CN114802567A - Driving control method and main control circuit of intelligent somatosensory electric vehicle - Google Patents
Driving control method and main control circuit of intelligent somatosensory electric vehicle Download PDFInfo
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- CN114802567A CN114802567A CN202210393666.2A CN202210393666A CN114802567A CN 114802567 A CN114802567 A CN 114802567A CN 202210393666 A CN202210393666 A CN 202210393666A CN 114802567 A CN114802567 A CN 114802567A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000003238 somatosensory effect Effects 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 58
- 230000005484 gravity Effects 0.000 claims abstract description 17
- 230000008859 change Effects 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims description 10
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- 238000010586 diagram Methods 0.000 description 9
- 238000004804 winding Methods 0.000 description 5
- 230000006698 induction Effects 0.000 description 4
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- 230000000694 effects Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
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- 230000002093 peripheral effect Effects 0.000 description 2
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- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M7/00—Motorcycles characterised by position of motor or engine
- B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/24—Personal mobility vehicles
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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
Abstract
The invention relates to the technical field of vehicles, in particular to an intelligent somatosensory electric vehicle running control method, wherein the intelligent somatosensory electric vehicle comprises front wheels, rear wheels, a support for connecting the front wheels and the rear wheels, a seat cushion, a driving motor and a posture detection device, the seat cushion is arranged on the support, the front wheels or the rear wheels are driven by the driving motor, the posture detection device is arranged on the front wheels, the rear wheels, the support or the seat cushion, and the posture detection device senses the change of the gravity center of a rider so as to control the output power and/or the rotating direction of the driving motor. The invention provides a posture detection device on a front wheel, a rear wheel, a bracket or a seat cushion, controls the output power and the rotating direction of a driving motor through the gravity center change of a rider detected by the posture detection device, can control the running speed and the running direction of an electric vehicle, can control the speed without putting hands on a rotating handle, does not feel fatigue of the hands of a rider, and provides running safety.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a driving control method and a main control circuit of an intelligent somatosensory electric vehicle.
With the pace of life of people increasing, vehicles become more and more important life tools, and electric bicycles are an important choice.
At present, electric bicycle in the trade is through switch and the rotatory handle control output and the speed of traveling of handle department, and control mode is more single, and people's hand need hold all the time on rotatory handle with control speed of a motor vehicle, and long distance is gone easy tired.
Disclosure of Invention
In view of the above-mentioned disadvantages of the prior art, an object of the present invention is to provide an intelligent electric vehicle capable of controlling a vehicle speed without putting a hand on a rotating handle.
The utility model provides an electric motor car is felt to intelligence, includes front wheel, rear wheel, connects support, seatpad, driving motor and the gesture detection device of front wheel and rear wheel, and the seatpad sets up on the support, and front wheel or rear wheel pass through driving motor drive, and the gesture detection device sets up on front wheel, rear wheel, support or seatpad, and the pedestrian's focus is ridden in the response of gesture detection device response changes output and/or direction of rotation with control driving motor.
Preferably, the seat cushion further comprises a main control circuit, a middle supporting shaft is arranged at the lower part of the seat cushion, the upper part of the middle supporting shaft is connected with the seat cushion, and the lower part of the middle supporting shaft is connected with the bracket; the seat cushion can rotate around the middle supporting shaft; the posture detection device acquires the rotation angle and the direction of the seat cushion, and the main control circuit controls the output power and the rotation direction of the driving motor according to the rotation angle and the direction acquired by the posture detection device.
Preferably, the middle supporting shaft is connected with the seat cushion through a universal joint, and the seat cushion can rotate in a three-dimensional direction, namely: a plane defined by the front-back direction and the up-down direction, a plane defined by the left-right direction and the up-down direction, and a horizontal plane; meanwhile, an automatic steering device is arranged on the handlebar; the rotation of the seat cushion in the three-dimensional direction is decomposed into a component in the forward and backward direction of the vehicle body, a component in the vertical direction of the vehicle body and a component in the left and right direction of the vehicle body, wherein the component in the forward and backward direction of the vehicle body controls the forward and backward rotation of the driving motor, the component in the vertical direction of the vehicle body controls the output power of the driving motor, and the component in the left and right direction of the vehicle body controls the steering of the automatic steering device.
Preferably, the main control circuit is provided with a remote awakening circuit, a positioning circuit and an automatic cruising circuit, the remote awakening circuit receives remote awakening information, and the automatic cruising circuit and the positioning circuit enter an automatic cruising mode according to a remote awakening information instruction.
Preferably, the periphery of the seat cushion is provided with a slide way, the slide way is provided with a slide block, the main control circuit can control the slide of the slide block, and the seat cushion rotates around the middle support shaft in the sliding process of the slide block on the slide way, so that the slide block is controlled to slide to control the speed and the running direction of the electric vehicle in the automatic cruise mode.
Preferably, the seat cushion is rotatably provided around the intermediate support shaft in a plane defined by the front-rear direction and the up-down direction.
