TWI610706B - Plat self-balancing vehicle with foldable function - Google Patents

Abstract

The embodiment of the invention discloses a platform type self-balancing vehicle with a folding function, which comprises an intermediate carrier, a first carrier, a second carrier, two torque structures, at least one axle and two wheel bodies. The two torque structures are respectively configured to pivotally connect the first carrier and the second carrier to opposite sides of the intermediate carrier, and use the intermediate carrier as a point to rotate the first carrier and the second carrier. The axle is connected to the intermediate carrier, and the two wheels are pivoted to the axle. The platform-type self-balancing vehicle with folding function has a first mode and a second mode, and the first mode and the second mode determine two angles of the first carrier and the second carrier relative to the intermediate carrier.

Description

Platform self-balancing vehicle with folding function

The present invention relates to a platform type self-balancing vehicle, and more particularly to a platform-type self-balancing vehicle with a folding function that can be switched between a platform mode and an upright mode.

Due to the rise of environmental awareness, the application and development of electric vehicles have gradually received attention. For example, electric vehicles with two wheels on both sides of the vehicle body are short-range traffic vehicles, and they have automatic balance. Function, very simple and light to use. Such an electric vehicle can also be called a self-balancing vehicle, and its operation principle is mainly built on a principle called dynamic stability, so the vehicle itself has an automatic balancing ability. Since the two-wheel self-balancing vehicle belongs to the inverted pendulum system and has nonlinear characteristics, research in the field of control is quite extensive.

The two-wheel self-balancing car may be a platform-type self-balancing car. However, since the platform-type self-balancing car has a platform-type stage, it may not be able to pass the range smoothly if it encounters a narrow environment during the movement. The narrow environment leads to the inconvenience of the platform-type self-balancing car when moving, for example, the elevator cannot be smoothly entered.

The Chinese patent application CN 105879365A proposes a platform-type self-balancing vehicle, which switches the orientation of the wheel body through a riding state changing mechanism, so that the platform self-balancing The car can be in the state of a scooter or a balanced twisting car, so that the interest of the scooter and the balance car enthusiast can be improved, and the two states can be changed according to the actual road conditions that are not used. However, there are currently no two-wheeled self-balancing vehicles that can switch between standing mode and platform mode.

In view of the above-mentioned problems of the prior art, the object of the present invention is to provide a platform-type self-balancing vehicle with a folding function, wherein the platform-type self-balancing vehicle with folding function can be performed between the platform mode and the upright mode. Switch to respond to changes in different actual road conditions.

According to at least one object of the present invention, a platform type self-balancing vehicle having a folding function is provided, which comprises an intermediate carrier, a first carrier, a second carrier, two torque structures, at least one axle and two wheels. The two torque structures are respectively configured to pivotally connect the first carrier and the second carrier to opposite sides of the intermediate carrier, and use the intermediate carrier as a point to rotate the first carrier and the second carrier. The axle is connected to the intermediate carrier, and the two wheels are pivoted to the axle. The platform-type self-balancing vehicle with folding function has a first mode and a second mode, and the first mode and the second mode determine two angles of the first carrier and the second carrier relative to the intermediate carrier.

In view of the above, a platform-type self-balancing vehicle having a folding function according to the present invention may have one or more of the following advantages:

(1) Automatically switch modes in response to road conditions to smoothly pass crowded road conditions.

(2) Follow the user according to the captured image, and automatically switch the mode and move to the side of the user to support the user or let the user sit (or lie) when the user falls. The self-balancing platform of the folding function prevents the user from falling and being injured.

1‧‧‧Flat-type self-balancing vehicle with folding function

10a‧‧‧Intermediate carrier

10b‧‧‧right carrier

10c‧‧‧Left carrier board

11‧‧‧Automatic balance control device

12‧‧‧ mode switching device

12a, 12b‧‧‧ Torque structure

13‧‧‧Control interface device

14‧‧‧Communication device

15a‧‧‧First image capture device

15b‧‧‧Second image capture device

15c‧‧‧ third image capture device

16‧‧‧Image processing device

17‧‧‧Mobile devices

17b‧‧·Axle

17a‧‧‧ Wheel body

18‧‧‧ Warning device

19‧‧‧ Lifting device

19a‧‧‧ Lifting structure

2‧‧‧Remote control

FIG. 1A is a plan view of a platform type self-balancing vehicle with a folding function in a platform mode according to an embodiment of the present invention.

