CN115320763B - Easy-to-operate two-wheeled electric balance car and control method - Google Patents
Easy-to-operate two-wheeled electric balance car and control method Download PDFInfo
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- CN115320763B CN115320763B CN202111400152.7A CN202111400152A CN115320763B CN 115320763 B CN115320763 B CN 115320763B CN 202111400152 A CN202111400152 A CN 202111400152A CN 115320763 B CN115320763 B CN 115320763B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000001960 triggered effect Effects 0.000 claims abstract description 20
- 230000005520 electrodynamics Effects 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000002159 abnormal effect Effects 0.000 claims description 9
- 238000012216 screening Methods 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 8
- 230000005856 abnormality Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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
- 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
- B62K23/08—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips foot actuated
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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
- B62K2204/00—Adaptations for driving cycles by electric motor
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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 invention belongs to the technical field of balance vehicles, and particularly relates to a two-wheel electric balance vehicle easy to operate and a control method. Aiming at the defect of high operation difficulty of the existing two-wheel electric balance car, the invention adopts the following technical scheme: an easy to operate two-wheeled electrodynamic balance car comprising: a left motor; a right motor; the left car body and the right car body are provided with a sensor and a trigger switch; a left controller; a right controller; when the left trigger switch is triggered first, the left controller works, receives information from the right sensor and controls the right motor; when the right trigger switch is triggered first, the right controller works, receives information from the left sensor and controls the left motor. The two-wheeled electric balance car has the beneficial effects that: the boarding process of the user is easier.
Description
Technical Field
The invention belongs to the technical field of balance vehicles, and particularly relates to a two-wheel electric balance vehicle easy to operate and a control method.
Background
The existing two-wheel electric balance car mainly comprises a left wheel with a motor, a left sensor, a right wheel with a motor, a right sensor, a left car body with a left pedal, a right car body with a right pedal and a controller, wherein the controller receives information of the left sensor and the right sensor and controls the left wheel and the right wheel. The existing two-wheel electric balance car is roughly divided into a single plate, a plurality of plates or a plurality of plate rotating connection mechanisms, wherein the single plate refers to that a car body is fixedly connected with a wheel axle, and two pedals are rotationally connected with the car body; the double plates are rotated relatively between the left and right vehicle bodies, and the pedals are arranged on the vehicle bodies; the left and right bodies of the multi-plate such as three-plate finger are rotatable, and a rotatable third rotating member is arranged between the left and right bodies.
The existing two-wheeled electrodynamic balance car, the controller controls the right wheel according to the information of right sensor, controls the left wheel according to the information of left sensor, starts up and realizes self-balancing and power take off, when one foot steps on the automobile body, the balance car probably runs. When the right foot is stepped on the right vehicle body, the left vehicle body can run for realizing self-balancing because the right vehicle body is basically limited by the right foot, so that a user can stably stand on the left vehicle body by the left foot have much difficulty in healing, the operation difficulty is high, and the electric balance vehicle is more unfriendly to a beginner.
In addition, the existing two-wheeled electric balance car, whether it is one controller or two controllers, cannot work normally when one of the only controller or the two controllers is abnormal.
Disclosure of Invention
Aiming at the defect that the operation difficulty is high due to the fact that a controller controls a right wheel according to information of a right sensor and controls a left wheel according to information of a left sensor in the existing two-wheel electric balance car, the invention provides the two-wheel electric balance car easy to operate, so that the operation difficulty of the balance car is reduced.
In order to achieve the above purpose, the invention adopts the following technical scheme: an easy operation's two-wheeled electrodynamic balance car, two-wheeled electrodynamic balance car is single board, two boards or multi-plate rotation coupling mechanism's two-wheeled electrodynamic balance car, easy operation's two-wheeled electrodynamic balance car includes:
a left wheel having a left motor;
A right wheel having a right motor;
the left car body is provided with a left sensor and a left trigger switch;
the right car body is provided with a right sensor and a right trigger switch;
A left controller;
a right controller;
when the left trigger switch is triggered first, the left controller works, receives information from the right sensor and controls the right motor; when the right trigger switch is triggered first, the right controller works, receives information from the left sensor and controls the left motor.
The left motor rotates to realize balance, wheels can rotate due to larger power of the left motor, the left wheels can reach basic level quickly by properly adjusting the right foot, the right motor is not started, the left motor and the right motor are started when the left foot is detected to be stepped on the left car, and the left controller, the right sensor and the right controller are started when the left foot is detected to be stepped on the left car. According to the two-wheeled electric balance car, the difficulty of getting on the car is reduced through cross control.