Preferably, the lower part of the seat cushion is provided with a front supporting shaft and a rear supporting shaft, the upper parts of the front supporting shaft and the rear supporting shaft are respectively connected with the seat cushion, and the lower parts of the front supporting shaft and the rear supporting shaft are respectively connected with the bracket; the front support shaft is positioned at the front part of the middle support shaft, and the rear support shaft is positioned at the rear part of the middle support shaft;
the upper part of the front supporting shaft is connected with the seat cushion in a vertical slidable manner, and the upper part of the rear supporting shaft is connected with the seat cushion in a vertical slidable manner;
the seat cushion rotates about the intermediate support shaft in a plane defined by the front-rear direction and the up-down direction,
the rotation angle of the seat cushion around the middle supporting shaft relative to the horizontal plane is +/-15 degrees;
the posture detecting device senses a rotation angle of the seat cushion to control an output power and a rotation direction of the driving motor.
Preferably, the bicycle further comprises a head pipe and a front fork, wherein the rear part of the head pipe is connected with the bracket, and the lower part of the front fork is connected with the front wheel; the upper part of the front fork is rotatably connected with the lower part of the head pipe, and the front fork is rotatably arranged in a plane determined by the front-back direction and the up-down direction relative to the head pipe; the junction of front fork and head pipe is provided with locking structure.
Preferably, the front fork is a single-arm front fork connected to one side of the front wheel
Preferably, in this embodiment, the head pipe is provided with a chute, the bracket extends into the chute, and the bracket is clamped with the chute through a tapered clamping pin; and taking out the tapered bayonet lock, and separating the bracket from the head pipe.
Through setting up spout and toper bayonet lock, can realize one-key formula cooperation and the split of support and head pipe. After the disassembly, the head part is lifted upwards, so that the front part and the rear part of the vehicle are separated, and the front-rear one-key disassembly and assembly is realized. The original rear half of the body is used as a driving part to connect the two-wheeled stroller in the same manner, as shown in fig. 12, and the front end of the stand is connected with the two-wheeled stroller (the seat cushion, the posture detection device and other components are retained, which are not shown in the figure) to make the two-wheeled stroller become an intelligent stroller. Based on same connection structure, can drive old car, intelligent sled car etc. of riding instead of walk of intelligence through support 3 and rear wheel. Really realizes one car for multiple purposes, and can be disassembled and combined at will by one key.
Preferably, the bicycle further comprises a rear fork, the upper part of the rear fork is connected with the bracket, and the lower part of the rear fork is connected with the rear wheel; the upper part of the rear fork is rotatably connected with the lower part of the bracket, and the rear fork is rotatably arranged in a plane determined by the front-back direction and the up-down direction relative to the bracket; and a locking structure is arranged at the joint of the rear fork and the bracket.
Preferably, the driving motor drives the rear wheel, and the driving motor is a shaftless motor.
Preferably, the rear fork is a single-arm rear fork, a rear fork single-arm shaft is arranged at the lower part of the rear fork, and the rear fork single-arm shaft is connected with the rear wheel from the left side of the rear wheel; the rear wheel comprises a hub shell, a right side cover, a motor side cover, a winding space and a tire placing space; the right side cover is connected to the right side of the hub shell, and the motor side cover is connected to the left side of the hub shell; the middle part of the motor side cover is provided with a hole, and the single arm shaft of the rear fork is connected with the hole; the winding space is arranged at the left side and the right side of the edge of the hub shell, and the tire placing space is arranged at the peripheral side of the hub shell.
A running control method of an intelligent somatosensory electric vehicle comprises the steps that a slideway is arranged on the periphery of a seat cushion of the electric vehicle, a middle supporting shaft is arranged on the lower portion of the seat cushion, and the lower portion of the middle supporting shaft is connected with a support of the electric vehicle; the front wheel or the rear wheel of the electric vehicle is driven by a driving motor, the electric vehicle is provided with an attitude detection device, and the attitude detection device senses the change of the gravity center of a rider so as to control the output power and/or the rotating direction of the driving motor;
the slide way is provided with a slide block, the main control circuit controls the slide of the slide block, and the seat cushion rotates in a three-dimensional direction around a middle support shaft of the electric vehicle in the process of sliding the slide block on the slide way;
the rotation angle and direction of the seat cushion are obtained by the posture detection device, and the output power and rotation direction of the driving motor are controlled by the main control circuit according to the rotation angle and direction obtained by the posture detection device, so that the running speed and running direction of the electric vehicle are controlled.
Preferably, the posture detection device comprises more than 4 gyroscopes, the front wheel and the rear wheel are respectively provided with more than 2 gyroscopes, and the electric vehicle posture is sensed through the gyroscopes.
A main control circuit of an intelligent somatosensory electric vehicle comprises: the electric bicycle comprises a main control circuit, wherein slide ways are arranged on the periphery of a seat cushion of the electric bicycle, a middle supporting shaft is arranged at the lower part of the seat cushion, and the lower part of the middle supporting shaft is connected with a bracket of the electric bicycle; the seat cushion can rotate around the middle supporting shaft, a front wheel or a rear wheel of the electric vehicle is driven by the driving motor, the electric vehicle is provided with a posture detection device, and the posture detection device senses the change of the gravity center of a rider so as to control the output power and/or the rotating direction of the driving motor;
the slide way is provided with a slide block, the main control circuit controls the slide of the slide block, and the seat cushion rotates in a three-dimensional direction around a middle support shaft of the electric vehicle in the sliding process of the slide block on the slide way, so that the speed and the running direction of the electric vehicle in an automatic cruise mode are controlled; the posture detection device acquires the rotation angle and the direction of the seat cushion, and the main control circuit controls the output power and the rotation direction of the driving motor according to the rotation angle and the direction acquired by the posture detection device.