FIG. 1B is a side view of the platform-type self-balancing vehicle with a folding function in a platform mode according to an embodiment of the present invention.

1C is a side view of the platform-type self-balancing vehicle with a folding function in an upright mode according to an embodiment of the present invention.

1D is a side view of a platform type self-balancing vehicle with a folding function in a seat mode according to an embodiment of the present invention.

Fig. 2 is a block diagram of a platform type self-balancing vehicle with a folding function according to an embodiment of the present invention.

The technical features, contents, and advantages of the present invention, as well as the advantages thereof, can be understood by the present inventors, and the present invention will be described in detail with reference to the accompanying drawings. The subject matter is only for the purpose of illustration and supplementary description. It is not necessarily the true proportion and precise configuration after the implementation of the present invention. Therefore, the scope and configuration relationship of the attached drawings should not be limited to the scope of patent application of the present invention. Narration.

It should be noted that although the terms "first", "second", "third" and the like are used herein to describe various elements, these described elements should not be limited by such terms. Such terms are only used to distinguish one element from another. Therefore, the "first" elements discussed below can be written as "second" elements without departing from the teachings of the present invention.

Embodiments of the present invention provide a platform type self-balancing vehicle with a folding function, which can be switched in a platform mode and an upright mode. When it is judged that the road conditions are crowded and cannot be passed in the platform mode to reach the destination, the platform-type self-balancing vehicle with folding function will switch from the platform mode to the upright mode through the crowded road conditions. The platform mode refers to the mode in which the left carrier and the right carrier of the platform-type self-balancing vehicle with folding function are spread out and parallel with the intermediate carrier, and the upright mode refers to the left of the platform-type self-balancing vehicle with folding function. The mode in which the carrier and the right carrier are stowed and perpendicular to the intermediate carrier. In the upright mode, the platform-type self-balancing vehicle with folding function takes up less space in the horizontal space, so it can pass the crowded road conditions. For example, when entering the elevator, the platform-type self-balancing vehicle with folding function can be switched from the platform mode to the standing mode to smoothly enter the elevator.

Please refer to FIG. 1A of the present invention. FIG. 1A is a top view of a platform-type self-balancing vehicle with a folding function in a platform mode according to an embodiment of the present invention. The platform-type self-balancing vehicle 1 with folding function includes a plurality of electronic circuit components to be configured into a plurality of functional blocks (as shown in FIG. 2 of the present case), the intermediate carrier 10a, the right carrier 10b, the left carrier 10c, and the wheel Body 17a, axle 17b and torque structures 12a, 12b.

The intermediate carrier 10a is pivotally connected to the right carrier 10b via the torque structure 12a, and is pivotally connected to the left carrier 10c via the torque structure 12b. In the platform type self-balancing vehicle 1 having a folding function, at least one control signal is transmitted to the torque structures 12a and 12b, and the intermediate carrier 10a is used as a fulcrum, and the right carrier 10b and the left carrier 10c are rotated according to the control signal. Thereby switching between the platform mode (such as FIG. 1B of the present case) and the upright mode (such as FIG. 1C of the present case), wherein the torque structures 12a and 12b share a motor to simultaneously rotate the right carrier 10b and the left carrier 10c, or turn The moment structures 12a and 12b each have a motor to rotate the right carrier 10b and the left carrier 10c, respectively.

The wheel body 17a is pivotally connected to the axle 17b, and the axle 17b is connected to the intermediate carrier 10a. Thus, when the axle 17b is rotated, the wheel body 17a is also rotated to make the platform self-flat with folding function. The truck 1 was moved. Furthermore, the number of the axles 17b may be two, and the two wheel bodies 17a are respectively pivotally connected to control the speed of the two wheel bodies 17a to be inconsistent, so that the platform-type self-balancing vehicle 1 with the folding function has been left or right. Turning. In another embodiment, the number of axles 17b is one, two ends of which are respectively pivotally connected to the two wheel bodies 17a, and can be controlled by the platform-type self-balancing vehicle 1 with folding function to change the horizontal direction of the intermediate carrier 10a with the intermediate carrier 10a. The upper angle is such that the platform-type self-balancing vehicle 1 with folding function turns left or right.

