CN201228037Y - Two-wheel self balancing electric motor vehicle - Google Patents

Two-wheel self balancing electric motor vehicle Download PDF

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Publication number
CN201228037Y
CN201228037Y CNU2008201085401U CN200820108540U CN201228037Y CN 201228037 Y CN201228037 Y CN 201228037Y CN U2008201085401 U CNU2008201085401 U CN U2008201085401U CN 200820108540 U CN200820108540 U CN 200820108540U CN 201228037 Y CN201228037 Y CN 201228037Y
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CN
China
Prior art keywords
wheel
driven car
chassis
battery
self
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Application number
CNU2008201085401U
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Chinese (zh)
Inventor
周惠兴
Original Assignee
周惠兴
赵建萍
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Priority to CNU2008201085401U priority Critical patent/CN201228037Y/en
Application granted granted Critical
Publication of CN201228037Y publication Critical patent/CN201228037Y/en

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Abstract

The utility model relates to an electric bicycle, in particular to a double-wheel self-balance electric bicycle, which can keep self-balance, realizes safe running functions according to user requirements, and has the characteristics of high flexibility, strong maneuverability, stability and reliability, intelligent control, easy operation, environmental protection, simple structure, convenient maintenance and the like. Two coaxial line arranged wheels are arranged on independent supports on two sides of a chassis; a microprocessor control system, a power supply system, an electromotor driver, a sensor measuring system and an auxiliary drive system are fixed under the chassis; and two hub electromotors are arranged in two wheels, wherein, a stator shaft of each hub electromotor is a wheel shaft fixed on the chassis through the support, and a rotor of the hub electromotor is connected with the hub electromotor into a whole to form the wheel. Therefore, a green short-trip means of transportation with zero emission, low noise and no pollution is realized; the traffic pressure can be relieved; and the environmental problem and the energy problem can be solved.

Description

The double-wheel self-balancing battery-driven car
Technical field
The utility model relates to a kind of battery-driven car, and particularly a kind of double-wheel self-balancing battery-driven car belongs to transport facility.
Background technology
At present, along with the high speed development of China's economic and improving constantly of people's living standard, the automobile quantity of domestic city constantly increases, and environmental problem, traffic problems and energy problems such as thing followed aerial contamination, noise emission, traffic jam, oil shortage also seem and become increasingly conspicuous.Designing and producing performance-oriented battery-driven car is one of effective way that addresses the above problem.
Generally speaking, the wheel of electric motor car with two wheels both can be arranged front and back as the traditional electrical motor-car, also can parallel coaxial be arranged in the car body both sides.The wheel coaxial arrangement is compared with the traditional electrical motor-car, and following advantage is arranged: volume is little, in light weight, have very high alerting ability, can realize the original place rotation, helps to alleviate traffic pressure.But because the unique physical construction of the electric motor car with two wheels of coaxial arrangement itself is the nature time-dependent system under non-control state, complicated operation easily loses center of gravity, and the people throws and causes damage.In addition, because above-mentioned two-wheeled parallel coaxial arranges that battery-driven car has the unsettled characteristics of nature, therefore exhaust or when gross error appears in control system at the battery-driven car electric weight, battery-driven car tends to owing to can not self-equalizing falling down and driver's safety is constituted a threat to, and also causes the driver to produce the psychology of a kind of worry accidental falls from the battery-driven car in the process of driving battery-driven car easily.
Summary of the invention
The purpose of this utility model is the shortcoming that addresses the above problem and overcome the traditional electrical motor-car, provide a kind of and can either keep self balance, can realize the safe operation function according to customer requirements again, and have the double-wheel self-balancing battery-driven car of alerting ability height, mobility strong, reliable and stable, Based Intelligent Control, processing ease, environmental protection, characteristics such as simple in structure, easy to maintenance.
