CN212267720U - Foot-controlled electric balance car - Google Patents
Foot-controlled electric balance car Download PDFInfo
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- CN212267720U CN212267720U CN201921438466.4U CN201921438466U CN212267720U CN 212267720 U CN212267720 U CN 212267720U CN 201921438466 U CN201921438466 U CN 201921438466U CN 212267720 U CN212267720 U CN 212267720U
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Abstract
The utility model relates to the turning control field of a two-wheeled self-balancing vehicle, which comprises a vehicle body wheel, a driving motor, four pressure detection modules, a control mechanism, a power supply module, a pedal plate and a cover plate; the wheels are arranged on two sides of the vehicle body, the four pressure detection modules are positioned between the vehicle body and the pedals, the cover plate is arranged on the lower surface of the vehicle body, and the control mechanism and the power supply module are positioned between the vehicle body and the cover plate; the utility model discloses a gather the pressure variation, realize relying on the pressure differential information that the people produced for foot control to control turn and drive, the effectual solution under various actual conditions (if the focus swings at will, the balance car etc. is left to the singlefoot), take place the misjudgement of turning and straight going, factors such as misjudgement of turn range have also realized simultaneously when the singlefoot is gone up the vehicle, and the swing can not take place for the balance car, has realized the stability of getting on the bus.
Description
Technical Field
The utility model relates to a balance car field, in particular to foot control electrodynamic balance car.
Background
The two-wheel balance vehicle is a typical unbalanced, nonlinear and under-driven system, and the turning control modes of the two-wheel balance vehicle at present mainly include three types:
the first is to detect the change of human body posture through a gyroscope device, and the turning operation of the balance car is realized through a structure that a gravity center rotating shaft rotates left and right, but the structure has several disadvantages:
1. the gyroscope device is greatly influenced by noise and temperature, a relatively complex algorithm is needed to ensure the reliability of the system, the cost of a control module is increased, and the operation difficulty of a user is increased due to the fact that the gyroscope device needs to be calibrated at regular time;
2. when the bicycle is driven straight, the bicycle swings left and right, the driving speed cannot be increased, and the riding difficulty is high;
3. the structure has high turning sensitivity, so that the left part and the right part rotate relatively when getting on the bus and having a shifted gravity center or having a single foot, thereby causing difficulty in getting on the bus and possible wrong turning.
The second is to realize the turning control by the rotation of the rotating shaft, and the structure realizes the turning by controlling the rotation of the torsion mechanism, but the structure has the characteristics of complex structure and difficult operation.
The third is centre of gravity turn, in the in-service use in-process, relies on the centre of gravity principle to realize turning, causes easily that the turn judges the mistake, has great security hidden danger.
SUMMERY OF THE UTILITY MODEL
The utility model provides a technical problem provide a foot control electrodynamic balance car for turning of foot control pressure change control electrodynamic balance vehicle, solved effectively and taken place turn and straight-going misjudgement, the misjudgement of turn range application problem such as have (if the focus swings at will, single foot leaves the balance car etc.) under various actual conditions.
The utility model provides a technical scheme that its technical problem adopted is: the foot-controlled electric balance car comprises a car body, a first wheel, a second wheel, a first driving motor connected with the first wheel, a second driving motor connected with the second wheel, four pressure detection modules, a control mechanism, a power supply module for supplying power to the control mechanism, a first pedal, a second pedal and a cover plate; the first wheel is mounted on one side of the vehicle body, the second wheel is mounted on the other side of the vehicle body, the four pressure detection modules are mounted on the upper surface of the vehicle body, the control mechanism and the power supply module are mounted on the lower portion of the vehicle body, the first pedal and the second pedal are mounted on the upper surface of the vehicle body, so that the four pressure detection modules are located between the vehicle body and the pedals, and the cover plate is mounted on the lower surface of the vehicle body, so that the control mechanism and the power supply module are located between the vehicle body and the cover plate;
the four pressure detection modules comprise a first pressure detection module and a second pressure detection module which are arranged in an area on one side of a vehicle body and are respectively marked as X1 and X2, and a third pressure detection module and a fourth pressure detection module which are arranged in an area on the other side of the vehicle body and are respectively marked as X3 and X4, and the four pressure detection modules form a four-quadrant pressure sensing system and are used for sensing pressure difference information generated by artificial foot control on a pedal; the control mechanism is connected with the pressure detection modules and controls the first wheel and the second wheel to move according to information sensed by the four pressure detection modules.
Further, the method comprises the following steps: the pressure detection module includes one or more pressure sensors.
The utility model has the advantages that: the utility model discloses the condition at unable gyroscope of using to current balance car structure, pressure differential information for the foot control produces through gathering the people, realize leaning on the pressure differential information that the people produced for the foot control to control turn and drive, solved effectively under various actual conditions (if focus swing at will, the single foot leaves balance car etc.) take place turn and straight misjudgement, the misjudgement such as potential safety hazard such as misjudgement of turn range, the while has also realized when the single-foot is gone up the car, the swing can not take place for the balance car, security and stability when having strengthened the getting on the bus.
