CN205327278U - Dual system electrodynamic balance car - Google Patents
Dual system electrodynamic balance car Download PDFInfo
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- CN205327278U CN205327278U CN201521137428.7U CN201521137428U CN205327278U CN 205327278 U CN205327278 U CN 205327278U CN 201521137428 U CN201521137428 U CN 201521137428U CN 205327278 U CN205327278 U CN 205327278U
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- 230000005520 electrodynamics Effects 0.000 title claims abstract description 37
- 230000009977 dual effect Effects 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 claims description 22
- 238000000034 method Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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Abstract
The utility model belongs to the technical field of electric motor car equipment, especially, relate to a dual system electrodynamic balance car. It has been solved current electrodynamic balance car system stability and has wiped subalternation technical problem. Including the balance car main part, the balance car main part be connected with the driving power unit, its characterized in that, the balance car main part in be equipped with respectively the main control circuit that can each other switch over with from control circuit, just main control circuit with link to each other with driving power unit respectively from control circuit. The advantage lies in: simple structure, system stability is good, adopts two solitary control system, can avoid one of them to break down the balance car runaway phenomenon who leads to like this, has improved the security the when balance car uses greatly.
Description
Technical field
This utility model belongs to electric vehicle devices technical field, especially relates to a kind of dual system electrodynamic balance car。
Background technology
Electrodynamic balance car, is again body-sensing car, thinking car, act as regent car etc.。Market mainly has single wheel and two-wheel two class。Its operation principles is mainly based upon one and is referred to as in the ultimate principle of " dynamic stability ", utilize gyroscope and the acceleration transducer of vehicle body, detect the change of vehicle body attitude, and utilize servo-control system, accurately drive motor is adjusted correspondingly, to keep the balance of system。Common electrodynamic balance car is broadly divided into the electrodynamic balance car of control lever control or by the electrodynamic balance swing car of two pedal stand pivot joints, wherein, manipulation rod-type electrodynamic balance car has the advantage that continuation of the journey is long, and electrodynamic balance swing car is owing to having the advantages such as volume is little, playing method is various, so, just it is being subject to liking of more and more people。The balance of existing electrodynamic balance car and driving conditions control mainly by single control circuit, and system stability is poor, easily occurs when control circuit breaks down so undoubtedly the safety of electrodynamic balance car being caused large effect by out-of-control phenomenons such as toppling over。
In order to solve prior art Problems existing, people have carried out long-term exploration, it is proposed that solution miscellaneous。Such as, Chinese patent literature discloses a kind of intelligent balance vehicle control [application number: 201520217894.X], including balance car, balance car includes car body, wheel and wheel hub motor, vehicle frame platform, power-supply system, it is characterized in that, balance car also includes intelligent balance and controls system, and described intelligent balance controls system and includes signals collecting subsystem, signal arrangement subsystem, signal processing subsystem and data process subsystem；Described signals collecting subsystem includes: gyroscope, accelerometer, encoder and acquisition controlling chip；Described signal arranges subsystem and includes: filter processing unit and buffer unit；Described signal processing subsystem includes: signal fused unit；Described data process subsystem includes: data fusion unit。Such scheme to some extent solves the problem that existing electrodynamic balance car system stability is poor, but owing to the program still adopting single control system, the problem easily occurring out-of-control phenomenon when control circuit breaks down。
Summary of the invention
The purpose of this utility model is for the problems referred to above, it is provided that a kind of simple and reasonable, has the dual system electrodynamic balance car of two independent control balance cars。
For reaching above-mentioned purpose, this utility model have employed following technical proposal: this dual system electrodynamic balance car, including balance car main body, described balance car main body is connected to driving actuating unit, it is characterized in that, it is respectively equipped with the main control circuit that can mutually switch in described balance car main body and from control circuit, and described main control circuit is connected with driving actuating unit respectively with from control circuit。Adopting two independent control circuits to be connected with driving actuating unit respectively, so when one of them control circuit breaks down, another control circuit can continue balance car main body is controlled, it is prevented that out-of-control phenomenon occurs in balance car main body。