In addition, the plurality of electronic circuit components are configured into a plurality of functional blocks including the first image capturing device 15a. The first image capturing device 15a is disposed on the front side of the right carrier to capture an image of the front road condition in the tablet mode. In addition, in the embodiment of the present invention, the platform-type self-balancing vehicle 1 with folding function can also be switched to the seat mode (as in the case of FIG. 1D, in this embodiment, the torque structures 12a and 12b are respectively required by two Motor control), and the plurality of electronic circuit components are configured into a plurality of functional blocks, further comprising a third image capturing device 15c disposed on the upper surface of the left carrier 10c to capture an image of the front road condition in the seat mode . The position of the third image capturing device 15c is appropriately designed so that the occupant does not obscure the third image capturing device 15c in the seat mode, for example, at the lower left corner of the upper surface of the left carrier 15c.

Next, please refer to FIG. 1B of the present case. FIG. 1B is a side view of the platform type self-balancing vehicle with folding function according to the embodiment of the present invention. In the case where the road conditions are not crowded, the platform-type self-balancing vehicle 1 with folding function can operate in the platform mode if the article needs to be transported or carried to a user lying or standing, in the platform mode, right The carrier 10b and the left carrier 10c are substantially parallel to the intermediate carrier 10a. In addition, in this embodiment, it can be seen that the plurality of electronic circuit components are configured to include a plurality of functional blocks, and the second image capturing device 15b is disposed on the lower surface of the right carrier 10b to be in the upright mode. Capture images of the road ahead. In addition, in this embodiment, the axle 17b is transmitted through the liter The descending structure 19a is connected to the intermediate carrier 10a, and the lifting structure 19a can be controlled to rise or fall with the axle 17b to drive the wheel body 17a to rise or fall, thereby adjusting the right carrier 10b, the left carrier 10c and the intermediate carrier 10a. With the height of the ground. Even, the lifting structure 19a can be controlled such that the right carrier 10b, the left carrier 10c and the intermediate carrier 10a rotate together with respect to the lifting structure 19a, and the platform-type self-balancing vehicle 1 having the folding function and the ground have a slope.

It is worth mentioning that, in different modes, the images captured by the first to third image capturing devices 15a-15c are processed and analyzed, and the platform-type self-balancing vehicle 1 with folding function can have Trace mode to track followers. The platform-type self-balancing vehicle 1 with folding function can automatically and quickly move to the side of the user when the user falls, to support the user, thereby preventing the user from falling and being injured. In one embodiment, the platform-type self-balancing vehicle 1 with folding function can issue an alert signal according to the actual situation and automatically instruct the remote control device to make an emergency notification (for example, dial 119 (Taiwan) or 911 (USA)). In addition, when the user falls, the platform-type self-balancing vehicle 1 with the folding function automatically and quickly moves to the side of the user, and the platform-type self-balancing vehicle 1 with the folding function is operated by the lifting structure 19a. The ground has an inclined angle, and the edge of the lower surface of the right carrier 10b touches the ground, and the platform-type self-balancing vehicle 1 having the folding function can more stably support the user.

Next, please refer to the first embodiment of the present invention. When there is no need to transport users or items, and the road conditions may be relatively crowded, the platform-type self-balancing vehicle 1 with folding function can be switched to the upright mode, wherein the upright mode refers to a platform-type self-balancing vehicle with folding function 1 The right carrier 10b and the left carrier 10c are transmitted in a mode in which the torque structures 12a and 12b are rotated to be perpendicular to the intermediate carrier 10a. In addition, the platform-type self-balancing vehicle 1 with folding function can automatically switch to the upright mode when judging that the user will fall. And move to the side of the user so that the user can support the right carrier 10b or the left carrier 10c without falling and being injured.

