CN114084263B - Balance car with double balance systems and balance control method thereof - Google Patents
Balance car with double balance systems and balance control method thereof Download PDFInfo
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- CN114084263B CN114084263B CN202111383881.6A CN202111383881A CN114084263B CN 114084263 B CN114084263 B CN 114084263B CN 202111383881 A CN202111383881 A CN 202111383881A CN 114084263 B CN114084263 B CN 114084263B
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- 238000000034 method Methods 0.000 title claims description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000004146 energy storage Methods 0.000 claims description 6
- 230000009977 dual effect Effects 0.000 claims 2
- 239000003381 stabilizer Substances 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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Classifications
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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
- 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
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- 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
- B62J43/00—Arrangements of batteries
- B62J43/10—Arrangements of batteries for propulsion
- B62J43/16—Arrangements of batteries for propulsion on motorcycles or the like
-
- 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
- B62J43/00—Arrangements of batteries
- B62J43/20—Arrangements of batteries characterised by the mounting
- B62J43/28—Arrangements of batteries characterised by the mounting hidden within the cycle frame
-
- 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
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/415—Inclination sensors
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The balance car with the double balance systems comprises a car body, wheels arranged on the left side and the right side outside the car body, an inertial navigation control system serving as a main balance system and an auxiliary balance system, wherein the auxiliary balance system comprises two auxiliary balance units which are oppositely arranged, each auxiliary balance unit comprises a motor, a transmission mechanism and a balance wheel, the motors drive the balance wheels to rotate through the transmission mechanism, each transmission mechanism comprises a first rotating shaft, a first transmission wheel arranged on the first rotating shaft and a second transmission wheel arranged on an output shaft of the motor, the first transmission wheel is connected with the second transmission wheel through a belt or a chain, the first rotating shaft is connected with the balance wheels, and the balance wheels of the two auxiliary balance units are arranged at front and rear middle positions in the car body. Greatly increases the stability and safety of the balance car during walking.
Description
Technical Field
The invention relates to a balance car, in particular to a balance car with a double balance system and a balance control method thereof.
Background
People are entering an increasingly intelligent society, and after intelligent home, intelligent wearing and intelligent office, intelligent electric balance cars are also entering the daily life of people. The intelligent balance car is a fire-explosion product invented before 13 years and only in the last two years, and is also the latest intelligent product in the mobility aid tool class. The intelligent product always gives people an unusual, convenient, concise and elegant feel, and the electric balance car is also the same. In fact, the electric balance car has different general development speeds in the world, especially in China markets in the last two years, the markets are rapidly opened, sales are increased like a rocket lift, and industry prospects are consistent. The electric balance car is taken as a new generation of wearable equipment and is wrapped by the intelligent tide. The intelligent electric balance car is widely used in areas with dense personnel and wide movable range such as cities, squares and airports, and provides functions such as urban walking, security patrol, leisure entertainment and the like for people. Therefore, the balance system of the balance car is related to the control efficiency of the whole balance car, the excellent balance system can improve the safety performance of the balance car, and meanwhile, the application scene of the balance car can be increased. The existing intelligent balance car balance system mainly directly utilizes data fusion of a gyroscope and acceleration, performs algorithm control after processing, and then controls balance and movement of the balance car, but greatly increases the dependence of the balance car on road conditions, can only be used on a proper level road, and is easy to cause accidents when ascending or descending, and the power system is disconnected suddenly, so that the balance system is damaged.
Disclosure of Invention
The invention aims to solve the technical problem of providing a balance car with a double balance system and a balance control method thereof, so that the stability and the safety of the balance car during walking are greatly improved.