Preferably, the seat cushion rotates around the intermediate support shaft in a plane defined by the front-rear direction and the up-down direction, and the rotation angle of the seat cushion around the intermediate support shaft with respect to the horizontal plane is ± 15 °; the posture detecting device senses a rotation angle of the seat cushion to control an output power and a rotation direction of the driving motor.
Preferably, the main control circuit is provided with a remote awakening circuit, a positioning circuit and an automatic cruising circuit, the remote awakening circuit receives remote awakening information, and the automatic cruising circuit and the positioning circuit enter an automatic cruising mode according to an instruction of the remote awakening information.
Preferably, the driving motor drives a rear wheel of the electric vehicle, and the driving motor is a shaftless motor.
Preferably, the posture detection device comprises more than 4 gyroscopes, the front wheel and the rear wheel are respectively provided with more than 2 gyroscopes, and the electric vehicle posture is sensed through the gyroscopes.
The invention has the beneficial effects that: the utility model provides an electric motor car is felt to intelligence, includes front wheel, rear wheel, connects support, seatpad, driving motor and the gesture detection device of front wheel and rear wheel, and the seatpad sets up on the support, and front wheel or rear wheel pass through driving motor drive, and the gesture detection device sets up on front wheel, rear wheel, support or seatpad, and the pedestrian's focus is ridden in the response of gesture detection device response changes output and/or direction of rotation with control driving motor. The invention provides a corresponding intelligent body-sensing electric vehicle driving control method main control circuit, wherein the posture detection device is arranged on the front wheel, the rear wheel, the bracket or the seat cushion, the output power and the rotating direction of the driving motor are controlled through the gravity center change of a rider detected by the posture detection device, the driving speed and the driving direction of the electric vehicle can be controlled, the vehicle speed can be controlled without putting hands on a rotating handle, the hands of a person do not feel fatigue, and the driving safety is provided.
Drawings
Fig. 1 is a block diagram of a circuit configuration of a driving control method of an intelligent electric vehicle according to the present invention.
Fig. 2 is a schematic structural diagram of an electric vehicle corresponding to the driving control method of the intelligent somatosensory electric vehicle, and the forward inclination angle of the seat cushion 4 is 15 °.
Fig. 3 is a schematic structural diagram of an electric vehicle corresponding to the driving control method of the intelligent body-sensing electric vehicle, and the seat cushion 4 has no inclination angle.
Fig. 4 is a schematic structural diagram of an electric vehicle corresponding to the driving control method of the intelligent somatosensory electric vehicle, wherein the caster angle of the seat cushion 4 is 15 °.
Fig. 5 is a schematic structural diagram of an electric vehicle corresponding to the driving control method of the intelligent somatosensory electric vehicle, wherein in a static state, front wheels are retracted inwards, and rear wheels are retracted inwards.
Fig. 6 is a schematic structural diagram of an electric vehicle corresponding to the driving control method of the intelligent somatosensory electric vehicle, wherein a semi-wrapped type fender is located at an upper working position and is used for keeping off rain and mud.
Fig. 7 is a schematic structural diagram of an electric vehicle corresponding to the driving control method of the intelligent somatosensory electric vehicle, wherein a half-wrapped type fender is located at a lower working position and used for supporting the ground.
Fig. 8 is a schematic view of a connection structure between a rear wheel and a rear fork of an electric vehicle according to a driving control method of an intelligent electric vehicle according to the present invention.
Fig. 9 is a schematic view of a connection structure of a rear wheel of an electric vehicle corresponding to a driving control method of an intelligent electric vehicle according to the present invention.
Fig. 10 is a cross-sectional view of a rear wheel of an electric vehicle according to a method for controlling the travel of an intelligent electric vehicle according to the present invention.
Fig. 11 is a schematic structural view of a rear wheel and a bracket of an electric vehicle corresponding to a driving control method of an intelligent motion sensing electric vehicle according to the present invention, with a front fork, a front wheel, and a handlebar removed.
Fig. 12 is a schematic configuration diagram of a two-wheeled vehicle driven by a rear half of a vehicle body of an electric vehicle as a driving force according to a method for controlling the travel of a smart electric vehicle according to the present invention.
Fig. 13 is a schematic configuration diagram of a two-wheeled vehicle connected to an electric vehicle according to a method for controlling the travel of a smart electric vehicle according to the present invention.
In the figure:
1-front wheel; 2-rear wheel; 21-a hub shell; 22-right side cover; 23-motor side cover; 24-winding space; 25-tire placement space; 3-a scaffold; 4-seat cushion; 5-driving a motor; 6-attitude detection means; 7-a master control circuit; 71-a remote wake-up circuit; 72-a positioning circuit; 8-a middle supporting shaft; 9-front support shaft; 10-rear support shaft; 73-auto cruise circuit; 11-head tube; 12-a front fork; 13-a rear fork; 131-a rear fork single arm shaft; 14-a handlebar; 15-a half-wrap fender; 16-pairs of hook-type connecting rods; 17-a limit spring; 18-high power waterproof contact terminals; 19-male; 20-two-wheeled vehicle.