Drawings
Fig. 1 is a pressure sensor mounting layout.
Fig. 2 is an electrical connection diagram of the present invention.
Fig. 3 is a schematic structural diagram of the present invention.
Labeled as: the vehicle comprises a vehicle body 1, a first driving motor 2, a second driving motor 3, a first wheel 4, a second wheel 5, a first pedal 6, a second pedal 7, a control mechanism 8, a power supply module 9 and a cover plate 10.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 to 3, the foot-controlled electric balance car includes a car body 1, a first wheel 4, a second wheel 5, a first driving motor 2 connected to the first wheel 4, a second driving motor 3 connected to the second wheel 5, four pressure detection modules, a control mechanism 8, a power supply module 9, a first foot pedal 6, a second foot pedal 7 and a cover plate 10; the first wheel 4 is mounted on one side of the vehicle body 1, the second wheel 5 is mounted on the other side of the vehicle body 1, the four pressure detection modules are mounted on the upper surface of the vehicle body 1, the control mechanism 9 and the power supply module 8 are mounted on the lower portion of the vehicle body 1, the first pedal 6 and the second pedal 7 are mounted on the upper surface of the vehicle body 1, the four pressure detection modules are located between the vehicle body and the pedals, the cover plate 10 is mounted on the lower surface of the vehicle body 1, the control mechanism 8 and the power supply module 9 are located between the vehicle body 1 and the cover plate 10, the four pressure detection modules comprise a first pressure detection module and a second pressure detection module which are mounted in an area on one side of the vehicle body and respectively marked as X1 and X2, and a third pressure detection module and a fourth pressure detection module which are mounted in an area on the other side of the vehicle body and respectively marked as X3 and X4, and form a four- Force difference information; the control mechanism is connected with the pressure detection modules, the control mechanism controls the movement of the wheels according to information sensed by the four pressure detection modules, each pressure detection module used in the application is a resistance strain gauge, the type number of the resistance strain gauge is ZYF1000-1.9GB-BL6(23) N6-C, other pressure detection modules capable of achieving the same pressure detection function can be used, and the control mechanism can be STM32F303RBT6, AT32F413RBT6 or other control mechanisms with the same function;
the method comprises the following specific steps:
the method comprises the following steps: pressure values of X1, X2, X3 and X4 are collected by a turning control module and are respectively marked as (Xn _ Out), and n is a natural number, namely X1_ Out, X2_ Out, X3_ Out and X4_ Out.
Step two: the pressure initial value of each pressure detection module is stored in a register of the control module, and the pressure can be a value detected by the pressure detection module when the user does not stand or a value set artificially;
specifically, the initial pressure value is (Xn _ offset), n is a natural number, that is:
X1_offset＝X1_Out；
X2_offset＝X2_Out；
X3_offset＝X3_Out；
X4_offset＝X4_Out。
step three: recording the pressure value of each pressure sensor in real time, filtering out a noise value, subtracting an initial value of a corresponding pressure value, and storing a pressure value difference value into a register of a control mechanism;
specifically, the initial pressure value is (DetailXn), n is a natural number, that is:
DetailX1＝X1_Out-X1_offset；
DetailX2＝X2_Out-X2_offset；
DetailX3＝X3_Out-X3_offset；
DetailX4＝X4_Out-X4_offset。
step four: calculating to obtain a fusion value of the regional pressure difference on one side and the regional pressure difference on the other side according to the difference value between the pressure values;
specifically, a fused value of a pressure difference value of one side is set as Z (x), and a fused value of a pressure difference value of the other side is set as Y (x); the above-mentioned
Z(x)＝DetailX1-DetailX2；
Y(x)＝DetailX3-DetailX4。
Step five: obtaining whether a turn and a turn amplitude value are obtained according to the pressure difference value of one side and the pressure difference value of the other side;
specifically, the turning determination parameter (Delta) is (z (x) -y (x));
condition A, the sum of the four pressure sense module values (X1_ Out + X2_ Out + X3_ Out + X4_ Out) is greater than a first predetermined value;
a condition B when the one-side trigger value (AChufa) and the other-side trigger value (BChufa) are simultaneously smaller than a third predetermined value;
the condition C is that Delta is not equal to 0;
when the condition A, the condition B and the condition C are simultaneously met, the balance car is controlled to turn, when Delta is greater than 0, the balance car turns to one side, when Delta is less than 0, the balance car turns to the other side, and the turning speed is controlled by the Delta;
and when Delta is 0, the balance car is controlled not to rotate.
Specifically, the (Delta) ═ z (z), (x) -y (x) × (x) turning speed parameter (K);
the turning speed parameter (K) can be taken from 1 ten thousandth to one hundred thousandth according to specific conditions, and the turning speed parameter (K) reduces the variation of the pressure value, so that the turning judgment parameter (Delta) is reduced to be between positive and negative one, unit conversion of the control quantity is realized, and the turning judgment parameter (Delta) is standardized.
The first predetermined value and the third predetermined value may be set according to actual conditions, such as 9, 10, 11, and the like.
The method for judging whether the vehicle turns in the step five comprises the following steps: further comprises a one-side trigger threshold judgment and a another-side trigger threshold judgment, specifically,
Achufa＝(DetailX1+DetailX2)/(DetailX3+DetailX4)；
Bchufa＝(DetailX3+DetailX4)/(DetailX1+DetailX2)；
when the sum of the pressure values of the four pressure detection modules (DetailX1+ DetailX2+ DetailX3+ DetailX4) is smaller than a first preset value or when the trigger value (AChufa) on one side is larger than a second preset value or the trigger value (BChufa) on the other side is larger than the second preset value, the balance vehicle is controlled not to turn when no legs of a person stand on the balance vehicle, and the first preset value and the second preset value can be set according to actual conditions, such as 9, 10, 11 and the like.
According to the structure, by acquiring pressure change and carrying out algorithm fusion on the acquired values, the two driving motors are controlled by pressure difference information generated by artificial foot control to output driving forces with different sizes to the two wheels, so that the two wheels have a certain speed difference, the balance car can turn, potential safety hazards such as misjudgment of turning and straight going, misjudgment of turning amplitude and the like under various actual conditions (such as random swinging of the center of gravity, single foot leaving the balance car and the like) are effectively solved, meanwhile, the balance car cannot swing when the single foot gets on the car, and the safety and the stability when the balance car gets on the car are enhanced;
the above-mentioned left and right positional relationship of the first wheel 4, the second wheel 5, the first pedal 6, and the second pedal 7 is determined according to the user's standing position, when the user gets on the vehicle from one side of the balance vehicle, the first wheel 4 and the first pedal 6 are on the left side with respect to the user, the second wheel 5 and the second pedal 7 are on the right side with respect to the user, when the user gets on the vehicle from the other side of the balance vehicle, the first wheel 4 and the first pedal 6 are on the right side with respect to the user, and the second wheel 5 and the second pedal 7 are on the left side with respect to the user, so that the user can get on the vehicle from any direction without distinguishing the front and rear direction when using the balance vehicle.
On the basis of the above, each pressure detection module comprises one or more pressure sensors, and when a plurality of pressure sensors are used, the accuracy of turn recognition can be further enhanced.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (2)
1. Foot control electrodynamic balance car, its characterized in that: the device comprises a vehicle body (1), a first wheel (4), a second wheel (5), a first driving motor (2) connected with the first wheel (4), a second driving motor (3) connected with the second wheel (5), four pressure detection modules, a control mechanism (8), a power supply module (9) for supplying power to the control mechanism, a first pedal (6), a second pedal (7) and a cover plate (10); the first wheel (4) is installed on one side of the vehicle body (1), the second wheel (5) is installed on the other side of the vehicle body (1), the four pressure detection modules are installed on the upper surface of the vehicle body (1), the control mechanism (8) and the power supply module (9) are installed on the lower portion of the vehicle body (1), the first pedal (6) and the second pedal (7) are installed on the upper surface of the vehicle body (1) so that the four pressure detection modules are located between the vehicle body and the pedals, and the cover plate (10) is installed on the lower surface of the vehicle body (1) so that the control mechanism (8) and the power supply module (9) are located between the vehicle body (1) and the cover plate (10);
the four pressure detection modules comprise a first pressure detection module and a second pressure detection module which are arranged in one side area of a vehicle body (1) and are respectively marked as X1 and X2, and a third pressure detection module and a fourth pressure detection module which are arranged in the other side area of the vehicle body (1) and are respectively marked as X3 and X4, wherein the four pressure detection modules form a four-quadrant pressure sensing system and are used for sensing pressure difference information generated by artificial foot control on a pedal; the control mechanism (8) is connected with the pressure detection modules, and the control mechanism (8) controls the first wheel (4) and the second wheel (5) to move according to information sensed by the four pressure detection modules.
2. The foot-controlled electric balance car of claim 1, characterized in that: each pressure detection module includes one or more pressure sensors.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921438466.4U CN212267720U (en) | 2019-08-30 | 2019-08-30 | Foot-controlled electric balance car |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921438466.4U CN212267720U (en) | 2019-08-30 | 2019-08-30 | Foot-controlled electric balance car |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2939333A1 (en) * | 2021-10-20 | 2023-04-20 | Univ Valladolid | Driving device (Machine-translation by Google Translate, not legally binding) |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2939333A1 (en) * | 2021-10-20 | 2023-04-20 | Univ Valladolid | Driving device (Machine-translation by Google Translate, not legally binding) |
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