CN206914167U - A kind of distributed-driving electric automobile suitable for EMG controls - Google Patents

A kind of distributed-driving electric automobile suitable for EMG controls Download PDF

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Publication number
CN206914167U
CN206914167U CN201720777268.5U CN201720777268U CN206914167U CN 206914167 U CN206914167 U CN 206914167U CN 201720777268 U CN201720777268 U CN 201720777268U CN 206914167 U CN206914167 U CN 206914167U
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electric automobile
distributed
emg
driving electric
arm
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刘勺华
邵亭亭
宋敬滨
陈新
宋坤
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Changzhou Vocational Institute of Mechatronic Technology
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Changzhou Vocational Institute of Mechatronic Technology
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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

It the utility model is related to a kind of distributed-driving electric automobile suitable for EMG controls, it includes the EMG remote controls for being suitable to be worn on operator's arm, and the EMG remote controls are adapted for remotely controlling distributed-driving electric automobile and perform advance, retrogressing, steering and halt instruction.Distributed-driving electric automobile of the present utility model being capable of Remote distributed-driving electric automobile, when without Remote, the real vehicle control loop of this distributed-driving electric automobile can be used, real vehicle control loop and Remote control loop can also be combined simultaneously, meet a variety of demands of user of service.

Description

A kind of distributed-driving electric automobile suitable for EMG controls
Technical field
It the utility model is related to electric automobile and field of electric control, and in particular to a kind of distribution suitable for EMG controls Drive electric automobile.
Background technology
Electromyogram (EMG=Electromyography) is a kind of for assessing and recording electrical activity caused by skeletal muscle Electrodiagnostic technique, EMG is carried out to produce the record of referred to as electromyogram using the instrument of referred to as electromyograph(EMG.When these cell potentials Or during neuron activation, current potential caused by EMG detection myocyte.Can with signal Analysis to detect medical abnormalities, activation level or Sequence of motion, the biomethanics of human or animal's motion is analyzed with this.Patent 201620485119.7 proposes a kind of gestures detection With identifying system, the system is enclosed on arm by armlet, passes through wireless launcher and corresponding sensing apparatus wireless connection Together, become by EMG inductors, accelerometer, the cooperation of gyroscope and magnetometer, biological electricity when can sense human motion Change, different hand motions affects different muscle, by detecting biological electricity caused by muscular movement come detection gesture.Patent 201120073711.3 propose a kind of remote control based on wireless surface myoelectric signal.The device provides one kind to be based on nothing The remote control of line surface electromyogram signal, including signal transmitting terminal (signal acquiring board, A/D change-over circuits, the first single-chip microcomputer, hair Penetrate module) and signal receiving end (signal receiving module, second singlechip, drive circuit, motor).The device volume is small, weight Gently, using battery powered, using wireless way for transmitting data.
Current distributed-driving electric automobile research is like a raging fire, needs remote control technology, example in some special occasions Such as field rescue after earthquake disaster, scene of fire fire extinguishing, field area of doubt scientific investigation is investigated, dangerous situation personnel rescuing etc..With It is upper it is various in the case of need badly and conducted a research with reference to remote control technology and distributed-driving electric automobile technology.
Utility model content
The purpose of this utility model is to provide a kind of distributed-driving electric automobile suitable for EMG controls, with distant by EMG Control device realizes that remote control vehicle performs advance, retrogressing, steering and halt instruction.
In order to solve the above-mentioned technical problem, the utility model provides a kind of distributed-driving electric automobile, including one fits In the EMG remote controls being worn on operator's arm, the EMG remote controls be adapted for remotely controlling vehicle perform advance, retrogressing, Steering and halt instruction.
Further, the EMG remote controls include：Device body, the processor in device body, and with this Manage the connected EMG myoelectric sensors of device, motion sensor；The EMG myoelectric sensors are close to surface of arm skin, with collection Caused muscle current signal during arm action；The motion sensor is adapted to detect for arm motion direction, and combines EMG myoelectricities Sensor collection muscle current signal, precise acquisition arm action instruction, then by arm action instruction by with processor phase The first wireless module even is sent to distributed-driving electric automobile.
Further, the distributed-driving electric automobile also includes：Entire car controller, the second wireless module, and four The driving moment of wheel hub electric motor is respectively provided with, for driving the motor driver of each wheel hub electric motor；Wherein described second nothing The arm action instruction that wire module is suitable to receive is sent to entire car controller, i.e., whole after arm action instruction is received Vehicle controller controls corresponding wheel hub electric motor that corresponding rotation occurs by each motor driver, and then controls vehicle to do and advance, or Retreat, or turn to, or stop traveling action.