The utility model is achieved through the following technical solutions:
A kind of double-wheel self-balancing battery-driven car of the present utility model, comprise: both sides, chassis separate support has two coaxial lines to arrange wheel, be fixed with microprocessor control system, power supply system, wherein under the chassis: fixed motor actuator, sensor measuring system and DAS (Driver Assistant System) under the chassis, two wheel hub motors are arranged in two wheels, the stator axis of wheel hub motor is that axletree is fixed on the chassis by bearing, and the rotor of wheel hub motor and wheel nave connect as one the formation wheel.The form that two wheels of battery-driven car adopt the parallel coaxial line to arrange is installed in both sides, car body chassis; the power supply system of below, chassis comprises battery pack; voltage transitions plate and sensor measuring system; the battery-driven car cover is installed in the top, chassis; on the one hand be used to protect car inner sensor and each important electronic devices and components, on the other hand as driver's feet pedal.Independently DC motor or direct driving motor drive each free one of two wheel that coaxial line is arranged on the battery-driven car.Described battery-driven car uses wheel hub motor as propulsion source, and it is a kind of motor to be made the electrical motor of wheel hub shape, we can say it be wheel be again motor.And motor is installed in the both sides, chassis, and its stator axis is fixed on the car body by bearing.In when operation, thereby wheel hub motor is rotated to battery-driven car around stator axis enough power is provided, and realizes that battery-driven car steadily advances, retreats, turns to and multiple function such as original place rotation.The cover of being made by steel plate or plastics is installed in the top, chassis, the joystick of height and adjustable angle is fixedly connected on the chassis, the driver can control battery-driven car by the button on this joystick and the bar, and can learn mode of operation and other relevant informations of current battery-driven car by checking read out instrument on the joystick.
A kind of double-wheel self-balancing battery-driven car described in the utility model, wherein: described sensor measuring system is connected with the control card of microprocessor control system, microprocessor control system is connected with motor by motor driver, adjusts car body by input voltage signal control motor positive and inverse and is in balance position.Described chassis is provided with the incremental encoder of measuring the wheel hub motor speed, also is provided with the gyroscope of measurement battery-driven car pitch angle and the combined encoder of accelerometer formation and is installed on the chassis by measurement bracket.
Battery-driven car utilizes sensor measuring system to measure running state, state of equilibrium and the driver's of battery-driven car incoming signal, and these signal feedback are arrived controller.Because described battery-driven car has 3 degree of freedom, in order to detect the mode of operation of battery-driven car, use the pitch angle of gyroscope and accelerometer measurement in a closed series battery-driven car, make the rotating speed of increment type, then through calculating rate of pitch, point-to-point speed, translatory acceleration, roll (turning to) angle and the roll angle speed of battery-driven car with two wheels of coder measurement.Each sensor all is connected with the control card of storing control program, signal of sensor directly or after conversion is input to control card, through drawing maintenance car body balance after the calculating of the microprocessor in the control card and normally moving needed motor torque and be converted into control signal, by motor driver motor is exported suitable voltage at last, the control motor is finished the function of required realization with certain rotating speed and direction operation.
A kind of double-wheel self-balancing battery-driven car described in the utility model, wherein: described chassis is provided with the fender guard that has the certain level distance with wheel axis.For fear of driver's accidental falls and protection battery-driven car in-to-in electronic devices and components; described battery-driven car is by program and to add auxiliary machinery be that fender guard prevents the generation that battery-driven car pitch angle in operational process is excessive, speed is crossed high dangerous situation; and can in the time that danger will be occurred, warn the driver, thereby avoid the unexpected generation of the overwhelming majority by read out instrument.Described fender guard is an alighting gear that the end hinge is movably connected on the chassis, the other end has bogie wheel.
A kind of double-wheel self-balancing battery-driven car described in the utility model, wherein: described chassis is provided with guardrail.The guardrail that is provided with on the described chassis can be two the side guardrails parallel with wheel.
A kind of double-wheel self-balancing battery-driven car described in the utility model, wherein: be connected with movable effector by the rope form connection lead on the described chassis, and be hung on the guardrail.