In order to solve the technical problems, the technical scheme of the invention is as follows: the utility model provides a balance car of two balanced systems, includes the automobile body, establishes the wheel in the outer left and right sides of automobile body, as the inertial navigation control system of main balanced system, still includes auxiliary balance system, auxiliary balance system includes two auxiliary balance units of relative setting, auxiliary balance unit includes motor, drive mechanism and stabilizer, the motor passes through drive mechanism drive stabilizer rotation, drive mechanism includes first pivot, establishes at first epaxial first drive wheel and establishes at the second drive wheel of motor output shaft, and first drive wheel passes through belt or chain with the second drive wheel and is connected, first pivot is connected with the stabilizer, and the stabilizer of two auxiliary balance units is established in the automobile body front and back intermediate position.
As an improvement, batteries which are arranged in the vehicle body in a staggered way are arranged in the vehicle body, one auxiliary balance unit is arranged at the rear of the left battery, and the other auxiliary balance unit is arranged at the front of the right battery.
As an improvement, the first rotating shaft is arranged on the first bracket, and the motor is arranged below the first rotating shaft.
As an improvement, a disc brake device is arranged on the first rotating shaft.
As an improvement, the auxiliary balance unit further comprises an energy storage mechanism, the energy storage mechanism comprises a second rotating shaft, a third driving wheel and a magneto, the third driving wheel and the magneto are arranged on the second rotating shaft, the second rotating shaft is connected with an output shaft of the magneto, a fourth driving wheel is arranged on the first rotating shaft, and the third driving wheel is connected with the fourth driving wheel through a belt or a chain.
As an improvement, the second rotating shaft is arranged on the second bracket, and the first rotating shaft and the second rotating shaft are parallel and are arranged at equal heights.
As an improvement, a flywheel is arranged on the second rotating shaft.
The balance control method of the invention comprises the following steps:
(1) When the balance car walks on a flat road, the inertial navigation control system detects the road condition of the flat road, the main balance system performs motion control and braking to control the balance state of the balance car, and the auxiliary balance system is in a dormant state at the moment;
(2) When the balance car walks on a bumpy road surface, the inertial navigation control system detects uneven road conditions, the main balance system and the auxiliary balance system are started at the same time, the main balance system controls the movement of the double wheels, the auxiliary balance system controls the balance wheel to rotate to realize mechanical balance, and the double balance systems are in complementation with each other to maintain balance control of the whole car;
(3) When a certain wheel is suspended, the main balance system is completely disabled and cannot perform balance control by controlling the two wheels, at the moment, the balance system is switched into an auxiliary balance system, and the balance wheel is completely controlled by the auxiliary balance system to realize mechanical balance.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention adopts the double-balance system, does not need extra power source and does not consume extra electric energy of the balance car, the double-balance system jointly utilizes the power source of the balance car, and simultaneously indirectly increases the stability of the balance car, can solve the disadvantage that the balance car is easy to be damaged in a special environment, and simultaneously increases the adaptability of the balance car;
(2) The auxiliary balance system adopts a full mechanical structure, does not have any influence on an electric control system and an inertial navigation system of the balance car, can be conveniently and quickly used on the balance car system, and has low cost and long service life;
(3) The double-balance system can balance by the auxiliary balance system even though the whole balance car is suspended when accidents occur, and can also assist mechanical braking to avoid forward inertia collision of the balance car.
Drawings
Fig. 1 is a schematic front view of a balance car.
Fig. 2 is a schematic view of the interior of the balance car body.
Fig. 3 is a schematic diagram of an auxiliary balancing unit.
Detailed Description
The invention is further described below with reference to the drawings.
As shown in FIG. 1, a balance car with double balance systems comprises a car body 1, wheels 2 arranged on the left side and the right side outside the car body 1, an inertial navigation control system serving as a main balance system and an auxiliary balance system, wherein the inertial navigation control system and the auxiliary balance system form the double balance system of the balance car.
The inertial navigation control system is a balance system of the existing balance car and is a single balance system of the balance car, and the detailed description of the inertial navigation control system is omitted in this embodiment.