Detailed Description
Embodiments of the invention are described in detail below with reference to fig. 1-13, but the invention can be practiced in many different ways as defined and covered by the claims.
A running control method of an intelligent body sensing electric vehicle is characterized in that slide ways are arranged on the periphery of a seat cushion 4 of the electric vehicle, a middle support shaft 8 is arranged on the lower portion of the seat cushion 4, and the lower portion of the middle support shaft 8 is connected with a support 3 of the electric vehicle; the front wheel 1 or the rear wheel 2 of the electric vehicle is driven by a driving motor 5, the electric vehicle is provided with an attitude detection device 6, and the attitude detection device 6 senses the change of the gravity center of a rider so as to control the output power and/or the rotating direction of the driving motor 5;
a slide block is arranged on the slide way, the main control circuit 7 controls the slide of the slide block, and the seat cushion 4 rotates around a middle support shaft 8 of the electric vehicle in the three-dimensional direction in the process that the slide block slides on the slide way;
the rotation angle and direction of the seat cushion 4 are acquired by the posture detection device 6, and the output power and rotation direction of the driving motor 5 are controlled by the main control circuit 7 according to the rotation angle and direction acquired by the posture detection device 6, so that the running speed and running direction of the electric vehicle are controlled.
In this embodiment, the posture detection device 6 includes 4 or more gyroscopes, the front wheel 1 and the rear wheel 2 are respectively provided with 2 or more gyroscopes, and the posture of the electric vehicle is sensed by the gyroscopes.
A main control circuit of an intelligent somatosensory electric vehicle comprises: the electric bicycle comprises a main control circuit 7, wherein slide ways are arranged on the periphery of a seat cushion 4 of the electric bicycle, a middle supporting shaft 8 is arranged on the lower part of the seat cushion 4, and the lower part of the middle supporting shaft 8 is connected with a bracket 3 of the electric bicycle; the seat cushion 4 can rotate around a middle supporting shaft 8, a front wheel 1 or a rear wheel 2 of the electric vehicle is driven by a driving motor 5, the electric vehicle is provided with a posture detection device 6, and the posture detection device 6 senses the change of the gravity center of a rider so as to control the output power and/or the rotating direction of the driving motor 5;
the slide way is provided with a slide block, the main control circuit 7 controls the slide of the slide block, and the seat cushion 4 rotates around a middle support shaft 8 of the electric vehicle in the three-dimensional direction in the sliding process of the slide block on the slide way, so that the speed and the running direction of the electric vehicle in the automatic cruise mode are controlled; the posture detecting device 6 acquires the rotation angle and direction of the seat cushion 4, and the main control circuit 7 controls the output power and rotation direction of the drive motor 5 according to the rotation angle and direction acquired by the posture detecting device 6.
In this embodiment, the seat cushion 4 rotates about the intermediate support shaft 8 in a plane defined by the front-rear direction and the up-down direction, and the rotation angle of the seat cushion 4 about the intermediate support shaft 8 with respect to the horizontal plane is ± 15 °; the posture detecting device 6 senses the rotation angle of the seat cushion 4 to control the output power and the rotation direction of the drive motor 5.
In this embodiment, the main control circuit 7 is provided with a remote wake-up circuit 71, a positioning circuit 72 and an auto-cruise circuit 73, the remote wake-up circuit 71 receives remote wake-up information, and the auto-cruise circuit 73 and the positioning circuit 72 enter an auto-cruise mode according to a remote wake-up information instruction.
In this embodiment, the driving motor 5 drives the rear wheel 2 of the electric vehicle, and the driving motor 5 is a shaftless motor.
In this embodiment, the posture detection device 6 includes 4 or more gyroscopes, the front wheel 1 and the rear wheel 2 are respectively provided with 2 or more gyroscopes, and the posture of the electric vehicle is sensed by the gyroscopes.
As shown in fig. 1 to 13, the present embodiment provides an intelligent body-sensing electric vehicle. Example one
The utility model provides an electric motor car is felt to agent, in this embodiment: the device comprises a front wheel 1, a rear wheel 2, a support 3 for connecting the front wheel 1 and the rear wheel 2, a seat cushion 4, a driving motor 5 and a posture detection device 6, wherein the seat cushion 4 is arranged on the support 3, the front wheel 1 or the rear wheel 2 is driven by the driving motor 5, the posture detection device 6 is arranged on the front wheel 1, the rear wheel 2, the support 3 or the seat cushion 4, and the posture detection device 6 senses the change of the gravity center of a rider so as to control the output power and/or the rotation direction of the driving motor 5.
In the embodiment, the seat cushion further comprises a main control circuit 7, wherein a middle supporting shaft 8 is arranged at the lower part of the seat cushion 4, the upper part of the middle supporting shaft 8 is connected with the seat cushion 4, and the lower part of the middle supporting shaft 8 is connected with the bracket 3; the seat cushion 4 is rotatable about the intermediate support shaft 8; the posture detecting device 6 obtains the rotation angle and direction of the seat cushion 4, and the main control circuit 7 controls the output power and rotation direction of the drive motor 5 according to the rotation angle and direction obtained by the posture detecting device 6.
In the present embodiment, the seat cushion 4 is rotatably provided around the intermediate support shaft 8 in a plane defined by the front-rear direction and the up-down direction.