In above-mentioned dual system electrodynamic balance car, described main control circuit contains main attitude transducer, and described contains from attitude transducer from control circuit。
In above-mentioned dual system electrodynamic balance car, described main control circuit includes being arranged on main car body state detection module that is in balance car main body and that be connected with main attitude transducer, and described main car body state detection module is connected to main balance and controls module。
In above-mentioned dual system electrodynamic balance car, described from control circuit include being arranged in balance car main body and be connected with from attitude transducer from car body state detection module, and described being connected to from car body state detection module controls module from balance。
In above-mentioned dual system electrodynamic balance car, described main car body state detection module, main balance control module, are all integrated in the panel being arranged in balance car main body with from balance control module from car body state detection module。
In above-mentioned dual system electrodynamic balance car, described main attitude transducer and be gyroscope from attitude transducer, and described main attitude transducer and being all integrated in the gyroscope block plate being arranged in balance car main body from attitude transducer。Here electrodynamic balance car can be control lever formula electrodynamic balance car, and gyroscope block plate quantity here is one, or, here balance car main body can also be electrodynamic balance swing car, here gyroscope block plate quantity is two, and is separately positioned in two pedal stands of balance car main body。
Compared with prior art, the advantage of this dual system electrodynamic balance car is in that: simple in construction, and system stability is good, adopts two independent control systems, so it is avoided that one of them balance car out-of-control phenomenon caused that breaks down, substantially increases safety when balance car uses。
Accompanying drawing explanation
The structural representation of the embodiment one that Fig. 1 provides for this utility model。
The structured flowchart of the embodiment one that Fig. 2 provides for this utility model。
The structural representation of the embodiment two that Fig. 3 provides for this utility model。
In figure, balance car main body 1, pedal stand 11, base 12, driving actuating unit 2, main control circuit 3, main car body state detection module 31, main balance control module 32, from control circuit 4, from car body state detection module 41, control from balance module 42, main attitude transducer 5, from attitude transducer 6, panel 7, gyroscope block plate 8。
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in more detail。
Embodiment one
As shown in Figure 1-2, this dual system electrodynamic balance car, can apply in electrodynamic balance swing car, including balance car main body 1, here balance car main body 1 is formed by the pivot joint of two pedal stands 11, balance car main body 1 is connected to driving actuating unit 2, be respectively equipped with in balance car main body 1 main control circuit 3 that can mutually switch with from control circuit 4, and main control circuit 3 is connected with driving actuating unit 2 respectively with from control circuit 4, two independent control circuits are adopted to be connected with driving actuating unit 2 respectively during use, so when one of them control circuit breaks down, another control circuit can continue balance car main body 1 is controlled, prevent balance car main body 1 from out-of-control phenomenon occurring。
Specifically, the main control circuit 3 in the present embodiment is containing main attitude transducer 5, and described contains from attitude transducer 6 from control circuit 4。Wherein, main control circuit 3 here includes being arranged on main car body state detection module 31 that is in balance car main body 1 and that be connected with main attitude transducer 5, and main car body state detection module 31 is connected to main balance and controls module 32。Similarly, here from control circuit 4 include being arranged in balance car main body 1 and be connected with from attitude transducer 6 from car body state detection module 41, and be connected to from car body state detection module 41 and control module 42 from balance。
Further, here main car body state detection module 31, main balance controls module 32, all it is integrated in the panel 7 being arranged in balance car main body 1 from car body state detection module 41 and from balancing control module 42, for electrodynamic balance swing car, here panel 7 can be arranged in any one pedal stand 11, here main attitude transducer 5 and be gyroscope from attitude transducer 6, and main attitude transducer 5 and being all integrated in from attitude transducer 6 the gyroscope block plate 8 being arranged in balance car main body 1, here gyroscope block plate 8 quantity be two and respectively one_to_one corresponding be arranged in two pedal stands 11。