Further, the distributed-driving electric automobile has real vehicle control loop, and it includes：Steering wheel, accelerator pedal, Brake pedal, for gathering the rotary angle transmitter of steering wheel rotational angle, the infrared detection for detecting traffic information in real time passes Sensor, the first position sensor of depth is trampled for detecting accelerator pedal, and depth is trampled for detecting brake pedal Second place sensor；The entire car controller is suitable to trample depth according to steering wheel rotational angle, accelerator pedal and braking is stepped on Plate tramples depth, and simultaneously combining road condition information controls each wheel hub electric motor that corresponding rotation occurs, with advance of the realization to vehicle, or after Move back, or turn to, or stop control.
Further, the distributed-driving electric automobile also includes：Power-supply management system；The power-supply management system bag Include：Lithium battery, for alternating current to be converted to the inverter of direct current, the charging and discharging protection device that is connected with the inverter, lead to Cross charging and discharging protection device to charge to lithium battery, and the electric energy of lithium battery is provided to vehicle；And the lithium battery Positive and negative terminal is also associated with battery charge sensor, to detect the dump energy of lithium battery in real time.
The beneficial effects of the utility model are that distributed-driving electric automobile of the present utility model being capable of Remote distribution Formula drives electric automobile, when without Remote, can use the real vehicle control loop of this distributed-driving electric automobile, together When real vehicle control loop and Remote control loop can also be combined, meet a variety of demands of user of service.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the control principle block diagram of distributed-driving electric automobile of the present utility model.
Embodiment
The utility model is described in further detail presently in connection with accompanying drawing.These accompanying drawings are simplified schematic diagram, Only illustrate basic structure of the present utility model in a schematic way, therefore it only shows the composition relevant with the utility model.
As shown in figure 1, a kind of distributed-driving electric automobile of EMG controls is present embodiments provided, including one is suitable to wear The EMG remote controls being worn on operator's arm, the EMG remote controls are adapted for remotely controlling vehicle and perform advance, retrogressing, turn to And halt instruction.
The EMG remote controls include：Device body, the processor in device body, and with the processor phase EMG myoelectric sensors even, motion sensor；The EMG myoelectric sensors are close to surface of arm skin, are moved with gathering arm Caused muscle current signal when making；The motion sensor is adapted to detect for arm motion direction, and combines EMG myoelectric sensors The muscle current signal of collection, the instruction of precise acquisition arm action, then by arm action instruction by be connected with processor the One wireless module is sent to distributed-driving electric automobile.
Wherein arm action instruction includes：
Arm is horizontal to protract and lifts upwards when making, correspondence vehicle advancement commands；
When arm level is protracted and stretches action downwards, corresponding vehicle rollback instruction；
When arm level extension acts, corresponding vehicle halt instruction；
Arm is horizontal when protracting and stretching action to the left, and correspondence vehicle turns left instruction；And
Arm is horizontal when protracting and stretching action to the right, and correspondence vehicle turns right instruction.
Specifically, being provided with arm action instruction database within a processor, examined in EMG myoelectric sensors and motion sensor When measuring arm action instruction, by being driven with the first wireless module corresponding instruction code of transmission that processor is connected to distribution Dynamic electric automobile, wherein arm action instruction database are as shown in table 1 below：
The arm action director data table of table 1
Arm corresponding actions are prestored to instruction code a to e, waited when EMG myoelectric sensors and motion sensor obtain respectively After arm action, calling respective code, enters but vehicle performs command adapted thereto, and in table, horizontal protract of arm is simultaneously lifted upwards, i.e., Code a is called, and then vehicle performs the vehicle advancement commands set, i.e. vehicle advances.
Optionally, the EMG remote controls can such as, but not limited to wear using armlet, bracelet, wrist-watch, hand strap etc. are various The form being worn on operator's arm；The processor such as, but not limited to uses arm JZ2440.
The distributed-driving electric automobile also includes：Entire car controller (being referred to as ECU modules), the second wireless mould Block, and four driving moments for being respectively provided with wheel hub electric motor, for driving the motor driver of each wheel hub electric motor；Wherein The arm action instruction that second wireless module is suitable to receive is sent to entire car controller, i.e., ought receive arm action After instruction, entire car controller controls corresponding wheel hub electric motor that corresponding rotation occurs by each motor driver, and then controls vehicle Do and advance, or retreat, or turn to, or stop traveling action.
First wireless module and the second wireless module pairing use, such as, but not limited to using WiFi communication module, Communication modes can realize this programme known to 3G/4G communication modules etc..
The distributed-driving electric automobile has real vehicle control loop, and it includes：Steering wheel, accelerator pedal, braking are stepped on Plate, for gathering the rotary angle transmitter of steering wheel rotational angle, for detecting the infrared detection sensor of traffic information in real time, use The first position sensor of depth is trampled in detection accelerator pedal, and the second place of depth is trampled for detecting brake pedal Sensor；The entire car controller is suitable to trample depth according to steering wheel rotational angle, accelerator pedal and brake pedal tramples depth Spend and combining road condition information controls each wheel hub electric motor to occur accordingly to rotate, to realize the advance to vehicle, or retreat, or turn To, or stop control.