Self-balancing battery-driven car described in the utility model, its method of operating mainly contain two kinds, and a kind of dependence driver health that tilts makes joystick tilt to realize, wherein: when driver's body forward tilted, battery-driven car forward or quicken operation; When driver's health receded, battery-driven car backward or run slowly; Even when driver's body erect chassis was parallel with horizontal surface, battery-driven car rested on as you were; When driver rotation or stir on the joystick turn to device the time, battery-driven car turns to.Simultaneously, realize the infinite speed variation of battery-driven car according to the angle of inclination size of joystick; Size according to the rotation direction sensor output signal realizes that battery-driven car turns to different turn radiuss, even can rotate in the original place, and turn radius is 0.Another kind of then be to realize that by four buttons on the manipulation bar or driving lever wherein: when the driver pressed or stir forward-reverse button or driving lever, battery-driven car moved forward or backward; When the driver presses or stirs when turning to button or driving lever, battery-driven car turns to the left or to the right.
The utlity model has following remarkable advantage: (1) the utility model adopt stable, controllability good, speed of response is fast, the brushless DC hub motor of long service life or direct driving motor come direct drive battery-driven car realization start-stop, advance and retreat, turn to and the original place spinfunction, mechanisms such as having saved deceleration, speed change, reversing, brake and turned to, not only make simple and reasonable, also reduce the volume and weight of battery-driven car, strengthened the alerting ability and the manoevreability of battery-driven car;
(2) the utility model can keep balance automatically under the control of control system, does not need the driver that the balance of car body is controlled, and is simple to operate, easy to maintenance, cost is not high, is fit to the personnel at all levels and uses;
(3) the utility model adopt storage battery the most the energy drive, also can add solar module and power, so the utility model can realize well that the zero-emission noise is little pollution-free, be a kind of " green " transport facility;
(4) the utility model not only utilizes control system to realize safety protection function, also utilizes mechanical mechanism to ensure driver's safety, thereby has improved the safety and the reliability of battery-driven car greatly.
The beneficial effects of the utility model are, it can be widely used in the occasions such as life residential quarters in shopping mall, international meeting or exhibition place, stadiums, large-scale park plaza, eco-tour scenic spot, the city, office block, hotel as among the people, the short distance running vehicle, and can alleviate traffic pressure, solved environmental problem and energy problem to a certain extent.
Description of drawings:
Fig. 1: represent self-balancing battery-driven car perspective view of the present utility model.
Fig. 2: represent self-balancing battery-driven car front view of the present utility model.
Fig. 3: represent self-balancing battery-driven car upward view of the present utility model.
Fig. 4: the scheme drawing of representing the another kind of supporting wheel hub electric machine structure mode of self-balancing battery-driven car of the present utility model.
Fig. 5: the scheme drawing of representing another supporting wheel hub electric machine structure mode of self-balancing battery-driven car of the present utility model
Fig. 6: represent self-balancing battery-driven car wheel assembly drowing of the present utility model.
Fig. 7: represent self-balancing battery-driven car birds-eye view of the present utility model.
Fig. 8: the principle schematic () of representing self-balancing battery-driven car fender guard of the present utility model
Fig. 9: the principle schematic (two) of representing self-balancing battery-driven car fender guard of the present utility model
Figure 10: the principle schematic (three) of representing self-balancing battery-driven car fender guard of the present utility model
Figure 11: represent wherein a kind of schematic diagram of realizing safety guard-safeguard with automated manner of the present utility model
Figure 12: represent wherein a kind of kinematic sketch of realizing safety guard-safeguard with manual mode of the present utility model
The specific embodiment:
Below in conjunction with the drawings and specific embodiments the utility model is described further, but not as to qualification of the present utility model.
As shown in Figure 1, be a kind of self-balancing battery-driven car perspective view of the present utility model.1 both sides separate support has two coaxial lines to arrange wheel 3 on the chassis, in Fig. 2, the chassis is fixed with microprocessor control system (not shown), power supply system 12, chassis 1 time fixed motor actuator 11, sensor measuring system and DAS (Driver Assistant System) for 1 time, two wheel hub motors 10 are arranged in two wheels 3, the stator axis of wheel hub motor 10 is axletree 9 and is fixed on the chassis 1 by outer support 2 and interior bearing 14, and the rotor of wheel hub motor 10 and wheel nave connect as one and constitute wheel 3.
