, the adaptor module 50 includes a first adaptor bracket 52, and a mounting hole is reserved on the outer shell 24, and the first adaptor bracket 52 is connected to the outer shell 24 through the mounting hole. The first adaptor frame 52 and the housing 24 are connected through the mounting hole, so that the driving module 20 can be better fixedly mounted on the adaptor module 50, the overall structure of the vehicle 1 is more stable, and the safety of the vehicle 1 during movement can be improved.
According to an alternative embodiment of the present invention, as shown in fig. 1, 3 and 4, the vehicle 1 further includes a seat 60, the seat 60 is disposed on the frame 10, the operating module 40 includes an operating lever 41, the operating lever 41 is rotatably connected to the frame 10 and located at a front side of the seat 60, the operating lever 41 is connected to the first controller 12 in a wired or wireless manner, and the first controller 12 controls the two driving wheels 21 to rotate according to the swing angle of the operating lever 41. The seat 60 is disposed on the top of the frame 10, so that the user can feel more comfortable and more comfortable, and the visual field is wider.
The operating module 40 is an operating lever 41, and the operating lever 41 is more customary to operate and has a substituted feeling, to enhance the entertainment, the operating module 40 is rotatably provided on the vehicle frame 10, and when the vehicle 1 performs a desired exercise, the manipulation module 40 is rotatably operated by a user to achieve a desired exercise effect, and the manipulation module 40 is provided at one side of the seat 60, so that the user can operate while sitting on the seat 60, providing a certain convenience to the user, and the operating lever 41 is electrically connected with the first controller 12, the first controller 12 controls the two driving wheels 21 to rotate according to the swing angle of the operating lever 41, so that, according to the swing angle of the operating lever 41, the first controller 12 can accurately make corresponding instructions, control the two driving wheels 21 to make corresponding rotations, therefore, the accuracy and the effectiveness of the vehicle 1 during movement are ensured, and the safety of the vehicle 1 during movement is improved to a certain extent.
Specifically, as shown in fig. 1, 3 and 4, the manipulating module 40 further includes a mounting bracket 42, a manipulating rod 41 is disposed on the mounting bracket 42, the manipulating rod 41 can be a rocker, the manipulating rod 41 is connected to the frame 10 through the mounting bracket 42, and the manipulating rod 41 is connected to the first controller 12 in a wired/wireless manner. The installation frame 42 is disposed on the frame 10, so that the control module 40 can be better fixedly installed on the frame 10, and the control lever 41 is connected with the first controller 12 in a wired/wireless manner, so as to provide a connection manner, improve stability and flexibility of communication, and send a corresponding command to the first controller 12 when the control lever 41 is operated, thereby achieving a desired exercise effect.
Alternatively, as shown in fig. 1, 3 and 4, the operating lever 41 and the mounting bracket 42 are both provided in two, and the two mounting brackets 42 are respectively provided on both sides of the seat 60. Due to the arrangement, a user can operate the operating lever 41 by two hands simultaneously, and can control the drift car to move forward, backward or turn, so that the operation is simple, the use requirements of different crowds can be met, the extremely strong operation feeling and participation feeling are achieved, and the driving entertainment is improved.
Alternatively, the operating rod 41 of the operating module 40 is one, and the operating rod 41 has a two-axis rocker structure. The operating rod 41 of the operating module 40 is one and has a double-shaft rocker structure, so that free movement in four directions, namely, front, back, left and right directions can be realized, the operating rod 41 is in wired/wireless connection with the first controller 12, the swinging angle of the operating rod 41 is transmitted to the first controller 12, the first controller 12 sends out an execution command, so that two driving wheels 21 of the vehicle 1 can be driven, the operating rod 41 pushes the vehicle 1 forwards, pulls the vehicle 1 backwards, and steers the vehicle 1 towards the left side or the right side, and the front, the back, the left and the right can be operated simultaneously.
According to an alternative embodiment of the present invention, as shown in fig. 1, 3, 4 and 5, the vehicle 1 further includes a shooting device 70, the shooting device 70 being provided on the frame 10, the shooting device 70 being mounted on at least one side in the width direction of the seat 60. Be provided with shooting device 70, can experience the shooting in vehicle 1 motion, realize the combination of two kinds of amusement of vehicle 1 with the shooting toy, can promote the manipulation sense and the pleasant sensation that the user drove the shooting to can greatly strengthen amusement and sports attribute.