In this embodiment, the lower portion of the seat cushion 4 is provided with a front support shaft 9 and a rear support shaft 10, the upper portions of the front support shaft 9 and the rear support shaft 10 are respectively connected with the seat cushion 4, and the lower portions of the front support shaft 9 and the rear support shaft 10 are respectively connected with the bracket 3; the front support shaft 9 is positioned at the front part of the middle support shaft 8, and the rear support shaft 10 is positioned at the rear part of the middle support shaft 8; the upper part of the front support shaft 9 is slidably connected with the seat cushion 4 in the vertical direction, and the upper part of the rear support shaft 10 is slidably connected with the seat cushion 4 in the vertical direction; the seat cushion 4 rotates around the intermediate support shaft 8 in a plane defined in the front-rear direction and the up-down direction, and the rotation angle of the seat cushion 4 around the intermediate support shaft 8 with respect to the horizontal plane is ± 15 °; the posture detecting device 6 senses the rotation angle of the seat cushion 4 to control the output power and the rotation direction of the drive motor 5.
The intelligent body-sensing electric vehicle utilizes a gyroscope installed below a vehicle seat to collect relevant data and carries out analysis and induction on the body weight of a rider to adjust the vehicle speed and control the electric vehicle to move forwards and backwards for a main control board single chip microcomputer, the front and back inclination angle of the vehicle seat is not more than 15 degrees, the maximum inclination angle exceeds 45 degrees and can be automatically powered off for protection, and the body-sensing control vehicle speed is not more than 25 kilometers at most every hour.
In this embodiment, the posture detection device 6 includes a posture detection module, and the MPU6050 module is adopted as the posture detection module, which is selected because it has the following advantages: integrating angle measurement and acceleration measurement; measuring angles and acceleration on three axes simultaneously; the output is digital signal, which is convenient for processing, storage and transmission; fourthly, the measurement range is large, and the reaction is fast. The MPU6050 integrates a 3-axis gyroscope and a 3-axis accelerator, and includes a Digital Motion Processing (DMP) hardware acceleration engine that can be connected to accelerators of other brands, magnetic sensors, or other sensors through a second I2C port, and outputs a complete 9-axis fusion algorithm to the application end in the form of a single data stream from the main I2C port.
In this embodiment, the gesture detection device 6 further includes an accelerometer module. The acceleration has a synthetic theorem, and can be understood as acceleration in which the gravitational acceleration can be decomposed in X, Y, Z three directions (front-back, left-right, up-down). The accelerometer module includes an acceleration sensor, which actually uses the MEMS technology to detect the tiny deformation caused by the inertia force, so that the accelerometer can measure the acceleration values of X, Y, Z axes in three directions at a certain time. The electric vehicle uses an accelerometer to measure the component of the gravity acceleration at the X, Y, Z axis, and then uses the ratio of the component of each direction to the gravity acceleration to calculate the approximate inclination angle of the vehicle.
The object is always acted by earth gravity to generate a downward gravity acceleration, when the vehicle is in a dynamic state, the action of the driving motor definitely has an acting force in a forward or backward direction, and the result measured by the accelerometer is that the gravity acceleration and the vehicle motion acceleration are combined to obtain a total acceleration component in three directions. Therefore, the angle measured by the accelerometer necessarily contains many interference factors, so that the angle needs to be processed by a filter to obtain a more stable and reasonable waveform. Therefore, the present embodiment further includes a filter, and the filter has a port connected to the driving motor to obtain the output power of the driving motor.
In this embodiment, the gesture detection device 6 further includes a gyroscope module. The gyroscope has the operation current of 5 mA and the standby current of 5 uA; accelerator operating current 500u accelerator power down mode current 40uA @ 10H. The gyroscope module records the angular speed of the vehicle during swinging in real time. Therefore, the PID adjustment can be better realized by combining the angle obtained by the accelerometer with the angular velocity obtained by the gyroscope through Kalman filtering. In the program, the real-time acceleration of the trolley is obtained in an IIC mode, zero offset is removed, the real-time posture of the trolley is obtained in the mode of obtaining the final angular speed value, the angle and the angular speed of the saddle can be obtained, and the two parameters are transmitted to a Kalman filtering function.
In this embodiment, the posture detecting device 6 further includes a motor driving module: because the working voltage of the motor is different from that of the single chip microcomputer, the single chip microcomputer is not strong in load capacity, the motor needs large current during working, and the single chip microcomputer cannot be used for directly driving the motor to operate, and therefore the motor driving module is needed for driving the motor. For the motor of the item, the speed reduction motor needs to be driven to adjust the motion state in real time, a larger output current 15A and a higher output voltage 36V are needed, and in order to leave a margin, the field effect power tube N channel is adopted for selective driving75V 75A (TIP 75N 75) is used as the motor drive of this time. Because of the speed regulation of the motor, a PWM speed regulation method is adopted. The principle is that the on-time of the switching tube in one cycle is T, the cycle is T, and the average voltage U = Vcc (T/T) = a Vcc across the motor, wherein a = T/T (duty ratio), and Vcc is the power supply voltage. The speed of the motor is proportional to the voltage across the motor, which is proportional to the duty cycle of the control waveform, and hence the speed of the motor is proportional to the duty cycle a.