As shown in fig. 2, the auxiliary balance system is provided in the vehicle body 1, and includes two auxiliary balance units 3 disposed opposite to each other; the battery 4 which is arranged in a left-right staggered way is arranged in the vehicle body 1, the battery 4 can supply power to the balance vehicle as a whole, and the electric quantity and the cruising ability of the balance vehicle required during walking are ensured; one auxiliary balance unit 3 is arranged at the rear of the left battery 4, the other auxiliary balance unit 3 is arranged at the front of the right battery 4, and the double balance system is fixed in the geometric center of the balance car.
As shown in fig. 3, the auxiliary balance unit 3 includes a motor 32, a transmission mechanism, a balance wheel 31 and an energy storage mechanism; the motor 32 drives the balance wheel 31 to rotate through a transmission mechanism. The transmission mechanism comprises a first rotating shaft 36, a first transmission wheel 33 arranged on the first rotating shaft 36 and a second transmission wheel arranged on the output shaft of the motor; the first rotating shaft 36 is arranged on the first bracket, the motor is arranged below the first rotating shaft 36, the installation space is saved, and the internal structure of the balance car is more compact; the first driving wheel 33 is connected with the second driving wheel through a belt or a chain, the first rotating shaft 36 is connected with the balance wheel 31, the motor 32 drives the first rotating shaft 36, and the first rotating shaft 36 drives the balance wheel 31. The first rotating shaft 36 is provided with a disc brake device 35, and the disc brake device 35 comprises a disc brake disc arranged on the first rotating shaft 36 and a brake pad matched with the disc brake disc, and can brake the balance wheel 31 through the disc brake device. The energy storage mechanism comprises a second rotating shaft 37, a third driving wheel 38 and a magneto 30, wherein the third driving wheel 38 and the magneto 30 are arranged on the second rotating shaft 37, the second rotating shaft 37 is connected with an output shaft of the magneto 30, a fourth driving wheel 34 is arranged on the first rotating shaft 36, and the third driving wheel 38 is connected with the fourth driving wheel 34 through a belt or a chain; the second rotating shaft 37 is arranged on the second bracket, and the first rotating shaft 36 and the second rotating shaft 37 are parallel and are arranged at the same height; the second rotating shaft 37 is provided with a flywheel 39; the balance wheel 31 rotates anticlockwise, and meanwhile, the transmission mechanism drives the magneto 30 on the second rotating shaft 37 to work, part of kinetic energy is converted into electric energy to be transmitted back to the battery, and the endurance time of the balance car is prolonged. Balance wheels 31 of the two auxiliary balance units 3 are provided at intermediate positions in the vehicle body 1.
The invention relates to a balance control method of a balance car, which comprises the following steps:
(1) When the balance car walks on a flat road, the inertial navigation control system detects the road condition of the flat road, the main balance system performs motion control and braking to control the balance state of the balance car, and the auxiliary balance system is in a dormant state at the moment;
(2) When the balance car walks on a bumpy road surface, the inertial navigation control system detects uneven road conditions, and simultaneously starts the main balance system and the auxiliary balance system, the main balance system controls the movement of the two wheels, the auxiliary balance system controls the balance wheel 31 to rotate so as to realize mechanical balance, and the two balance systems simultaneously run complementarily, so that balance control of the whole car is maintained; if the balance car detects that the inclination angle of the machine body is larger than 30 degrees, or detects that the inclination acceleration of the machine body is larger than an abnormal value, or the acceleration of the whole forward movement of the balance car is too fast, the auxiliary balance system is switched; when the balance car tilts forward, the gyroscope sensor sends a signal to the motor, the motor rotates forward and drives the balance wheel 31 through the transmission mechanism, and an axial attractive force is generated, so that the whole balance is realized around the axle center, the faster the rotation speed is, the larger the axial attractive force is, and the stronger the balance force of the axle center of the machine body is; when the balance car tilts backwards, the motor rotates reversely, so that the balance car is restored to balance; when the balance car is in a balance state, the gyroscope sensor sends a signal to the motor, the motor stops working, the disc brake device is started, and the rotating speed of the whole balance wheel 31 is slowly reduced;
(3) When a certain wheel is suspended, the main balance system is completely disabled, and balance control cannot be performed by controlling two wheels, at this time, the balance system is switched to an auxiliary balance system, and the balance wheel 31 is completely controlled by the auxiliary balance system to realize mechanical balance.