It should be noted that, the shooting devices 70 can fire water bullets or BB bullets, the first controller 12 can control one or more shooting devices 70 respectively or simultaneously, wherein the shooting devices 70 can be adjusted, the adjustment mode includes manual adjustment and automatic adjustment, the shooting devices 70 can be expanded according to requirements, the shooting devices 70 are disposed below the control module 40, two sets of the shooting devices are disposed on two sides of the carriage 10, and are connected to the first controller 12 through a wire harness or a terminal, so as to control the shooting devices 70. In addition, the shooting device 70 includes a detachable structure and a gun body, and after the detachable structure is assembled below the operating module 40, the gun body can perform pitching motion around the axis of the lower part of the detachable structure, and the rotation can be adjusted by manually pressing the gun body by a user and can also be adjusted by motor power on the gun body or the detachable structure.
As shown in fig. 1, 3 and 4, the trigger end 410 of the shooting device 70 is disposed on the joystick 41. Trigger end 410 is connected with first controller 12 pencil, and like this, trigger end 410 can adjust the rifle body angle, and sets up firing device 70's trigger end 410 on control rod 41, can make things convenient for user's operation more to setting up like this, can promoting the manipulation sense and the pleasant sensation of user's driving shooting, can greatly strengthen amusement and athletic attribute.
Alternatively, as shown in fig. 8, the operating module 40 may include a steering wheel 43, an accelerator pedal 44 and a decelerator pedal 45, the steering wheel 43 being communicatively connected to the first controller 12, and the accelerator pedal 44 and the decelerator pedal 45 being respectively connected to the steering wheel 43. Set up steering wheel 43, can acquire steering wheel 43's turned angle's information through first controller 12 with steering wheel 43 communication connection, thereby can send corresponding instruction, make vehicle 1 do corresponding motion, and set up accelerator pedal 44 and retarder 45, can set up accelerator pedal 44 and retarder 45 respectively about, the effect is equivalent to throttle and brake, when the double-click brake, can realize backing a car, accelerator pedal 44 and retarder 45 are connected with steering wheel 43 respectively, the user can accelerate, slow down or brake when rotating steering wheel 43 and do corresponding motion.
According to an alternative embodiment of the present invention, as shown in fig. 6, vehicle 1 further includes guard 80, and guard 80 is coupled to frame 10 and surrounds the periphery of frame 10. The protection device 80 is additionally arranged on the periphery of the frame 10, so that the combination of two entertainment modes of the vehicle 1 and the bumper car can be realized, a collision entertainment mode with more operation feeling can be realized, and the protection to a user and a car body is improved on the basis of the design of the entertainment mode.
The protector 80 includes a collision frame and a buffer member, the collision frame is connected to the frame 10 and surrounds the periphery of the frame 10, and the buffer member is disposed on the outer periphery of the collision frame away from the frame 10. For example, can enclose into the annular metal framework that is bigger than vehicle 1 projection size through metal tubular product or metal sheet, then realize the anticollision at soft buffering materials such as outer parcel foaming PU (polyurethane material), the brace rod that stretches out from metal framework installs on vehicle 1's frame 10, like this, can promote the collision between car and car, car and the barrier and experience to can strengthen the collision protection to user and vehicle 1.
In addition, as shown in fig. 7, the vehicle 1 further includes an armor device 90, wherein the armor device 90 includes a plurality of building blocks or puzzle blocks, and the combined building blocks or puzzle blocks form an outer cover and are arranged on the frame 10. Through forms such as building blocks or puzzle blocks, entertainment and interest can be increased, individual customization can also be embodied, and the modes are various, for example: the hard board made of corrugated paper or the like is assembled into different shapes according to the user's own idea or a previously provided assembly coating scheme, and is fastened to the frame 10 of the vehicle 1 by means of screws or the like. As shown in fig. 7, the housing formed by the armor device 90 is dinosaur-shaped, and certainly, the housing can also be in a shape desired by the user, but not limited thereto, and the user can sleeve the housing and then operate the vehicle 1, so that different fun and experience can be added to the user, and the entertainment and interest can be improved.