Self-balancing battery-driven car described in the utility model adopts brushless direct-current formula wheel hub motor 10 propulsions source as the self-balancing battery-driven car, save complicated transmission device, save the car body volume inside, reduce the volume and the quality of battery-driven car, reduce the manufacturing cost of battery-driven car, also make complete vehicle weight more be evenly distributed on each position of battery-driven car.As shown in Figures 2 and 3, self-balancing battery-driven car of the present utility model mainly comprises following components: joystick 4, wheel hub motor 10, cover 7, chassis 1, motor driver 11, battery pack 12, incremental encoder 8, read-out 5, steering operation device 6, measurement of angle unit (being made up of accelerometer 18 and gyroscope 19), power-switching circuit plate 20, DSP control card 15.Wherein, two wheel hub motors 10 are installed in 1 both sides, chassis of battery-driven car respectively, to be axletree 9 (have screw thread on the axle and process two parallel planes at thread segment) be installed between outer support 2 and the interior bearing 14 with the supporting way of single supported beam the stator axis at wheel hub motor 10 two ends, and be thereby that the two ends of axletree 9 all are fixed with fastening nut 32 and limit its longitudinal travel in the stator axis of wheel hub motor 10, in the rotation that is screwed into two two further restrictive axes in plane on holding screw 33 compression axises on the outer support 2.Therefore, the projecting shaft of wheel hub motor 10, be the stator of wheel hub motor 10, being called axletree 9 at this is to be completely fixed on the chassis 1, wheel hub, is the rotor of wheel hub motor 10, is called 3 of wheels around this rotation at this.In addition, the support fixation mode of wheel hub motor 10 also can be the single supported beam supporting way that bearing support 13 as shown in Figure 4 constitutes; Perhaps as shown in Figure 5, two wheel hub motors 10 are fused, be installed on the chassis 1 in mode shown in Figure 5 by flange 31 connection means.
The incremental encoder 8 that self-balancing battery-driven car described in the utility model uses is closed hollow thru shaft incremental encoder; its code-disc and read head are by cover 7 protections; be not subjected to the influence of external environment factor, comformability is strong, can accurately measure the corner size of wheel hub motor 10.As shown in Figure 6, the utility model is that wheel 3 couples together with a hollow sleeve 22 with the rotor of thread connecting mode and wheel hub motor 10.Because incremental encoder 8 is a noncontacting measurement, so being unscrewed, axle 22 do not come off, but for security consideration, further prevent the radially rotation and the longitudinal travel of hollow sleeve 22,3 tapped bore of tapping on hollow sleeve 22, and be screwed into 3 holding screws 23, prevent that hollow sleeve 22 from getting loose.The rotating part of incremental encoder 8 is connected with hollow sleeve 22 by semi-round key 21, the fixed part of incremental encoder 8 then links to each other with chassis 1 by coding bearing 30, when wheel hub motor 10 rotates, just can drive the code-disc rotation in the coder 8, send a series of impulse singlas, draw velocity amplitude and displacement accurately after the calculating through DSP control card 15.
As shown in Figure 3, described self-balancing battery-driven car uses the measurement of angle unit of accelerometer 18 and gyroscope 19 compositions to measure the pitch angle of battery-driven car.They all are installed in measures on the bearing 17, and output line links to each other with DSP control card 15 respectively.And adopt the method for complementary filter (also can adopt Kalman filtering) that two signal of sensor are carried out data fusion, and remedied shortcoming separately mutually, accurately measure the size of pitch angle.