When the left trigger switch and the right trigger switch are triggered, the device enters a normal working mode, and in the normal working mode, the left controller receives information from the left sensor and the right sensor and sends instructions to the left motor and the right motor, the right controller receives information from the left sensor and the right sensor and sends instructions to the left motor and the right motor, and the instructions sent by the left controller and the right controller reach the left motor and the right motor after passing through the screening module, so that the two-wheel electric balance car of the single-board, double-board or multi-board rotary connecting mechanism keeps balanced. The single plate means that the vehicle body is fixedly connected with the wheel axle, and the two pedals are rotationally connected with the vehicle body; the double plates are rotated relatively between the left and right vehicle bodies, and the pedals are arranged on the vehicle bodies; the left and right bodies of the multi-plate such as three-plate finger are rotatable, and a rotatable third rotating member is arranged between the left and right bodies. The left controller and the right controller simultaneously control the left motor and the right motor according to certain logic, so that the mode that a single controller controls two motors or two controllers respectively control two motors in the prior art is different from the mode that the single controller controls two motors; because instructions are screened, obviously unreasonable instructions can be screened out.
As an improvement, the left controller and the right controller are identical.
As an improvement, the sensor includes a body angle sensor.
As an improvement, the two-wheeled electrodynamic balance car further comprises a speed sensor and an acceleration sensor, and the left controller and the right controller are connected with the speed sensor and the acceleration sensor.
As an improvement, when an abnormality of one of the left and right controllers is detected, the entire balance car is taken over by the other controller.
As an improvement, the left controller detects own signal value to monitor own running condition; the right controller detects its own signal value to monitor its own operating condition. In other schemes, a separate abnormality monitoring module can also be provided to monitor whether the left and right controllers are abnormal.
As an improvement, the signal value is a potential difference.
As an improvement, the left controller sends a corresponding instruction signal to the right controller at the same time when sending the instruction signal to the left motor; and the right controller sends corresponding instruction signals to the left controller when sending the instruction signals to the right motor.
As an improvement, the information of the respective sensor can be transmitted between the left controller and the right controller. In a normal working mode, the left controller sends the received information of the left sensor to the right controller, and the right controller sends the received information of the right sensor to the left controller.
The control method of the two-wheel electric balance car, the two-wheel electric balance car is the two-wheel electric balance car easy to operate, and the control method of the two-wheel electric balance car comprises the following steps:
S1, starting a power switch;
S2, when the right trigger switch is triggered firstly, the fact that the right foot is stepped on the right car body is detected, the left controller works, receives information from the left sensor and controls the left motor; when the left trigger switch is triggered firstly, the left foot is detected to be stepped on the left car body firstly, the right controller works, receives information from the right sensor and controls the right motor;
s3, after the right car body and the left car body are adjusted to be approximately horizontal through the first stepped foot, the other foot is stepped on.
When the left trigger switch and the right trigger switch are triggered, the control method is improved, a normal working mode is entered, in the normal working mode, the left controller receives information from the left sensor and the right sensor and sends instructions to the left motor and the right motor, the right controller receives information from the left sensor and the right sensor and sends instructions to the left motor and the right motor, and the instructions sent by the left controller and the right controller reach the left motor and the right motor after passing through a screening module, so that the two-wheel electric balance car of the single-board, double-board or multi-board rotary connecting mechanism keeps balance.
When one of the left and right controllers is abnormal, the other controller takes over the whole balance car to keep the balance of the two-wheel electric balance car of the single-plate, double-plate or multi-plate rotary connecting mechanism.
The two-wheeled electric balance car has the beneficial effects that: when a left foot is stepped on a left car body, a left trigger switch is triggered, a left controller works to receive information from a right sensor and control a right motor, when the right foot is detected to be stepped on the right car body, the right trigger switch is triggered, the right controller works to receive information from the left sensor and control the left motor, therefore, when the right foot is firstly stepped on the right car body, the right controller, the left sensor and the left motor work, the left motor rotates to realize balance, wheels can rotate due to the fact that the left motor is high in power, at the moment, the left wheels can be quickly enabled to achieve the basic level by properly adjusting the right foot, meanwhile, the right foot is stepped on the right car body, the right motor is not started, the right car body is enabled to be also relatively easy to be enabled to be substantially level, when the left foot is detected to be stepped on the left car body, the left controller, the right sensor and the right controller are started, and the whole balance car is also kept substantially immovable due to the fact that when the left foot is detected to be stepped on the left car body, and finally, the process of a user is easier to be achieved. Further, the left controller and the right controller simultaneously control the left motor and the right motor according to certain logic, so that the mode that a single controller controls two motors or two controllers respectively control two motors in the prior art is different from the mode that the single controller controls two motors; the screening module is arranged, and the instructions can be screened out obviously unreasonable instructions due to screening the instructions.