Claims (4)
1. The utility model provides a balanced car of double balance system, includes the automobile body, establishes the wheel of the outer left and right sides of automobile body, as the inertial navigation control system of main balance system, its characterized in that: the auxiliary balance system comprises two auxiliary balance units which are oppositely arranged, the auxiliary balance units comprise motors, transmission mechanisms and balance wheels, the motors drive the balance wheels to rotate through the transmission mechanisms, the transmission mechanisms comprise first rotating shafts, first transmission wheels arranged on the first rotating shafts and second transmission wheels arranged on output shafts of the motors, the first transmission wheels are connected with the second transmission wheels through belts or chains, the first rotating shafts are connected with the balance wheels, and the balance wheels of the two auxiliary balance units are arranged at front and rear middle positions in a vehicle body;
one auxiliary balance unit is arranged at the rear of the left battery, and the other auxiliary balance unit is arranged at the front of the right battery;
the first rotating shaft is arranged on the first bracket, and the motor is arranged below the first rotating shaft;
a disc brake device is arranged on the first rotating shaft;
the auxiliary balance unit further comprises an energy storage mechanism, the energy storage mechanism comprises a second rotating shaft, a third driving wheel and a magneto, the third driving wheel and the magneto are arranged on the second rotating shaft, the second rotating shaft is connected with an output shaft of the magneto, a fourth driving wheel is arranged on the first rotating shaft, and the third driving wheel is connected with the fourth driving wheel through a belt or a chain;
when the balance car tilts forwards, the gyroscope sensor sends a signal to the motor, the motor rotates forwards and drives the balance wheel through the transmission mechanism, and an axial attractive force is generated, so that the whole balance car is balanced around the axle center, the faster the rotation speed is, the larger the axial attractive force is, and the stronger the balance force of the axle center of the machine body is; when the balance car tilts backwards, the motor rotates reversely, so that the balance car is restored to balance; when the balance car is in a balance state, the gyroscope sensor sends a signal to the motor, the motor stops working, the disc brake device is started, and the rotating speed of the whole balance wheel is slowly reduced.
2. The dual balance system balance car of claim 1, wherein: the second rotating shaft is arranged on the second bracket, and the first rotating shaft and the second rotating shaft are parallel and are arranged at equal heights.
3. The dual balance system balance car of claim 1, wherein: and a flywheel is arranged on the second rotating shaft.
4. A control method of the balance car of the double balance system according to claim 1, comprising the steps of:
(1) When the balance car walks on a flat road, the inertial navigation control system detects the road condition of the flat road, the main balance system performs motion control and braking to control the balance state of the balance car, and the auxiliary balance system is in a dormant state at the moment;
(2) When the balance car walks on a bumpy road surface, the inertial navigation control system detects uneven road conditions, the main balance system and the auxiliary balance system are started at the same time, the main balance system controls the movement of the double wheels, the auxiliary balance system controls the balance wheel to rotate to realize mechanical balance, and the double balance systems are in complementation with each other to maintain balance control of the whole car;
(3) When a certain wheel is suspended, the main balance system is completely disabled and cannot perform balance control by controlling the two wheels, at the moment, the balance system is switched into an auxiliary balance system, and the balance wheel is completely controlled by the auxiliary balance system to realize mechanical balance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111383881.6A CN114084263B (en) | 2021-11-19 | 2021-11-19 | Balance car with double balance systems and balance control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111383881.6A CN114084263B (en) | 2021-11-19 | 2021-11-19 | Balance car with double balance systems and balance control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114084263A CN114084263A (en) | 2022-02-25 |
| CN114084263B true CN114084263B (en) | 2023-06-09 |
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| CN202111383881.6A Active CN114084263B (en) | 2021-11-19 | 2021-11-19 | Balance car with double balance systems and balance control method thereof |
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| CN114084263A (en) | 2022-02-25 |
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