As shown in Figure 3, the DSP control card 15 of described self-balancing battery-driven car and power-switching circuit plate 20 are installed on the control bearing 16, and control bearing 16 is installed on the chassis 1.As shown in Figure 7, the battery pack 12 of described self-balancing battery-driven car and motor driver 11 are installed in the below on chassis 1 respectively by battery support 24 and actuator support 25.As shown in Figure 2; the cover 7 of described self-balancing battery-driven car is fixed on chassis 1 and links to each other; cover 7 has protected in the car important electronic devices and components such as gyroscope 19, accelerometer 18 and DSP control card 15 etc. not to be damaged on the one hand, on the other hand as driver's feet pedal.The adjustment height joystick 4 of described self-balancing battery-driven car is captiveed joint with chassis 1, read-out 5 is installed on the joystick 4 and turns to driving lever 6.
Because described self-balancing battery-driven car generally all travels on the level land, its leaning angle generally is no more than ± and 10 °, consider this point, battery-driven car not only limits its pitch angle by program and is unlikely to excessive and speed and is unlikely to too high, and battery-driven car is designed to be no more than ± 20 ° physical construction at the non-control state oblique angle that has a down dip, it is not too large to guarantee also to topple over after battery-driven car breaks down amplitude, avoids the generation of various contingencies reliably, ensures driver's safety.
In order further to improve the safety and the reliability of self-balancing battery-driven car described in the utility model, components and parts and driver's safety can realize by adding auxiliary mechanism in the protection car.As Fig. 8, Fig. 9 and shown in Figure 10, they represent 3 kinds of different fender guards, are that example is illustrated with fender guard shown in Figure 8, and it mainly comprises little rotating shaft 27, strut bar 28, bogie wheel 29 and drive element (not shown) etc.Wherein, the working process of described fender guard is as follows: when the driver does not use battery-driven car (being that the driver does not stand in battery-driven car) as yet, fender guard is in running order, this moment, bogie wheel 29 contacted with ground, it and two 3 three of wheels constitute a triangle projective planum, so make battery-driven car as common three-wheel vehicle, stand in the original place reposefully, thereby play the effect of inner each components and parts of protection car body; When the driver stands when going up battery-driven car; little rotating shaft 27 in the fender guard will be driven in the mode of automatic or manual; make strut bar 28 and bogie wheel 29 around little rotating shaft 27 rotations and upwards rise, this moment bogie wheel 29 built on stilts, battery-driven car enters the two-wheeled driving model.If in driving procedure, battery-driven car breaks down or other unexpected situations, and the driver can start fender guard as required makes battery-driven car pass through this protection mechanism realization balance movement, thereby plays the safety guard-safeguard effect.Fig. 9 be for fender guard can carry out up and down straight-line motion by control, moves down bogie wheel 29 and can be supported on ground and play the supporting and protecting effect, and during the operation beginning, bogie wheel 29 moves up, the effect of cancellation supporting and protecting; The fender guard of Figure 10 is that little rotating shaft 27 hand of rotation change 90 °, if set the Figure 10 so in Fig. 8 fender guard then be that strut bar 28 and bogie wheel 29 rotate with respect to chassis 1 left and right directions around little rotating shaft 27.
As Figure 11, shown in Figure 12; represent wherein a kind of schematic diagram of realizing safety guard-safeguard with automated manner of the present utility model; electrical motor 34 links to each other with little rotating shaft 27 by retarder 35, and two of cover 7 tops installations near switch (about be arranged in the driver place of standing, not shown).When on the battery-driven car nobody the time, disconnect near switch, this moment, fender guard was in running order, battery-driven car stands on the original place reposefully; After the driver stood last battery-driven car, chassis 1 moved downward, and two all closed near switch, and the little rotating shaft 27 of direct motor drive this moment drives strut bar 28 and bogie wheel 29 half-twists, makes battery-driven car enter the two-wheeled driving model; When breaking down in the driving procedure or driver when leaving battery-driven car, fender guard enters mode of operation, and make battery-driven car convert the three-wheel pattern to, and regain balance, thus protection driver and Che Nei components and parts.