According to the control method of the two-wheeled electric balance car, the difficulty of getting on the car is reduced through cross control.
Drawings
Fig. 1 is a block diagram of a two-wheeled electrodynamic balance car according to a first embodiment of the present invention.
Fig. 2 is a flowchart of a control method of the two-wheeled electric balance vehicle according to the first embodiment of the present invention (when the vehicle is on).
Fig. 3 is a flowchart of a control method (at the time of abnormality) of the two-wheeled electric balance vehicle according to the first embodiment of the present invention.
Detailed Description
The technical solutions of the inventive embodiments of the present invention will be explained and illustrated below with reference to the drawings of the inventive embodiments of the present invention, but the following embodiments are only preferred embodiments of the inventive embodiments of the present invention, not all. Based on the examples in the implementation manner, other examples obtained by a person skilled in the art without making any inventive effort fall within the scope of protection created by the present invention.
Referring to fig. 1, an easy-to-operate two-wheeled electric balance vehicle according to a first embodiment of the present invention includes:
a left wheel having a left motor;
A right wheel having a right motor;
the left car body is provided with a left sensor and a left trigger switch;
the right car body is provided with a right sensor and a right trigger switch;
A left controller;
a right controller;
when the left trigger switch is triggered first, the left controller works, receives information from the right sensor and controls the right motor; when the right trigger switch is triggered first, the right controller works, receives information from the left sensor and controls the left motor.
The left motor rotates to realize balance, wheels can rotate due to larger power of the left motor, the left wheels can reach basic level quickly by properly adjusting the right foot, the right motor is not started, the left motor and the right motor are started when the left foot is detected to be stepped on the left car, and the left controller, the right sensor and the right controller are started when the left foot is detected to be stepped on the left car. According to the two-wheeled electric balance car, the difficulty of getting on the car is reduced through cross control.
In this embodiment, when the left trigger switch and the right trigger switch are triggered, the normal operation mode is entered, in the normal operation mode, the left controller receives information from the left sensor and the right sensor and sends an instruction to the left motor and the right motor, the right controller receives information from the left sensor and the right sensor and sends an instruction to the left motor and the right motor, and the instructions sent by the left controller and the right controller reach the left motor and the right motor after passing through the screening module, so that the two-wheel electric balance car of the single-board, double-board or multi-board rotary connection mechanism keeps balanced.
In this embodiment, the left controller and the right controller are the same.
In this embodiment, the sensor includes a vehicle body angle sensor.
In this embodiment, the two-wheeled electric balance car further includes a speed sensor and an acceleration sensor, and the left controller and the right controller are connected to the speed sensor and the acceleration sensor.
In this embodiment, when an abnormality of one of the left and right controllers is detected, the entire balance car is taken over by the other controller.
In this embodiment, the left controller monitors the signal value of the right controller to detect the operation condition of the right controller; the right controller monitors the signal value of the left controller to detect the operating condition of the left controller.
In this embodiment, the signal value is a potential difference.
In this embodiment, when the left controller sends an instruction signal to the left motor, the corresponding instruction signal is simultaneously sent to the right controller; and the right controller sends corresponding instruction signals to the left controller when sending the instruction signals to the right motor.
The two-wheeled electric balance car has the beneficial effects that: when a left foot is stepped on a left car body, a left trigger switch is triggered, a left controller works to receive information from a right sensor and control a right motor, when the right foot is detected to be stepped on the right car body, the right trigger switch is triggered, the right controller works to receive information from the left sensor and control the left motor, so when the right foot is firstly stepped on the right car body, the right controller, the left sensor and the left motor work, the left motor rotates to realize balance, wheels can rotate due to larger power of the left motor, at the moment, the left wheels can be quickly made to be basically horizontal by properly adjusting the right foot, meanwhile, the right foot is stepped on the right car body, the right motor is not started, and is easier to be basically horizontal, when the left car body and the right car body are basically horizontal, the left controller, the right sensor and the right controller are started, and the left car body are basically horizontal when the left foot is detected to be stepped on the left car body, and the whole balance car is basically kept motionless, and finally, the upper process of a user is easier; the left controller and the right controller simultaneously control the left motor and the right motor according to certain logic, so that the mode that a single controller controls two motors or two controllers respectively control two motors in the prior art is different from the mode that the single controller controls two motors; because instructions are screened, obviously unreasonable instructions can be screened out; when one of the left and right controllers is abnormal, the other non-abnormal controller can take over the whole balance car, so that the safety is ensured.