In the embodiment, the bicycle further comprises a head pipe 11 and a front fork 12, wherein the rear part of the head pipe 11 is connected with the bracket 3, and the lower part of the front fork 12 is connected with the front wheel 1;
the upper part of the front fork 12 is rotatably connected with the lower part of the head pipe 11, and the front fork 12 is rotatably arranged relative to the head pipe 11 in a plane defined by the front-back direction and the up-down direction; the joint of the front fork 12 and the head pipe 11 is provided with a locking structure.
In this embodiment, when the electric vehicle is in a stationary state, the angle of the front wheel 1 relative to the head pipe 11 can be adjusted inward or outward at will, and the distance between the shafts of the front wheel 1 and the rear wheel 2 is changed, so as to achieve the best riding comfort. When the vehicle is in a static state, the front fork 12 and the front wheel 1 can be folded and stored towards the inner side of the vehicle body to reduce the storage space.
In this embodiment, the upper portion of the front fork 12 is connected to a handlebar 14.
In this embodiment, the front fork 12 is a single-arm front fork, and the front fork 12 is connected to one side of the front wheel 1.
In the embodiment, the head pipe 11 is provided with a chute, the bracket 3 extends into the chute, and the bracket 3 is clamped with the chute through a tapered clamping pin; the tapered bayonet is removed and the holder 3 is separated from the head tube 11.
Through setting up spout and toper bayonet lock, can realize one-key formula cooperation and the split of support 3 and head pipe 11. After the disassembly, the head part is lifted upwards, so that the front part and the rear part of the vehicle are separated, and the front-rear one-key disassembly and assembly is realized. The original rear half of the body is used as a driving part to connect the two-wheeled stroller in the same way, as shown in fig. 12, and the front end of the stand 3 is connected with the 2-wheeled stroller 20 (keeping the seat cushion, the posture detection device and the like, not shown in the figure) to make it an intelligent stroller. Based on same connection structure, can drive old car of riding instead of walk of intelligence, intelligent sled car etc. through support 3 and rear wheel 2. Really realizes one car for multiple purposes, and can be disassembled and combined at will by one key.
In the embodiment, the bicycle further comprises a rear fork 13, the upper part of the rear fork 13 is connected with the bracket 3, and the lower part of the rear fork 13 is connected with the rear wheel 2;
the upper part of the rear fork 13 is rotatably connected with the lower part of the bracket 3, and the rear fork 13 is rotatably arranged relative to the bracket 3 in a plane determined by the front-back direction and the up-down direction;
and a locking structure is arranged at the joint of the rear fork 13 and the bracket 3.
When the vehicle is in a static state, the rear fork 13 and the rear wheel 2 can be folded and stored towards the inner side of the vehicle body to reduce the storage space. When the vehicle is in a static state, the rear wheel 2 can be adjusted in angle inwards or outwards at will, the distance between the rear wheel 2 and the front wheel 1 is changed, and the optimal riding comfort level is achieved.
In this embodiment, the driving motor 5 drives the rear wheel 2, and the driving motor 5 is a shaftless motor.
In this embodiment, the rear fork 13 is a single-arm rear fork, a rear fork single-arm shaft 131 is disposed at the lower portion of the rear fork 13, and the rear fork single-arm shaft 131 is connected to the rear wheel 2 from the left side of the rear wheel 2;
the rear wheel 2 includes a hub shell 21, a right cover 22, a motor side cover 23, a winding space 24 and a tire placing space 25;
the right side cover 22 is connected to the right side of the hub shell 21, and the motor side cover 23 is connected to the left side of the hub shell 21;
the middle part of the motor side cover 23 is provided with a hole, and the single arm shaft 131 of the rear fork is connected with the hole;
the winding space 24 is provided on both left and right sides of the edge of the hub shell 21, and the tire housing space 25 is provided on the peripheral side of the hub shell 21.
In this embodiment, the drive motor 5 is embedded in the rear wheel 2.
In this embodiment, the semi-enclosed fender 15 is further included, and the semi-enclosed fender 15 is connected to the hub shell 21 through a hook-type connecting rod 16.
The intelligent induction electric vehicle is driven by a shaftless motor, the shaftless motor comprises a stator, a rotor, a side cover and a wheel hub shell, the rotor and the motor side cover are directly connected, the side cover and the shell are connected and positioned, so that the axle center is omitted, the motor structure bracket is simplified and locked on the motor side cover to achieve the purposes of simple and convenient installation, high motor concentricity, good consistency, reduction of the width of a rear fork and saving of the space of the whole vehicle.
In this embodiment, the hub further includes a limiting spring 17, a first end of the opposite hook type connecting rod 16 is pivotally connected to the hub shell 21, a second end of the opposite hook type connecting rod 16 is fixedly connected to the half-wrapped type fender 15, an upper end of the limiting spring 17 is rotatably connected to the hub shell 21, and a lower end of the limiting spring 17 is rotatably connected to a lower portion of the first end of the opposite hook type connecting rod 16. Under the effect of spacing spring 17, half-wrapped fender 15 has two work positions, goes up the work position and acts as the effect of weather shield, and the work position acts as the effect that the car propped down.
Half packet mode fender 15 moves about between 2 workstations, accomplishes the function switch-over, and switching in-process automobile body can not incline for this intelligent body feels the electric motor car can be convenient get into the automatic cruise state from the stall state. The semi-covered mudguard 15 is controlled by the intelligent cruise circuit 73 to be switched among 2 working positions.