Next, please refer to FIG. 1D of the present invention. FIG. 1D is a side view of a platform type self-balancing vehicle with a folding function in a seat mode according to an embodiment of the present invention. In the process of transporting the user, if the user is not suitable for standing, the platform-type self-balancing vehicle 1 with folding function can be switched to the seat mode, wherein the seat mode refers to the left of the platform-type self-balancing vehicle 1 with folding function. The carrier board 10c is rotated by the torque structure 12b to have a first specific angle with the intermediate carrier 10a, and the right carrier 10b of the platform type self-balancing vehicle 1 having the folding function is rotated through the torque structure 12a to the intermediate carrier. 10a has a pattern of a second specific angle. The first specific angle may be between 45 degrees and 90 degrees (including 45 degrees and 90 degrees), and the second specific angle may be between 15 degrees and 75 degrees (including 15 degrees and 75 degrees), and may be used by The setting or the platform type self-balancing vehicle 1 with folding function is customized according to the situation. In addition, the platform-type self-balancing vehicle 1 with folding function can automatically switch to the seat mode when it is judged that the user will fall, and move to the side of the user, so that the user can sit on the platform-style self-balancing with folding function. Car 1 and not fall and fall injured. Of course, in other embodiments, the platform-type self-balancing vehicle 1 with folding function can also switch to the platform mode when it is determined that the user will fall, and move to the user side so that the user can lie in the folding function. The platform self-balancing car 1 is on.

Note here that although the above plurality of modes are automatically switched by the platform type self-balancing vehicle 1 having the folding function, the present invention is not limited thereto. The plurality of modes may be manually switched by the user, for example, by operating the remote control device or the control interface device, or switching the mode by directly rotating the right carrier 10a and the left carrier 10c by hand. In addition, the platform-type self-balancing vehicle 1 with folding function can not self-balance and move after the mode conversion is completed, and can also switch modes while moving, and can maintain balance.

Next, please refer to FIG. 2 of the present invention. FIG. 2 is a block diagram of a platform type self-balancing vehicle with a folding function according to an embodiment of the present invention. In this embodiment, the platform-type self-balancing vehicle 1 with folding function includes a plurality of electronic circuit components to be configured into a plurality of functional blocks, and the plurality of functional blocks include an automatic balance control device 11 and a mode switching device 12, The control interface device 13, the communication device 14, the first image capturing device 15a, the second image capturing device 15b, the third image capturing device 15c, the image processing device 16, the moving device 17, the warning device 18, and the lifting device 19.

The automatic balance control device 11 is electrically connected to the mode switching device 12, the mobile device 17, and the lifting device 19. The automatic balance control device 11 receives a mode signal transmitted by the mode switching device 12, and the mode signal indicates that the platform type self-balancing vehicle 1 having the folding function operates in one of the platform mode, the seat mode, or the upright mode, and the receiving lifting device 19 The height signal and the tilt signal are transmitted, and then the balance data is calculated to the mobile device 17 based on the mode signal, the height signal, and the tilt signal.

The mode switching device 12 is electrically connected to the control interface device 13 to receive the mode switching signal transmitted by the control interface device 13, and controls the torque structure according to the mode switching signal, so that the platform-type self-balancing vehicle 1 with folding function operates on the platform. One of mode, seat mode or upright mode. The mode switching device 12 also generates a mode signal to the automatic balance control device 11 in accordance with the mode in which the platform-type self-balancing vehicle 1 having the folding function is currently operating. The mode switching device 12 is also electrically connected to the first image capturing device 15a, the second image capturing device 15b and the third image capturing device 15c, and is enabled according to the mode of operation of the platform-type self-balancing vehicle 1 with folding function. One of the first image capturing device 15a, the second image capturing device 15b, and the third image capturing device 15c. The first image capturing device 15a, the second image capturing device 15b, and the third image capturing device 15c are electrically connected to the image processing device 16, and when they are enabled, the captured image is transmitted to the image processing device. 16.

The control interface device 13 is electrically connected to the communication device 14, the mobile device 17, and the lifting device 19. The control interface device 13 can be directly operated by the user to generate a mode switching signal, a movement signal, a lifting signal, and/or a balance angle adjustment signal. The control interface device 13 can transmit the mode switching signal and the movement signal to the mode switching device 12 and the mobile device 17, respectively, and transmit the lifting signal and the balance car angle adjustment signal to the lifting device 19. The communication device 14 can communicate wirelessly with the remote control device 2, such as via WiFi, Zigbee, or Bluetooth. The communication device 14 can receive an operation signal from the remote control device 2 and transmit the operation signal to the control interface device 13 to generate a mode switching signal, a movement signal, a lifting signal, and/or a balance angle adjustment signal. The remote control device 2 is provided to the user for operation, so that the user can manually switch the mode, movement and height of the platform-type self-balancing vehicle 1 with the folding function, and the remote control device 2 can also be realized by a general handheld device. For example, a smart phone. The lifting device 19 can adjust the lifting structure according to the lifting signal, and calculate the height between the platform-type self-balancing vehicle 1 having the folding function and the ground, thereby generating a height signal. The lifting device 19 can also adjust the tilt angle between the platform self-balancing vehicle 1 and the ground of the signal folding function according to the balance car angle, and generate a tilt signal representing the tilt angle.