According to an alternative embodiment of the present invention, as shown in fig. 1, 3 and 4, the vehicle 1 further includes a driven wheel module 30, the driven wheel module 30 is disposed at a distance from the driving module 20, the driven wheel module 30 includes a support frame 11 detachably connected to the vehicle frame 10, and at least one driven wheel 31 is mounted on the support frame 11. One end of support frame 11 can be dismantled with frame 10 and be connected, can make frame 10's installation more convenient, and the other end of support frame 11 rotates with from driving wheel 31 to be connected, can make from driving wheel 31 fixed mounting on frame 10, guarantees vehicle 1's overall structure's stability, also can promote vehicle 1's motion security to a certain extent.
According to another alternative embodiment of the invention, the bottom of the frame 10 is fitted with at least one driven wheel 31. That is, the driven wheel 31 can be directly mounted on the bottom of the frame 10, so that the mounting is simple and direct.
The driven wheels 31 are universal wheels or mecanum wheels or omni wheels. The driven wheel 31 can be an unpowered wheel or a powered wheel, and the driven wheel 31 can be a universal wheel or a Mecanum wheel or an omnidirectional wheel, so that the smoothness and experience of drifting can be better increased.
In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. A vehicle control method characterized in that the vehicle includes: the control method comprises the following steps of:
generating a control instruction according to the current state of the vehicle and/or the acquired control information;
controlling the at least two driving wheels to synchronously rotate or differentially rotate according to the control instruction;
the vehicle further includes: the vehicle frame used for setting the driving module and the control module arranged on the vehicle frame further comprise, before generating a control instruction according to the current state of the vehicle and/or the obtained control information:
determining manipulation information acquired by the manipulation module;
the driving module further comprises two pedal structures, and before the generating of the control command according to the current state of the vehicle and/or the acquired manipulation information, the driving module further comprises:
detecting inclination angle information of the two pedal structures relative to the ground;
and determining the current state of the vehicle according to the acquired inclination angle information of the two pedal structures relative to the ground.
2. The method according to claim 1, wherein the driving module further comprises a housing, and a rotatable steering control shaft disposed on the housing and connected to the steering module, and the controlling the at least two driving wheels to rotate synchronously or differentially according to the control command comprises:
controlling the rotation angle of the steering control shaft according to the control instruction;
and controlling the at least two driving wheels to rotate in a differential speed manner according to the rotating angle of the steering control shaft.
3. The method of claim 1, wherein the drive module further comprises a twist-on shaft through which the two pedal structures are pivotally connected, further comprising, prior to the generating of control commands based on the current state of the vehicle and/or the acquired steering information:
detecting angle information of the torsion shaft;
and determining the current state of the vehicle according to the acquired angle information of the torsion shaft.
4. The method of any of claims 1-3, wherein the vehicle further comprises a seat disposed on the frame, and the steering module comprises: the operating rod is rotatably connected with the frame and is positioned on the front side of the seat, and the control command generation according to the current state of the vehicle and/or the acquired operating information comprises the following steps:
and generating the control command according to the acquired swing angle of the operating lever.
5. The method of claim 4, wherein the vehicle further comprises a firing device disposed on the frame, the method further comprising:
adjusting the firing angle, and/or firing timing of the firing means.
6. The method of claim 5, wherein the joystick is provided with a trigger associated with the firing device, and wherein adjusting the firing angle, and/or firing timing of the firing device comprises:
monitoring a trigger instruction acquired by the trigger end;
and adjusting the shooting angle and/or the shooting time of the shooting device according to the trigger instruction.
7. The method according to any one of claims 1 to 3, wherein the steering module comprises a steering wheel, and the generating of the control command according to the current loaded condition of the vehicle and/or the acquired steering information comprises:
and generating the control command according to the acquired rotation information of the steering wheel.