As shown in figure 12, expression wherein a kind of kinematic sketch of realizing safety guard-safeguard with manual mode of the present utility model.When the stretcher on the battery-driven car was not operated, promptly chassis 1 was positioned at a high position, because the spring force effect of spring 36 then makes fender guard in running order, battery-driven car stands on the original place reposefully; When the stretcher on the battery-driven car is chassis 1 when being operated, moving downward driven gear with the tooth bar of chassis 1 one is that little rotating shaft 27 is rotated and made strut bar 28 and bogie wheel 29 turn over 90 °, and then battery-driven car is worked with the double-wheel self-balancing pattern; When breaking down in the driving procedure or driver when leaving battery-driven car, fender guard enters mode of operation, and make battery-driven car convert the three-wheel pattern to, and regain balance, thus protection driver and Che Nei components and parts.
In addition, control the balance of described self-balancing battery-driven car and the control program of operation and be stored in the DSP control card 15, the model that DSP adopted is TMS320F2812.20 of power-switching circuit plates be used for 48V vdc with battery pack 12 be converted to 5V and ± the 12V vdc is for DSP control card 15, each sensor and the use of other circuit.
As Fig. 8 and shown in Figure 10, described chassis 1 is provided with guardrail 37, and the people stand in operation operation on the self-balancing battery-driven car.In Fig. 8, be connected with movable effector 40 by rope form connection lead 39 on the described chassis 1, and be hung on the guardrail 37.
As shown in figure 10, described chassis 1 is provided with two the side guardrails 37 parallel with described wheel 3.
In addition, as shown in Figure 9, described chassis 1 is provided with seat 41, and the low guardrail 38 that matches with it, and the people can ride in operation operation on the self-balancing battery-driven car.
The operating process of self-balancing battery-driven car described in the utility model is as follows:
At first, opening installation shows power connection at the battery isolator control at cover 7 back sides after indicator lamp lights, and read-out 5 starts and the real-time electric weight of battery-driven car and the output situation of each sensor of showing, system normally starts, and DSP control card 15 and each sensor enter mode of operation.Make the chassis 1 of battery-driven car be parallel to horizontal surface (or joystick 4 is perpendicular to horizontal surface) then, after screen 5 to be shown showed " Ready " information, system's dead work was finished, and the driver can get on the bus and drive.Operate in the process of battery-driven car the driver, when driver's body forward tilts, incremental encoder 8 on measurement of angle unit and two wheels 3 is input to the output signal that records in the DSP control card 15, through drawing maintenance battery-driven car balance after the DSP calculating and moving the size of needed wheel hub motor 10 torques or rotating speed and export control signals to motor driver 11, motor driver 11 just makes wheel hub motor 10 according to calculating resulting torque or rotating speed double ring ahead to the suitable voltage of wheel hub motor 10 outputs after receiving this signal, thereby make battery-driven car ahead running under the state that keeps balance, and the bevelled angle is big more, and the speed of battery-driven car is fast more.In like manner, when the driver receded, wheel hub motor 10 retreated according to calculating the deceleration of resulting torque or rotating speed.When driver's body erect, because its pitch angle is 0 °, battery-driven car has been in state of equilibrium, so the time that battery-driven car is rested on is as you were.When the driver need turn to, the steering hardware of stirring about needing only on the joystick 46 is imported an analog signal to DSP control card 15, handle and the incoming signal of other sensors is carried out drawing needed separately torque of two wheels 3 or rotating speed size after the comprehensive computing through DSP, and be converted into control signal and output to respectively in the motor driver 11, motor driver 11 is controlled the requirement that turns to satisfy according to the suitable voltage of this control signal output to wheel hub motor 10, and the analog signal of steering hardware 6 inputs is big more, and the turn radius of battery-driven car is more little.In the entire work process of described battery-driven car, the state of battery-driven car and incoming signal pass through each sensor feedback in controller, form closed loop control system, and through repeated measurement, repeated calculation and adjustment repeatedly, make battery-driven car remain balance and do not fall, and can normally move according to driver's various operations.

Claims (9)

1. double-wheel self-balancing battery-driven car, comprise: both sides, chassis separate support has two coaxial lines to arrange wheel, be fixed with microprocessor control system, power supply system under the chassis, it is characterized in that: be fixed with motor driver, sensor measuring system and DAS (Driver Assistant System) under the chassis, two wheel hub motors are arranged in two wheels, the stator axis of wheel hub motor is that axletree is fixed on the chassis by bearing, and the rotor of wheel hub motor and wheel nave connect as one the formation wheel.