Referring to fig. 1 to 3, in a first embodiment of the present invention, a control method for a two-wheeled electric balance vehicle, where the two-wheeled electric balance vehicle is the foregoing two-wheeled electric balance vehicle easy to operate, includes:
S1, starting a power switch;
S2, when the right trigger switch is triggered firstly, the fact that the right foot is stepped on the right car body is detected, the left controller works, receives information from the left sensor and controls the left motor;
S3, after the right car body and the left car body are regulated to be approximately horizontal through the right foot, the left foot is stepped on, when the left trigger switch and the right trigger switch are triggered, the normal working mode is entered, in the normal working mode, the left controller receives information from the left sensor and the right sensor and sends instructions to the left motor and the right motor, the right controller receives information from the left sensor and the right sensor and sends instructions to the left motor and the right motor, and the instructions sent by the left controller and the right controller reach the left motor and the right motor after passing through the screening module, so that the two-wheel electric balance car of the single-board, double-board or multi-board rotary connecting mechanism keeps balance;
And S4, when one of the left and right controllers is detected to be abnormal, the other controller is used for taking over the whole balance car, so that the two-wheel electric balance car of the single-board, double-board or multi-board rotary connecting mechanism is kept balanced.
According to the control method of the two-wheeled electric balance car, the difficulty of getting on the car is reduced through cross control; the left controller and the right controller simultaneously control the left motor and the right motor according to certain logic, so that the mode that a single controller controls two motors or two controllers respectively control two motors in the prior art is different from the mode that the single controller controls two motors; because instructions are screened, obviously unreasonable instructions can be screened out; when one of the left and right controllers is abnormal, the other non-abnormal controller can take over the whole balance car, so that the safety is ensured.
While the invention has been described in terms of specific embodiments, it will be apparent to those skilled in the art that the invention is not limited to the specific embodiments described. Any modifications which do not depart from the functional and structural principles of the present invention are intended to be included within the scope of the appended claims.
Claims (8)
1. The control method of the two-wheel electric balance car is characterized in that the two-wheel electric balance car is a single-plate, double-plate or multi-plate rotary connecting mechanism and is characterized in that: the two-wheeled electrodynamic balance car includes:
a left wheel having a left motor;
A right wheel having a right motor;
the left car body is provided with a left sensor and a left trigger switch;
the right car body is provided with a right sensor and a right trigger switch;
A left controller;
a right controller;
the control method of the two-wheel electric balance car comprises the following steps of:
S1, starting a power switch;
S2, when the right trigger switch is triggered firstly, the fact that the right foot is stepped on the right car body is detected, the left controller works, receives information from the left sensor and controls the left motor; when the left trigger switch is triggered firstly, the left foot is detected to be stepped on the left car body firstly, the right controller works, receives information from the right sensor and controls the right motor;
s3, after the right car body and the left car body are adjusted to be approximately horizontal through the first stepped foot, the other foot is stepped on.
2. The control method of the two-wheeled electric balance car according to claim 1, wherein: when the left trigger switch and the right trigger switch are triggered, a normal working mode is entered, in the normal working mode, the left controller receives information from the left sensor and the right sensor and sends instructions to the left motor and the right motor, the right controller receives information from the left sensor and the right sensor and sends instructions to the left motor and the right motor, and the instructions sent by the left controller and the right controller reach the left motor and the right motor after passing through the screening module, so that the two-wheel electric balance car of the single-board, double-board or multi-board rotary connecting mechanism keeps balance.
3. The control method of the two-wheeled electric balance car according to claim 1, wherein: the left controller is identical to the right controller.
4. The control method of the two-wheeled electric balance car according to claim 1, wherein: the sensor includes a body angle sensor.
5. The control method of the two-wheeled electric balance car according to claim 1, wherein: the two-wheeled electrodynamic balance car still includes speed sensor and acceleration sensor, left side controller with right side controller is connected speed sensor with acceleration sensor.
6. The control method of the two-wheeled electric balance car according to claim 2, characterized by comprising the steps of: in the normal operation mode, when one of the left and right controllers is detected to be abnormal, the other controller takes over the whole balance car.
7. The control method of the two-wheeled electric balance car according to claim 6, wherein: the left controller detects the signal value of the left controller to monitor the running condition of the left controller; the right controller detects its own signal value to monitor its own operating condition.
8. The control method of the two-wheeled electric balance car according to claim 7, wherein: the signal value is a potential difference.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111400152.7A CN115320763B (en) | 2021-11-19 | 2021-11-19 | Easy-to-operate two-wheeled electric balance car and control method |
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| CN202111400152.7A CN115320763B (en) | 2021-11-19 | 2021-11-19 | Easy-to-operate two-wheeled electric balance car and control method |
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| CN115320763B true CN115320763B (en) | 2024-06-07 |
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| CN115320763A (en) | 2022-11-11 |
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