Specifically, traffic information is such as, but not limited to whether road ahead has barrier (such as other vehicles, Hang Renhuo Debris of stacking etc.), when infrared detection sensor detects that there is a barrier in front, and passed relative to range radar, infrared ray Sensor can preferably perceive life entity, unmanned in vehicle and when can not brake in time, can be in life entity and barrier Between judge, avoid Vehicular impact to life entity, and add after life entity finds out function, can possess this electric car Certain rescue function.
Also, camera can also be loaded in the front end of vehicle, display screen is installed on EMG remote controls, passes through shooting Head sends after the running data collection of vehicle to display screen by vehicle end wireless module and gloves end wireless module, is easy to The travel conditions of operating personnel's remote reviewing vehicle, and GPS module can also be installed additional on vehicle, it is easy to remotely enter vehicle Row positioning.
On the basis of infrared detection sensor, when the range radar disturbance in judgement thing distance one's duty of this vehicle front installation Cloth driving electric automobile is when being less than certain distance (such as 50 meters), by entire car controller remind human pilot carry out turn to or Slow down or stop traveling preparing；Now, if human pilot Turning travel, by rotary angle transmitter by the steering wheel angle of rotation of collection Degree information is sent to entire car controller, and entire car controller sends steering order to each motor driver, so as to control corresponding wheel Hub motor rotation, realize the steering of vehicle；If human pilot slows down or stopped traveling, will be detected by second place sensor To braking requirement send to entire car controller, entire car controller sends braking instruction to each motor driver, so as to control phase The wheel hub electric motor answered reduces rotating speed, or continues to each wheel to stop operating, and realizes the braking of vehicle.
When range radar detects front clear, or detect that there is a barrier in front, but obstacle distance this distribution When formula driving electric automobile is more than certain distance (such as 200 meters), human pilot is reminded to accelerate to go by entire car controller Sail, now, sent the acceleration demand detected to entire car controller by first position sensor, entire car controller is to each electricity Machine driver sends assisted instruction, so as to control corresponding wheel hub electric motor to rotate, realizes the acceleration of vehicle.
Optionally, the rotary angle transmitter such as, but not limited to uses 89245-TFA00 sensors；The infrared detection passes Sensor is such as, but not limited to before vehicle.
The distributed-driving electric automobile also includes：Power-supply management system；The power-supply management system includes：Lithium electricity Pond, for alternating current to be converted to the inverter of direct current, the charging and discharging protection device that is connected with the inverter passes through discharge and recharge Protection device is charged to lithium battery, and the electric energy of lithium battery is provided to vehicle；And the positive and negative terminal of the lithium battery is also Battery charge sensor is connected with, to detect the dump energy of lithium battery in real time.
Specifically, the lithium battery provides power supply for all electrical equipments of full car.
By power-supply management system in night low power consumption, it can be that vehicle charges, be turned alternating current by inverter Direct current is changed to, using charging and discharging protection device, prevents over-charging of battery is crossed from putting.Battery charge sensor can detect lithium battery in real time Electricity, and be delivered to above the instrument board in car body, current electric quantity shown and according to the estimated lithium electricity of average operating mode by pointer The pond residue working time.
Optionally, the battery charge sensor is using such as, but not limited to CJMCU LTC4150 battery electric quantities detection mould Block.
The Remote control loop that distributed-driving electric automobile of the present utility model provides, being capable of Remote distribution Formula drives electric automobile, such as Remote this distributed-driving electric automobile transport goods, can save cost of labor；One A little special occasions, such as field rescue, fiery residence field rescue, field area of doubt scientific investigation investigation etc. after earthquake disaster, it is possible to reduce Unnecessary casualties, protect the life security of human pilot.
In addition, when human pilot right crus of diaphragm damages or do not have right crus of diaphragm, can be realized in operator seat wearing gloves remote control Distributed-driving electric automobile controls.
The remote driving system and real vehicle control loop of distributed-driving electric automobile of the present utility model can also combine Get up to use, for example learn to drive by real vehicle control loop in driving school, learner, coach is auxiliary by Remote control loop Control distributed-driving electric automobile is helped, is easy to preferably help learner to learn to drive distributed-driving electric automobile.
Using it is above-mentioned according to desirable embodiment of the present utility model as enlightenment, pass through above-mentioned description, related work people Member can carry out various changes and amendments in the range of without departing from this item utility model technological thought completely.This item is real The content being not limited to new technical scope on specification, it is necessary to which its technology is determined according to right Property scope.