Embodiment two
As shown in Figure 3, the structure of the present embodiment, principle and enforcement step are similar with embodiment one, different places is in that, dual system electrodynamic balance car in the present embodiment can also apply in lever-type electrodynamic balance car, and panel 7 here here can be arranged in the base 12 of balance car main body 1 of lever-type electrodynamic balance car, and the quantity of gyroscope block plate 8 here is one and is also disposed in base 12, other structures of the present embodiment are similar with embodiment one, it is possible to the content of reference example one。
Specific embodiment described herein is only to this utility model spirit explanation for example。Described specific embodiment can be made various amendment or supplements or adopt similar mode to substitute by this utility model person of ordinary skill in the field, but without departing from spirit of the present utility model or surmount the scope that appended claims is defined。
Although more employ balance car main body 1 herein, pedal stand 11, base 12, driving actuating unit 2, main control circuit 3, main car body state detection module 31, main balance control module 32, from control circuit 4, from car body state detection module 41, control from balance module 42, main attitude transducer 5, from terms such as attitude transducer 6, panel 7, gyroscope block plates 8, but be not precluded from using the probability of other term。These terms are used to be only used to describe and explain essence of the present utility model more easily；It is all contrary with this utility model spirit for being construed as any additional restriction。
Claims (6)
1. a dual system electrodynamic balance car, including balance car main body (1), described balance car main body (1) is connected to driving actuating unit (2), it is characterized in that, it is respectively equipped with the main control circuit (3) that can mutually switch in described balance car main body (1) and from control circuit (4), and described main control circuit (3) is connected with driving actuating unit (2) respectively with from control circuit (4)。
2. dual system electrodynamic balance car according to claim 1, it is characterized in that, described main control circuit (3) is containing main attitude transducer (5), and described contains from attitude transducer (6) from control circuit (4)。
3. dual system electrodynamic balance car according to claim 2, it is characterized in that, described main control circuit (3) includes being arranged on main car body state detection module (31) that is in balance car main body (1) and that be connected with main attitude transducer (5), and described main car body state detection module (31) is connected to main balance and controls module (32)。
4. dual system electrodynamic balance car according to claim 3, it is characterized in that, described from control circuit (4) include being arranged in balance car main body (1) and be connected with from attitude transducer (6) from car body state detection module (41), and described being connected to from car body state detection module (41) controls module (42) from balance。
5. dual system electrodynamic balance car according to claim 4, it is characterized in that, described main car body state detection module (31), main balance control module (32), are all integrated in the panel (7) being arranged in balance car main body (1) with from balance control module (42) from car body state detection module (41)。
6. dual system electrodynamic balance car according to claim 2, it is characterized in that, described main attitude transducer (5) and be gyroscope from attitude transducer (6), and described main attitude transducer (5) and being all integrated in the gyroscope block plate (8) being arranged in balance car main body (1) from attitude transducer (6)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521137428.7U CN205327278U (en) | 2015-12-31 | 2015-12-31 | Dual system electrodynamic balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521137428.7U CN205327278U (en) | 2015-12-31 | 2015-12-31 | Dual system electrodynamic balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205327278U true CN205327278U (en) | 2016-06-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521137428.7U Expired - Fee Related CN205327278U (en) | 2015-12-31 | 2015-12-31 | Dual system electrodynamic balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205327278U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080876A (en) * | 2016-08-01 | 2016-11-09 | 广东奥星智能科技有限公司 | A kind of electric unicycle with urgent danger prevention function |
-
2015
- 2015-12-31 CN CN201521137428.7U patent/CN205327278U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080876A (en) * | 2016-08-01 | 2016-11-09 | 广东奥星智能科技有限公司 | A kind of electric unicycle with urgent danger prevention function |
| CN106080876B (en) * | 2016-08-01 | 2018-11-20 | 袁霞 | A kind of electric unicycle with urgent danger prevention function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160622 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |