TW201736191A - Self-balance mobile carrier - Google Patents

Abstract

Differing from conventionally-used Segway ® moving through the somatosensory control made by a driver, the present invention provides a self-balance mobile carrier capable of being driven to move by using a carrier motion controlling module consisting of a controlling unit and an actuating unit. Therefore, the driver can make the actuating unit to finish at least one actuation by using the controlling unit, such that a gyroscope disposed on the actuating unit would be tilted forward, backward, rightward, or leftward, so as to make the self-balance mobile carrier accordingly moves forward, backward, rightward, or leftward. Moreover, differing from the Segway ® is embedded with at least three gyroscopes, this novel self-balance mobile carrier is able to carry out a variety of basic functions the same to the Segway ®. Apparently, the self-balance mobile carrier shows price advantage comparing to the Segway ®.

Description

Self-balancing mobile vehicle

The present invention relates to the technical field of personal vehicles, and more particularly to a self-balancing mobile vehicle.

With the awareness of environmental protection and energy conservation and carbon reduction, the development of electric vehicles has become an important indicator for the development of transportation technology. At present, the use of transportation tools by the general public is still dominated by steam locomotives; however, the pollution gases such as carbon monoxide, carbon dioxide, and hydrocarbons emitted by the locomotives from burning fuels cause considerable harm to the environment and air quality. Therefore, as far as the current situation of transportation in Taiwan is concerned, it is quite suitable for promoting environmentally-friendly transportation vehicles, such as electric vehicles, solar vehicles and other non-polluting and low-noise new mobile vehicles.

Referring to Figure 1, there is shown a perspective view of a two-wheeled mobile vehicle that is conventional. The two-wheeled mobile vehicle 1' shown in Fig. 1 is a well-known Segway, which mainly includes: an auxiliary balance bar 11', a stage 12', a wheel set 13', and a power system. . Please also refer to FIG. 2, which is a system block diagram showing the power system. The power system 14' is mostly disposed inside the stage 12', and includes at least: a control module 141', a user interface 142', at least three gyroscopes 143', and a left motor drive mode. The group 144', a right motor drive module 145', at least one accelerometer 146', and a power module 147'.

Continuing to refer to FIG. 1 and FIG. 2, and referring to FIG. 3A and FIG. 3B simultaneously, a schematic diagram of the operation of the two-wheeled mobile carrier is shown. As shown, when a driver rides the two-wheeled mobile vehicle 1', the three gyroscopes 143' located in the stage 12' detect the tilt angle of the stage 12' and output a The angle signal is tilted to the control module 141'; at the same time, the at least one accelerometer 146' detects the angular velocity of the stage 12' and outputs an angular velocity signal to the control module 141'. Further, the control module 141' outputs a control signal to the left motor driving module 144' and the right motor driving module 145' according to the tilting angle signal and the angular velocity signal to transmit the left motor driving module. The 144' and the right motor drive module 145' drive the wheel set 13', and a balance torque is output to the stage 12' by the action of the wheel set 13', thereby maintaining the balance of the stage 12'.

As shown in FIG. 3A, the driver can control the two-wheeled mobile vehicle 1' to travel forward by tilting the body forward; wherein, when the driver leans forward, the front end of the stage 12' is also synchronized. Tilting downward, the control module 141' drives the wheel set 13' according to the amount of change in the tilt angle of the stage 12' and the amount of change in the angular velocity, so that the two-wheel moving carrier 1' travels forward. Conversely, as shown in FIG. 3B, when the driver leans back, the front end of the stage 12' is also inclined upwardly, and the control module 141' changes according to the tilt angle of the stage 12' and The wheel set 13' is driven by the amount of change in angular velocity such that the two-wheeled mobile carrier 1' travels backward.

Although the two-wheeled mobile vehicle 1' (Segway) is currently widely used for security patrols in airports, large stores, and amusement parks, the two-wheeled mobile vehicle 1' (Segway) shows the following defects in practical operations. : (1) For people with poor somatosensory ability, it is very difficult to take the two-wheeled mobile vehicle 1' while maintaining a balanced state, let alone use the body to lean forward/backward. The method is to control the running of the two-wheeled mobile carrier 1'; (2) since the two-wheeled mobile carrier 1' must be equipped with at least three gyroscopes 143', the balance state of the stage 12' can be effectively detected. This causes the two-wheeled mobile carrier 1' to be expensive because of the high cost of components.

Therefore, in view of the fact that the conventional two-wheeled mobile vehicle (Segway) still has many defects, the inventor of the present invention tried his best to research and invent, and finally developed a self-balancing mobile vehicle of the present invention.

A primary object of the present invention is to provide a self-balancing mobile vehicle. Different from the conventional two-wheeled mobile vehicle (Segway), it is necessary to rely on the driver's somatosensory operation to move. The self-balancing mobile vehicle proposed by the present invention is specially equipped with a control unit and an actuation unit. The mobile control module is designed such that the driver can control the actuation unit to perform the operation through the control unit, so that the gyroscope disposed on the actuation unit is tilted forward or backward, so that the self-balancing can be easily controlled. The effect of moving the vehicle forward or backward. In addition, unlike the conventional two-wheeled mobile vehicle, at least three gyroscopes must be mounted. The self-balancing mobile vehicle of the present invention is only equipped with a balance state detection consisting of a gyroscope and an accelerometer. The module can achieve the same basic functions as the conventional two-wheeled mobile carrier; obviously, the self-balancing mobile carrier of the present invention has a price advantage because of the low component cost compared to the conventional two-wheeled mobile carrier. The advantages.

In order to achieve the above-mentioned primary object of the present invention, the inventor of the present invention provides a self-balancing mobile vehicle comprising: a carrier; a wheel set connected to both sides of the stage; a balance state detecting module Provided on the stage for detecting an inclination angle and an angular velocity of the stage, thereby outputting a tilt angle signal and an angular speed signal; a main control module is disposed inside the stage, And electrically connecting the balance state detecting module to receive the tilt angle signal and the angular velocity signal; a wheel set driving module is disposed in the carrier and electrically connected to the main control module; a mobile control module Connected to the balance state detection module; and a power module disposed in the stage for supplying power required; wherein the master control module can be based on the tilt angle signal and the angular velocity And controlling the wheel drive module to drive the wheel set operation through the wheel drive module to maintain the balance of the stage; wherein the movement control module can output the balance state detection module Specific tilt angle And a specific angular velocity signal, so that the main control module controls the wheel set driving module according to the specific tilt angle signal and the specific angular velocity signal to drive the wheel set operation through the wheel set driving module, thereby driving the The stage is moving.

In order to more clearly describe a self-balancing mobile vehicle of the present invention, a preferred embodiment of the present invention will be described in detail below with reference to the drawings.

First embodiment

Referring to Figure 4, there is shown a perspective view of a first embodiment of a self-balancing mobile vehicle of the present invention. As shown in FIG. 4 , the self-balancing mobile vehicle 1 of the present invention comprises: a loading platform 11 , a wheel set 12 , a balance state detecting module 13 , a main control module 14 , and a wheel set driving module ( Not shown), a mobile control module 16, and a power module (not shown); wherein the wheel set 12 is mounted and coupled to both sides of the stage 11.

Continuing to refer to FIG. 4, and referring to FIG. 5 at the same time, the electrical connection block diagram of the balance state detection module, the main control module, and the wheelset drive module is shown. As shown, the power module 17 is disposed in the stage 11 for supplying power required. Moreover, the balance state detecting module 13 is disposed on the stage 11 and is composed of a gyroscope 131 and an accelerometer 132. In the present invention, the balance state detecting module 13 is configured to detect an inclination angle and an angular velocity of the stage 11, and thereby output a tilt angle signal and an angular velocity signal.

The main control module 14 is disposed inside the stage 11 and electrically connected to the balance state detecting module for receiving the tilt angle signal and the angular velocity signal. In this manner, the main control module 14 can control the wheel drive module 15 according to the received tilt angle signal and the angular velocity signal to drive the wheel set 12 to operate through the wheel drive module 15 to maintain the load. The balance of the platform 11. As shown in the figure, the wheel drive module 15 electrically connected to the main control module 14 is disposed in the stage 11 and includes a left wheel drive unit 151 and a right wheel drive unit 152. In the present invention, the main control module 14 drives the left and right wheels of the wheel set 12 with different powers through the left wheel drive unit 151 and the right wheel drive unit 152, respectively, by the rotation speed between the left wheel and the right wheel. The difference is to form a balance moment to balance the effect of the stage 11.

It should be emphasized that the present invention specifically designs a mobile control module 16 connected to the balance state detecting module 13; thus, the driver can tilt the balance forward or backward through the mobile control module 16 The state detection module 13 is configured to output a specific tilt angle signal and a specific angular velocity signal. Then, the main control module 14 controls the specific tilt angle signal and the specific angular velocity signal. The wheel drive module 15 drives the wheel set 12 to operate through the wheel drive module 15 to drive the stage 11 to move forward or backward.

Please continue to refer to FIG. 6 at the same time, showing the architecture diagram of the self-balancing mobile vehicle and the mobile control module. The present invention comprises a control unit 161 and an actuation unit 162 to form the mobile control module 16. In the first embodiment, the manipulation unit 161 is a joystick, and a user manipulation interface 18 is disposed on the control lever to facilitate the driver to turn on/off the power of the self-balancing mobile carrier 1. In addition, the driver can also set the driving speed and the control mode of the self-balancing mobile vehicle 1 through the user control interface 18. In addition, the simplest form of the actuating unit 162 is four compression springs. As shown in FIG. 6 , one end of the four compression springs supports the balance state detection module 13 , and the other end is connected to the stage 11 .

Please refer to FIG. 7A and FIG. 7B at the same time, wherein FIG. 7A is a schematic diagram showing the operation of the self-balancing mobile carrier, and FIG. 7B is an operation diagram showing the actuation unit. As shown in FIG. 7A and FIG. 7B, the driver can control the actuation unit 162 through the control unit 161 to tilt the balance detection module 13 forward, thereby causing the balance detection module 13 to output a specific The tilt angle signal and the specific angular velocity signal; at this time, the main control module 14 controls the wheel set driving module 15 according to the received specific tilt angle signal and the specific angular velocity signal to drive through the wheel set The module 15 drives the wheel set 12 to operate, thereby driving the stage 11 to move forward.

Please refer to FIG. 8A and FIG. 8B at the same time, wherein FIG. 8A is a schematic diagram showing the operation of the self-balancing mobile carrier, and FIG. 8B is an operation diagram showing the actuation unit. As shown in FIG. 8A and FIG. 8B , the driver can also control the actuation unit 162 through the control unit 161 to tilt the balance detection module 13 backward, thereby outputting the balance detection module 13 . The specific tilt angle signal and the specific angular velocity signal; at this time, the main control module 14 controls the wheel drive module 15 according to the received specific tilt angle signal and the specific angular velocity signal to pass the wheel set The drive module 15 drives the wheel set 12 to operate, thereby driving the stage 11 to move backward.

Please refer to FIG. 9A and FIG. 9B at the same time, wherein FIG. 9A is a schematic diagram showing the operation of the self-balancing mobile carrier, and FIG. 9B is an operation diagram showing the actuation unit. As shown in FIG. 9A and FIG. 9B , the driver can also control the actuation unit 162 through the control unit 161 to tilt the balance detection module 13 to the right, thereby outputting the balance detection module 13 . The specific tilt angle signal and the specific angular velocity signal; at this time, the main control module 14 controls the wheel drive module 15 according to the received specific tilt angle signal and the specific angular velocity signal to pass the wheel set The drive module 15 drives the wheel set 12 to operate, thereby driving the stage 11 to move to the right.

Please refer to FIG. 10A and FIG. 10B at the same time, wherein FIG. 10A is a schematic diagram showing the operation of the self-balancing mobile carrier, and FIG. 10B is an operation diagram showing the actuation unit. As shown in FIG. 10A and FIG. 10B , the driver can also control the actuation unit 162 through the control unit 161 to tilt the balance detection module 13 to the left, thereby enabling the balance detection module 13 . Outputting a specific tilt angle signal and a specific angular velocity signal; at this time, the main control module 14 controls the wheel set driving module 15 according to the received specific tilt angle signal and a specific angular velocity signal to pass through the round The group drive module 15 drives the wheel set 12 to operate, thereby driving the stage 11 to move to the left.

Second embodiment

Although FIG. 6 shows that the motion control module 16 for tilting the balance state detecting module 13 is composed of a joystick (manipulation unit 161) and four compression springs (actuating unit 162), it is not used to limit The implementation of the mobile control module 16 is described. Referring to Figure 11, there is shown an architectural diagram of a second embodiment of the self-balancing mobile vehicle of the present invention. Different from the foregoing first embodiment (FIG. 6), the second embodiment uses a rocker type manipulator as the control unit 161 of the mobile control module 16, and at the same time an electronic cradle (electronic cradle) The head device is used as the actuation unit 162 of the movement control module 16. It should be noted that, in the second embodiment, the joystick 160 is only for the driver to hold and carry the rocker type manipulator (the manipulation unit 161); it must be emphasized that the joystick 160 is fixed and Cannot be used to control the actuation of the actuation unit 162.

In the second embodiment, the driver can use his finger to move the rocker on the rocker type manipulator (control unit 161) to control the electronic pan/tilt (actuating unit 162) to operate. The balance state detecting module 13 is tilted forward, backward, rightward, or leftward to achieve the effect of easily controlling the self-balancing mobile carrier to travel forward, backward, rightward, or leftward. However, it must be additionally noted that the rocker type manipulator in the second embodiment can also operate the control unit 161 of a similar function such as a lever, a button type controller, a roller type controller, and the like.

Third embodiment

Although FIG. 11 shows that the mobile control module 16 for tilting the balance state detecting module 13 is composed of a rocker type controller (manipulation unit 161) and an electronic head (actuating unit 162), It is not intended to limit the implementation of the mobile control module 16. Referring to Figure 12, there is shown an architectural diagram of a third embodiment of the self-balancing mobile vehicle of the present invention. Different from the foregoing second embodiment (FIG. 11), the third embodiment uses a wireless transmission type controller as the manipulation unit 161 of the movement control module 16, wherein the wireless transmission type controller can be a wireless joystick. (Joystick), smart electronic device, or remote control.

Taking a smart phone as a design example of the third embodiment, the driver can install an application (APP) for controlling the electronic pan/tilt (actuating unit 162) to be installed in the smart phone in advance. Then, the driver can control the electronic pan/tilt (actuating unit 162) to operate by the smart phone application, thereby tilting the balance state detecting module 13 forward, backward, rightward, or leftward. To achieve the effect of easily controlling the self-balancing mobile vehicle to move forward, backward, rightward, or leftward. In addition, as shown in FIG. 12, in the third embodiment, the self-balancing mobile carrier 1 further includes a seat module 19 disposed on the stage 11 for driving. Ride.

Fourth embodiment

Referring to Figure 13, there is shown a perspective view of a fourth embodiment of the self-balancing mobile carrier of the present invention. As shown in FIG. 13 , the self-balancing mobile vehicle 1 of the present invention includes: a loading platform 11 , a wheel set 12 , a balance state detecting module 13 , a main control module 14 , and a wheel set driving module ( Not shown), a mobile control module 16, and a power module (not shown). Obviously, in the fourth embodiment, the self-balancing mobile carrier 1 is used as a carrier platform for carrying articles or devices.

Continuing to refer to FIG. 13 and referring to FIG. 14 simultaneously, a block diagram of electrical connection of the balance state detection module, the main control module, the wheelset drive module, and the auxiliary balance module is shown. Similar to the foregoing third embodiment (FIG. 12), the fourth embodiment also uses a wireless transmission type controller as the manipulation unit 161 of the movement control module 16, for example, the wireless transmission type controller can be a wireless joystick ( Joystick), smart electronic device, or remote control. A wireless joystick is used as a design example, wherein the user can operate the electronic pan/tilt (actuating unit 162) through the wireless rocker, thereby causing the balance state detecting module 13 to move forward, backward, and rightward. Or tilt to the left to achieve the effect of easily controlling the self-balancing mobile vehicle to travel forward, backward, right, or left.

Thus, the above-described system has completely and clearly explained the self-balancing mobile carrier 1 of the present invention. From the above, we can know that the present invention has the following advantages:

(1) Unlike the conventional two-wheeled mobile carrier 1' (as shown in FIGS. 3A and 3B), it is necessary to rely on the driver's somatosensory operation to be able to move, and the self-balancing mobile vehicle 1 of the present invention is proposed. In particular, a movement control module 16 composed of a control unit 161 and an actuation unit 162 is provided. In this way, the driver can control the actuation unit 162 to operate by the control unit 161, so as to be disposed on the actuation unit 162. The gyroscope above tilts forward or backwards to achieve the effect of easily controlling the self-balancing mobile vehicle 1 to travel forward or backward.

(2) Further, unlike the conventional two-wheeled mobile carrier 1' (shown in FIGS. 1 and 2), at least three gyroscopes 143' must be mounted, and the self-balancing mobile carrier 1 of the present invention is only carried by A balance state detecting module 13 composed of a gyroscope 131 and an accelerometer 132 can realize the basic functions of the conventional two-wheeled mobile vehicle; obviously, compared with the conventional two-wheeled mobile vehicle 1', the self-balancing mobile carrier 1 of the present invention has a price advantage due to the low cost of components.

It is to be understood that the foregoing detailed description of the embodiments of the present invention is not intended to Both should be included in the scope of the patent in this case.

<present invention>
1‧‧‧ Self-balancing mobile vehicle
11‧‧‧ stage
12‧‧‧ Wheel set
13‧‧‧ Balance state detection module
14‧‧‧Master Module
15‧‧‧ Wheelset drive module
16‧‧‧Mobile Control Module
17‧‧‧Power Module
131‧‧‧Gyro
132‧‧‧Accelerometer
151‧‧‧Revolving drive unit
152‧‧‧Right wheel drive unit
161‧‧‧Control unit
162‧‧‧ actuation unit
18‧‧‧User control interface
19‧‧‧Seat module
160‧‧‧Control lever

<知知>
1'‧‧‧Two-wheeled mobile vehicle
11'‧‧‧Auxiliary balance bar
12'‧‧‧ stage
13'‧‧‧ Wheel set
14'‧‧‧Power System
141'‧‧‧Control Module
142'‧‧‧ User Interface
143'‧‧‧Gyro
144'‧‧‧ Left Motor Drive Module
145'‧‧‧Right motor drive module
146'‧‧‧Accelerometer
147'‧‧‧Power Module

1 is a perspective view showing a conventional two-wheeled mobile vehicle; FIG. 2 is a system block diagram showing the power system; FIG. 3A and FIG. 3B are diagrams showing the operation of the two-wheeled mobile vehicle; FIG. FIG. 5 is a perspective view showing a first embodiment of a self-balancing mobile vehicle; FIG. 5 is a block diagram showing an electrical connection between a balance state detection module, a main control module, and a wheel drive module; FIG. 7A is a schematic diagram showing the operation of the self-balancing mobile vehicle; FIG. 7B is a diagram showing the operation of the actuating unit; FIG. 8A is a diagram showing the movement of the self-balancing unit; Figure 8B is a diagram showing the operation of the self-balancing mobile vehicle; Figure 9B is a diagram showing the operation of the actuation unit; Figure 10A shows the self-balancing FIG. 10B is a diagram showing the operation of the actuating unit; FIG. 11 is a structural view showing a second embodiment of the self-balancing mobile carrier of the present invention; FIG. 13 is a perspective view showing a fourth embodiment of the self-balancing mobile vehicle of the present invention; FIG. 14 is a perspective view showing a balance state detecting module, An electrical connection block diagram of the main control module, the wheel drive module, and the auxiliary balance module.

1‧‧‧ Self-balancing mobile vehicle

11‧‧‧ stage

12‧‧‧ Wheel set

13‧‧‧ Balance state detection module

14‧‧‧Master Module

16‧‧‧Mobile Control Module

18‧‧‧User control interface

Claims (9)

A self-balancing mobile vehicle includes: a carrier; a wheel set connected to both sides of the stage; a balance state detecting module disposed on the stage for detecting the a tilt angle and an angular velocity of the stage, thereby outputting a tilt angle signal and an angular speed signal; a main control module is disposed inside the stage and electrically connected to the balance state detection module to receive the tilt a corner signal and the angular velocity signal; a wheel drive module disposed in the stage and electrically connected to the main control module; a mobile control module connected to the balance state detection module; and a power source The module is disposed in the stage for supplying the required power; wherein the main control module can control the wheel drive module according to the tilt angle signal and the angular velocity signal to transmit the wheel set The driving module drives the wheel set to maintain the balance of the stage; wherein the mobile control module can output the specific state of the tilt signal and a specific angular velocity signal to the balance mode detecting module, so that the master mode Group based on this particular The bevel signal and the specific angular velocity signal control the wheel drive module to drive the wheel set operation through the wheel set drive module, thereby driving the stage to move. The self-balancing mobile vehicle as described in claim 1 further includes a user control interface electrically connected to the power module and the main control module; wherein the user control interface is The power source of the self-balancing mobile vehicle can be activated, and the basic parameters of the self-balancing mobile vehicle can also be set. The self-balancing mobile vehicle of claim 1, further comprising a seat module disposed on the stage. The self-balancing mobile vehicle according to claim 1, wherein the balance state detecting module is composed of a gyroscope and an accelerometer. The self-balancing mobile vehicle of claim 2, wherein the mobile control module comprises: a steering unit; and an actuating unit; wherein the actuating unit can control the actuating unit to tilt the balance The state detection module enables the balance state detection module to output the specific tilt angle signal and the specific angular velocity signal. The self-balancing mobile vehicle as claimed in claim 5, wherein the control unit can be any of the following: a joystick, a roller controller, a rocker controller, a button controller, a joystick (Joystick), smart electronic device, or wireless transmission controller. The self-balancing mobile vehicle of claim 5, wherein the manipulation unit and the user manipulation interface are integrated with each other. The self-balancing mobile vehicle of claim 5, wherein the actuating unit is a pan/tilt head, and the balance state detecting module is disposed on the pan/tilt head. The self-balancing mobile vehicle of claim 5, wherein the actuating unit comprises at least: a plurality of compression springs; and one end of the plurality of compression springs supports the balance state detecting module, The other end is connected to the stage.