The image processing device 16 is electrically connected to the first image capturing device 15a, the second image capturing device 15b, the third image capturing device 15c, the communication device 14, the control interface device 13, and the warning device 18. The image processing device 16 performs processing analysis based on the image transmitted by one of the first image capturing device 15a, the second image capturing device 15b, and the third image capturing device 15c, and may have automatic tracking (following the user). Determine whether the user will fall and determine the function of the road. The image processing device 16 generates an automatic movement signal and/or an automatic switching signal to the mobile device 17 and the control interface device 13 through processing analysis of the image. The mobile device 17 can control the axle 17b based on the movement signal or the automatic movement signal based on the balance data, so that the platform-type self-balancing vehicle 1 with the folding function is based on the movement signal or the automatic movement signal. Move and stay balanced. The control interface device 13 can also generate a mode switching signal according to the automatic switching signal, so that the platform-type self-balancing vehicle 1 with folding function can automatically switch its mode according to the road condition or according to whether the user will fall. Furthermore, if the image processing device 16 determines that the user has fallen through the processing analysis of the image and does not have time to move to the user to support the user, the image processing device 16 can also generate a notification signal to the warning device 18 and the communication device. 14. The communication device 14 can transmit a notification signal to the remote control device 2 to cause the remote control device 2 to notify the emergency notification. The warning device 18 generates an alert signal, such as a warning sound, a warning light, etc., according to the notification signal to attract a person next to the user to rescue the user.

Referring to FIG. 1A to FIG. 1D again, in the embodiment of the present invention, the platform-type self-balancing vehicle 1 having a folding function may further have a viscous material covering the intermediate carrier 10a, the right carrier 10b and the left carrier 10c. In addition, the user can wear a garment that can exert a viscosity on the adhesive, so that the user can stably support, lie on, or sit on the platform-type self-balancing vehicle 1 having a folding function. For example, in a hospital, the uniform worn by the user may have a hook-like structure, and the intermediate carrier 10a, the right carrier 10b, and the left carrier 10c have an annular structure on which the devil is attached. In addition, in other embodiments, at least one of the intermediate carrier 10a, the right carrier 10b, and the left carrier 10c of the platform-type self-balancing vehicle 1 having a folding function may have a manual or automatic buckle (not shown). In the drawings, the platform-type self-balancing vehicle 1 can be stably supported, lying or seated by the user.

In addition, in the context of the hospital, the platform-type self-balancing vehicle 1 with folding function can conveniently move the user's bed from one bed to another. Firstly, the platform-type self-balancing vehicle 1 with folding function operating in the upright mode is controlled, and has an inclined angle with the ground, so that the user can easily move from the bed to the platform with the folding function. Self-balancing car 1. Then the platform-type self-balancing car 1 with folding function switches to seat mode or platform mode and then moves Go to another bed nearby. Then, the platform-type self-balancing vehicle 1 with folding function operating in the seat mode or the platform mode is switched to the upright mode and has an inclined angle with the ground so that the reclining user can conveniently move to and lie on another bed. on.

In summary, the platform-type self-balancing vehicle with folding function of the embodiment of the present invention can be automatically or manually switched to the platform mode, the seat mode or the upright mode to meet different road conditions and needs. In addition, the platform-type self-balancing vehicle with folding function can have the function of automatically tracing and judging whether the user will fall, to quickly switch to the corresponding mode and move to the side of the user to support the user (or let the user lie down) Or sit on a platform-style self-balancing car with folding function to avoid the user falling down and being injured.

The above is intended to be illustrative only and not limiting. Any equivalent modifications or alterations to the spirit and scope of the invention are intended to be included in the scope of the appended claims.