Claims (5)

  1. A kind of 1. distributed-driving electric automobile suitable for EMG controls, it is characterised in that including：
    The one EMG remote controls suitable for being worn on operator's arm, before the EMG remote controls are adapted for remotely controlling vehicle execution Enter, retreat, turning to and halt instruction.
  2. 2. distributed-driving electric automobile according to claim 1, it is characterised in that
    The EMG remote controls include：
    Device body, the processor in device body, and be connected with the processor EMG myoelectric sensors, motion pass Sensor；
    The EMG myoelectric sensors are close to surface of arm skin, caused muscle current signal during gathering arm action；
    The motion sensor is adapted to detect for arm motion direction, and combines the muscle current signal of EMG myoelectric sensors collection, Arm action instruction is gathered, then arm action instruction is sent to distribution by the first wireless module being connected with processor and driven Dynamic electric automobile.
  3. 3. distributed-driving electric automobile according to claim 2, it is characterised in that
    The distributed-driving electric automobile also includes：Entire car controller, the second wireless module, and four be respectively provided with wheel hub The driving moment of motor, for driving the motor driver of each wheel hub electric motor；Wherein
    The arm action instruction that second wireless module is suitable to receive is sent to entire car controller, i.e.,
    After arm action instruction is received, entire car controller controls corresponding wheel hub electric motor that phase occurs by each motor driver It should rotate, and then control vehicle to do and advance, or retreat, or turn to, or stop traveling action.
  4. 4. distributed-driving electric automobile according to claim 3, it is characterised in that
    The distributed-driving electric automobile has real vehicle control loop, and it includes：Steering wheel, accelerator pedal, brake pedal, use In the rotary angle transmitter of collection steering wheel rotational angle, for detecting the infrared detection sensor of traffic information in real time, for examining The first position sensor that accelerator pedal tramples depth is surveyed, and the second place sensing of depth is trampled for detecting brake pedal Device；
    The entire car controller is suitable to trample depth according to steering wheel rotational angle, accelerator pedal and brake pedal tramples depth simultaneously Combining road condition information controls each wheel hub electric motor that corresponding rotation occurs, and to realize the advance to vehicle, or retreats, or turns to, or Stop control.
  5. 5. distributed-driving electric automobile according to claim 4, it is characterised in that
    The distributed-driving electric automobile also includes：Power-supply management system；
    The power-supply management system includes：
    Lithium battery, for alternating current to be converted to the inverter of direct current, the charging and discharging protection device that is connected with the inverter, lead to Cross charging and discharging protection device to charge to lithium battery, and the electric energy of lithium battery is provided to vehicle；And
    The positive and negative terminal of the lithium battery is also associated with battery charge sensor, to detect the dump energy of lithium battery in real time.
CN201720777268.5U 2017-06-29 2017-06-29 A kind of distributed-driving electric automobile suitable for EMG controls Active CN206914167U (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107351726A (en) * 2017-06-29 2017-11-17 常州机电职业技术学院 A kind of distributed-driving electric automobile and its control method suitable for EMG controls
CN108657174A (en) * 2018-06-01 2018-10-16 中国北方车辆研究所 A kind of multiaxis distribution driving vehicle control method and system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107351726A (en) * 2017-06-29 2017-11-17 常州机电职业技术学院 A kind of distributed-driving electric automobile and its control method suitable for EMG controls
CN108657174A (en) * 2018-06-01 2018-10-16 中国北方车辆研究所 A kind of multiaxis distribution driving vehicle control method and system
CN108657174B (en) * 2018-06-01 2022-06-10 中国北方车辆研究所 Multi-axis distributed driving unmanned vehicle control method and system

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