A front wheel 1 is supported by a rotary single-arm front fork 12 on one side of a front wheel 1 of a vehicle body, a rear wheel 2 is supported by a rotary single-arm rear fork 13 on one side of a rear wheel 2 of the vehicle body, and a rear single-arm half-wrapped type fender 15 is laid down when the vehicle is parked and can be used for supporting the vehicle.
In this embodiment, the driving motor 5 is provided with a high-power waterproof contact terminal 18, the rear fork 13 is provided with a male head 19, and the male head 19 is inserted into the high-power waterproof contact terminal 18 to realize electrical connection. The contact type power supply mode changes the original outlet modes of a waterproof head, a connecting wire and the like, the high-power waterproof contact terminal 18 specially used for lapping inside the motor is directly connected with an external plug-in (male head 19) of a vehicle body to realize quick and convenient power supply contact, and the motor is greatly convenient to install in the production process and can be maintained and replaced without a professional in the future.
When the illumination is lower than 25LUX, the light control system sends a signal to the controller (the main control circuit 7), and the control system sends a corresponding command to automatically turn on the headlamp. APP, positioning, Bluetooth, USB, anti-lost, and other functions.
When the front of the intelligent electric vehicle meets an obstacle in the driving process, the intelligent electric vehicle automatically reduces the speed or stops through radar induction.
The front half part of the vehicle body (front wheel, front fork, head pipe, handlebar) utilizes the chute at the joint of the head pipe and the vehicle body, a tapered bayonet lock is arranged above the chute to pull the spring bayonet lock outwards and lift the head part upwards, so that the front part and the rear part of the vehicle body are separated, and the front key type disassembly and assembly is realized. The rear half part of the original baby carriage body is used as a driving part, and the baby carriage is connected with the upper two wheels in the same way, so that the baby carriage becomes an intelligent baby carriage, an intelligent old-age scooter, an intelligent sled and the like. Really realizes one car for multiple purposes, and can be disassembled and combined at will by one key.
In this embodiment, power supply system can the one-button dismouting, changes battery capacity according to the demand.
In this embodiment, the driving state is changed by the posture change of the driver by using the principle of "dynamic balance" in the intelligent sensing saddle because it can intelligently sense the gravity center change, and it uses the motion compensation algorithm, and uses the gyroscope and acceleration sensor inside it to accurately detect the small change of the posture of the vehicle body, and uses the precise servo control system to sensitively drive the motor to make corresponding adjustment, when the driver inclines, the posture sensor outputs the corresponding posture information, after the master control circuit 7 senses this information, it orders the driving motor 5 to rotate to the corresponding direction, the posture sensor constantly measures the posture of the vehicle according to a certain frequency, and outputs the posture information to the controller, the master control circuit 7 constantly adjusts the rotating direction and rotating speed of the driving motor 5, and a dynamic balance is maintained.
In this embodiment, still include the battery, the battery is provided with wireless charging electric core. The intelligent induction wireless charging system has the working principle that a magnetic field is generated when current flows through a coil, other coils which are not electrified generate current when the coils are close to the magnetic field, the physical phenomenon called electromagnetic induction is applied to the wireless charging technology, and the intelligent electric vehicle can be charged in a self-adaptive point-to-point mode and in a point-to-multipoint mode within a certain range.
Example two
The utility model provides an electric motor car is felt to agent, in this embodiment: the device comprises a front wheel 1, a rear wheel 2, a support 3 for connecting the front wheel 1 and the rear wheel 2, a seat cushion 4, a driving motor 5 and a posture detection device 6, wherein the seat cushion 4 is arranged on the support 3, the front wheel 1 or the rear wheel 2 is driven by the driving motor 5, the posture detection device 6 is arranged on the front wheel 1, the rear wheel 2, the support 3 or the seat cushion 4, and the posture detection device 6 senses the change of the gravity center of a rider so as to control the output power and/or the rotation direction of the driving motor 5.
In this embodiment, the main control circuit 7 is provided with a remote wake-up circuit 71, a positioning circuit 72 and an auto-cruise circuit 73, the remote wake-up circuit 71 receives remote wake-up information, and the auto-cruise circuit 73 and the positioning circuit 72 enter an auto-cruise mode according to a remote wake-up information instruction.
In this embodiment, the middle support shaft 8 is connected to the seat cushion 4 through a universal joint, and the seat cushion 4 can rotate in a three-dimensional direction: a plane defined by the front-back direction and the up-down direction, a plane defined by the left-right direction and the up-down direction, and a horizontal plane; meanwhile, an automatic steering device is arranged on the handlebar 14; the rotation of the seat cushion 4 in the three-dimensional direction is decomposed into a component in the forward and backward direction of the vehicle body, a component in the up and down direction of the vehicle body, and a component in the left and right direction of the vehicle body, the component in the forward and backward direction of the vehicle body controls the forward and backward rotation of the drive motor, the component in the up and down direction of the vehicle body controls the output power of the drive motor, and the component in the left and right direction of the vehicle body controls the steering of the automatic steering device.