2. a kind of double-wheel self-balancing battery-driven car according to claim 1 is characterized in that:
Described sensor measuring system is connected with the control card of microprocessor control system, and microprocessor control system is connected with motor by motor driver, adjusts car body by the input voltage signal of control motor positive and inverse and is positioned at balance position.
3. a kind of double-wheel self-balancing battery-driven car according to claim 2 is characterized in that:
Described chassis is provided with the fender guard that has the certain level distance with wheel axis.
4. a kind of double-wheel self-balancing battery-driven car according to claim 3 is characterized in that:
Fender guard is an alighting gear that the end hinge is movably connected on the chassis, the other end has bogie wheel.
5. a kind of double-wheel self-balancing battery-driven car according to claim 4 is characterized in that:
It is closed hollow thru shaft incremental encoder that described chassis is provided with the incremental encoder of measuring the wheel hub motor speed, also is provided with the gyroscope of measurement battery-driven car pitch angle and the combined encoder of accelerometer formation and is installed on the chassis by measurement bracket.
6. a kind of double-wheel self-balancing battery-driven car according to claim 5 is characterized in that:
Described chassis is provided with guardrail.
7. a kind of double-wheel self-balancing battery-driven car according to claim 6 is characterized in that:
Described chassis is provided with two the side guardrails parallel with wheel.
8. a kind of double-wheel self-balancing battery-driven car according to claim 7 is characterized in that:
Be connected with movable effector by the rope form connection lead on the described chassis, and be hung on the guardrail.
9. a kind of double-wheel self-balancing battery-driven car according to claim 5 is characterized in that:
Described chassis is provided with joystick, and effector is arranged on the joystick.
CNU2008201085401U 2008-06-16 2008-06-16 Two-wheel self balancing electric motor vehicle CN201228037Y (en)

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CN103057635A (en) * 2011-10-21 2013-04-24 邹帆 Bestriding type self-balancing two-wheeled electric car
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CN103162738B (en) * 2011-12-19 2015-07-29 上海新世纪机器人有限公司 For condition checkout gear and the method for balanced car with two wheels
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CN103407530A (en) * 2013-07-14 2013-11-27 刘军民 Independent self-balance device of transverse two-wheeled electric bicycle
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CN103600795A (en) * 2013-10-17 2014-02-26 上海交通大学 Self-balancing bicycle based on disk grating
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CN103600795B (en) * 2013-10-17 2015-10-28 上海交通大学 Based on the balanced car with two wheels of disk grating
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CN105278528A (en) * 2014-07-17 2016-01-27 南宁市锋威科技有限公司 Smart automatic balance robot bicycle
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CN104085465B (en) * 2014-07-28 2016-08-10 郑州飞轮威尔实业有限公司 Electric unicycle steering indicating light system
CN104085464B (en) * 2014-07-28 2016-11-30 顾玉奎 Electric unicycle
CN106043539A (en) * 2014-09-15 2016-10-26 常州爱尔威智能科技有限公司 Motor externally-arranged type self-balance double-wheel electric bicycle
CN105116729B (en) * 2015-08-17 2017-11-07 杭州电子科技大学 A kind of double-wheel self-balancing robot adaptive sliding mode variable structure control method
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CN105947041A (en) * 2016-05-13 2016-09-21 东南大学 Double-wheel self-balancing vehicle and method thereof
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CN108791616A (en) * 2017-04-27 2018-11-13 C·J·鲁宾 Self-balancing electronic swing car and its control method
CN107521597A (en) * 2017-06-30 2017-12-29 戴嘉佑 One kind is based on bionic three-stage quick-disassembly structure Self-Balancing vehicle
CN107521597B (en) * 2017-06-30 2018-07-31 戴嘉佑 One kind being based on bionic three-stage quick-disassembly structure Self-Balancing vehicle

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