1‧‧‧Flat-type self-balancing vehicle with folding function

10a‧‧‧Intermediate carrier

10b‧‧‧right carrier

10c‧‧‧Left carrier board

12a, 12b‧‧‧ Torque structure

15a‧‧‧First image capture device

15c‧‧‧ third image capture device

17b‧‧·Axle

17a‧‧‧ Wheel body

Claims (8)

A platform-type self-balancing vehicle with a folding function includes: an intermediate carrier, a first carrier and a second carrier; and two torque structures for respectively using the first carrier and the second carrier Each of the opposite sides of the intermediate carrier is pivoted, and the intermediate carrier is a fulcrum to rotate the first carrier and the second carrier; at least one axle is connected to the intermediate carrier; and two wheels are connected The axle-type self-balancing vehicle having a folding function has a first mode and a second mode, and the first mode and the second mode determine the first carrier and the second carrier The angle of the board relative to the intermediate carrier board; wherein the first mode is a platform mode, and the first carrier board and the second carrier board are parallel to the intermediate carrier board; and the second mode is an upright mode, The first carrier and the second carrier are perpendicular to the intermediate carrier; wherein the folding self-balancing platform has a third mode, wherein the third mode is a seat mode, the first a carrier board and the intermediate carrier board have a first specific angle, and the second The carrier plate and the intermediate plate having a second specific angle, and the third mode is not equivalent to the first mode and the second mode. A platform-type self-balancing vehicle having a folding function according to claim 1, wherein the first specific angle is 45 degrees to 90 degrees, and the second specific angle is 15 degrees to 75 degrees. A platform type self-balancing vehicle with a folding function includes: an intermediate carrier, a first carrier and a second carrier; The two torque structures are respectively configured to pivotally connect the first carrier and the second carrier to opposite sides of the intermediate carrier, and use the intermediate carrier as a point to make the first carrier and the first carrier The second carrier rotates; at least one axle is connected to the intermediate carrier; two wheel bodies are pivotally connected to the axle; a first image capturing device is disposed on a front side of the first carrier; and a second image a capturing device disposed on a lower surface of the first carrier; and an image processing device electrically connected to the first image capturing device and the second image capturing device; wherein the folding function is platform-type self-balancing The vehicle has a first mode and a second mode, and the first mode and the second mode determine two angles of the first carrier and the second carrier relative to the intermediate carrier; wherein the first mode The first image capturing device is enabled, and the second image capturing device is enabled in the second mode, the image processing device is configured to receive the first or second image capturing device Capture an image and analyze the image. The platform-type self-balancing vehicle with a folding function according to claim 3, wherein after the image is processed and analyzed, the image processing device determines whether a user will fall and generates an automatic movement signal and an automatic switching. Signaling to switch the folding self-balancing platform-type self-balancing vehicle to the second mode and to the side of the user to support the user. The platform-type self-balancing vehicle with folding function as described in claim 3 of the patent scope includes: a third image capturing device disposed on an upper surface of the second carrier; wherein the first mode is a platform mode, and the first carrier and the second carrier are parallel to the intermediate carrier; The second mode is an upright mode, and the first carrier and the second carrier are perpendicular to the intermediate carrier; wherein the folding self-balancing platform has a third mode, wherein the third mode The mode is a seat mode, the first carrier has a first specific angle with the intermediate carrier, and the second carrier has a second specific angle with the intermediate carrier, and the third mode is not equivalent to The first mode and the second mode; wherein, in the third mode, the third image capturing device is enabled; wherein, after the image is processed and analyzed, the image processing device determines whether a user will fall, and Generating an automatic movement signal and an automatic switching signal to switch the folding self-balancing platform to the first, second or third mode and to move to the side of the user to support the user. A platform type self-balancing vehicle having a folding function according to claim 3, wherein the first torque structure and the second torque structure share a motor, and the motor controls to simultaneously rotate the first a carrier board and the second carrier board. The platform type self-balancing vehicle with a folding function according to claim 3, wherein the first torque structure and the second torque structure are respectively controlled by two motors to respectively rotate the first carrier and the Second carrier. The platform-type self-balancing vehicle with a folding function as described in claim 3, further comprising: a lifting structure, the axle is connected to the intermediate carrier through the lifting structure, the lifting structure is used for adjusting the folding function A platform-type self-balancing vehicle with a height and/or a tilt angle of one of the grounds.