In this embodiment, the main control circuit 7 is provided with a remote wake-up circuit 71, a positioning circuit 72 and an auto-cruise circuit 73, the remote wake-up circuit 71 receives remote wake-up information, and the auto-cruise circuit 73 and the positioning circuit 72 enter an auto-cruise mode according to a remote wake-up information instruction.
In this embodiment, the slide ways are arranged around the seat cushion 4, the slide ways are provided with the slide blocks, the main control circuit 7 can control the slide blocks to slide, and in the sliding process of the slide blocks on the slide ways, the seat cushion 4 rotates around the middle support shaft in the three-dimensional direction, so that the slide blocks are controlled to slide to control the speed and the running direction of the electric vehicle in the automatic cruise mode.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A driving control method of an intelligent somatosensory electric vehicle is characterized in that: the periphery of a seat cushion (4) of the electric vehicle is provided with a slideway, the lower part of the seat cushion (4) is provided with a middle support shaft (8), and the lower part of the middle support shaft (8) is connected with a bracket (3) of the electric vehicle; the front wheel (1) or the rear wheel (2) of the electric vehicle is driven by a driving motor (5), the electric vehicle is provided with an attitude detection device (6), and the attitude detection device (6) induces the change of the gravity center of a rider so as to control the output power and/or the rotating direction of the driving motor (5);
a slide block is arranged on the slide way, the main control circuit (7) controls the slide of the slide block, and the seat cushion (4) rotates around a middle supporting shaft (8) of the electric vehicle in a three-dimensional direction in the process that the slide block slides on the slide way;
the rotation angle and direction of the seat cushion (4) are acquired through the posture detection device (6), and the output power and rotation direction of the driving motor (5) are controlled through the main control circuit (7) according to the rotation angle and direction acquired by the posture detection device (6), so that the running speed and running direction of the electric vehicle are controlled.
2. The method of controlling driving of a smart electric vehicle according to claim 1, wherein: the gesture detection device (6) comprises more than 4 gyroscopes, the front wheels (1) and the rear wheels (2) are respectively provided with more than 2 gyroscopes, and the gestures of the electric vehicle are sensed through the gyroscopes.
3. The utility model provides a master control circuit of electric motor car is felt to intelligence which characterized in that: the electric bicycle seat cushion is characterized by comprising a main control circuit (7), wherein slide ways are arranged on the periphery of a seat cushion (4) of an electric bicycle, a middle supporting shaft (8) is arranged on the lower part of the seat cushion (4), and the lower part of the middle supporting shaft (8) is connected with a support (3) of the electric bicycle; the seat cushion (4) can rotate around the middle supporting shaft (8), a front wheel (1) or a rear wheel (2) of the electric vehicle is driven by a driving motor (5), the electric vehicle is provided with a posture detection device (6), and the posture detection device (6) induces the change of the gravity center of a rider so as to control the output power and/or the rotating direction of the driving motor (5);
the slide way is provided with a slide block, the main control circuit (7) controls the slide of the slide block, and the seat cushion (4) rotates in a three-dimensional direction around a middle support shaft (8) of the electric vehicle in the sliding process of the slide block on the slide way, so that the speed and the running direction of the electric vehicle in an automatic cruise mode are controlled; the posture detection device (6) acquires the rotation angle and the direction of the seat cushion (4), and the main control circuit (7) controls the output power and the rotation direction of the driving motor (5) according to the rotation angle and the direction acquired by the posture detection device (6).
4. The main control circuit of a body-sensory electric vehicle according to claim 3, wherein the seat cushion (4) rotates about the intermediate support shaft (8) in a plane defined by a front-rear direction and a vertical direction, and the rotation angle of the seat cushion (4) about the intermediate support shaft (8) with respect to a horizontal plane is ± 15 °; the posture detection device (6) senses the rotation angle of the seat cushion (4) to control the output power and the rotation direction of the driving motor (5).
5. The main control circuit of the intelligent somatosensory electric vehicle according to claim 3, wherein the main control circuit (7) is provided with a remote wake-up circuit (71), a positioning circuit (72) and an auto-cruise circuit (73), the remote wake-up circuit (71) receives remote wake-up information, and the auto-cruise circuit (73) and the positioning circuit (72) enter an auto-cruise mode according to the remote wake-up information instruction.
6. The main control circuit of the intelligent somatosensory electric vehicle according to claim 3, wherein the driving motor (5) drives the rear wheel (2) of the electric vehicle, and the driving motor (5) is a shaftless motor.
7. The main control circuit of the intelligent somatosensory electric vehicle according to claim 3, wherein the gesture detection device (6) comprises more than 4 gyroscopes, and the front wheel (1) and the rear wheel (2) are respectively provided with more than 2 gyroscopes, by which the gesture of the electric vehicle is sensed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210393666.2A CN114802567A (en) | 2016-11-13 | 2016-11-13 | Driving control method and main control circuit of intelligent somatosensory electric vehicle |
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| CN202210393666.2A CN114802567A (en) | 2016-11-13 | 2016-11-13 | Driving control method and main control circuit of intelligent somatosensory electric vehicle |
| CN201611004801.0A CN106627917B (en) | 2016-11-13 | 2016-11-13 | Electric motor car is felt to intelligence body |
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| CN201611004801.0A Division CN106627917B (en) | 2016-11-13 | 2016-11-13 | Electric motor car is felt to intelligence body |
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