8. A vehicle, characterized by comprising: the device comprises a frame, a driving module arranged at the bottom of the frame, an operating module arranged on the frame and at least one controller;
wherein the at least one controller is capable of implementing the vehicle control method of any one of claims 1-7 by executing the control instructions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110395468.5A CN113147971B (en) | 2020-06-30 | 2020-06-30 | Vehicle control method and vehicle |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110395468.5A CN113147971B (en) | 2020-06-30 | 2020-06-30 | Vehicle control method and vehicle |
| CN202010615843.8A CN111634352A (en) | 2020-06-30 | 2020-06-30 | Vehicle with a steering wheel |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010615843.8A Division CN111634352A (en) | 2020-06-30 | 2020-06-30 | Vehicle with a steering wheel |
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| Publication Number | Publication Date |
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| CN113147971A CN113147971A (en) | 2021-07-23 |
| CN113147971B true CN113147971B (en) | 2022-07-26 |
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| CN202110395468.5A Active CN113147971B (en) | 2020-06-30 | 2020-06-30 | Vehicle control method and vehicle |
| CN202110149126.5A Pending CN112793694A (en) | 2020-06-30 | 2020-06-30 | Vehicle frame device |
| CN202010615843.8A Pending CN111634352A (en) | 2020-06-30 | 2020-06-30 | Vehicle with a steering wheel |
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| CN202110149126.5A Pending CN112793694A (en) | 2020-06-30 | 2020-06-30 | Vehicle frame device |
| CN202010615843.8A Pending CN111634352A (en) | 2020-06-30 | 2020-06-30 | Vehicle with a steering wheel |
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| CN114495469A (en) * | 2020-10-25 | 2022-05-13 | 纳恩博（北京）科技有限公司 | Vehicle control method and device, electronic equipment and storage medium |
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| US6120345A (en) * | 1999-02-05 | 2000-09-19 | Mattel, Inc. | Ride-on vehicle with a free-floating wheel |
| CN202486909U (en) * | 2012-03-14 | 2012-10-10 | 王頔 | Household burglar alarm robot |
| CN202966533U (en) * | 2012-12-05 | 2013-06-05 | 深圳市新力科技有限公司 | Eswing two-wheeled self-balancing bicycle |
| CN104014123A (en) * | 2014-06-13 | 2014-09-03 | 杭州骑客智能科技有限公司 | Longitudinal double-wheel vehicle body |
| EP3081466B1 (en) * | 2015-04-14 | 2017-08-09 | ID Development Limited | Set of elements for forming two kinds of wheeled vehicles for children |
| CN105539658B (en) * | 2015-12-24 | 2018-03-30 | 鲍炜 | A kind of safe double-wheel self-balancing car |
| DE102017119354A1 (en) * | 2016-09-01 | 2018-03-01 | Sandro Suess | Independent erection of a self-balancing vehicle |
| CN106515946A (en) * | 2016-12-23 | 2017-03-22 | 纳恩博（北京）科技有限公司 | Robot |
| CN107031758A (en) * | 2016-12-30 | 2017-08-11 | 苏州猛狮智能车辆科技有限公司 | Seat folding mechanism and the three-wheel scooter with it |
| CN206654137U (en) * | 2017-03-15 | 2017-11-21 | 深圳可波特科技有限公司 | A kind of drift vehicle frame and the drift kart using two wheeled electric balance car as power |
| CN108860416A (en) * | 2017-05-09 | 2018-11-23 | 永康市翰龙车业有限公司 | A kind of electric two-wheel body-sensing vehicle for simulating " flame " |
| CN207120829U (en) * | 2017-08-30 | 2018-03-20 | 深圳乐行天下科技有限公司 | Balance car |
| CN107672450B (en) * | 2017-09-26 | 2019-12-17 | 纳恩博（北京）科技有限公司 | Universal kart |
| CN107902031B (en) * | 2017-10-27 | 2021-02-12 | 纳恩博（北京）科技有限公司 | Electronic braking method, frame, power driving assembly and vehicle |
| CN109159844B (en) * | 2018-07-09 | 2020-08-11 | 纳恩博（北京）科技有限公司 | Control method and device of electric balance car |
| CN209938844U (en) * | 2019-05-30 | 2020-01-14 | 重庆田舍郎科技有限公司 | Multifunctional assembled kart |
| CN110550085B (en) * | 2019-07-30 | 2021-09-21 | 浙江骑客机器人科技有限公司 | Carting car and control method thereof |
| CN111098718B (en) * | 2019-12-19 | 2022-01-11 | 深圳市亮点智控科技有限公司 | Electric vehicle |
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- 2020-06-30 CN CN202110395468.5A patent/CN113147971B/en active Active
- 2020-06-30 CN CN202110149126.5A patent/CN112793694A/en active Pending
- 2020-06-30 CN CN202010615843.8A patent/CN111634352A/en active Pending
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| CN113147971A (en) | 2021-07-23 |
| CN112793694A (en) | 2021-05-14 |
| CN111634352A (en) | 2020-09-08 |
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