TWI758878B - Balance car system - Google Patents

Abstract

The present invention provides a balance car system, the balance car system includes: a battery unit, a first power conversion unit, a second power conversion unit, a left motor unit, a right motor unit, a left motor control unit, a right motor control unit, and a human body Seated center of gravity sensing unit. The present invention can detect the change of the center of gravity of the user's body, so as to control the balance car system of the moving direction.

Description

Balance car system

The present invention provides a balance car system, in particular to a balance car system that can control the direction of movement by detecting the change of the center of gravity of the user's body. On the other hand, the balance car system of the present invention changes the direction with the center of gravity of the moving mechanism, which can adjust the contact force between the wheels and the ground in a timely manner, and can keep the balance and drive at the designated speed and direction.

With the advancement of medical technology in modern times, the average life expectancy of human beings has increased a lot compared to the past. As announced by the Ministry of the Interior, the current average life expectancy of Chinese people is 80.7 years old, and the average life expectancy of men is 77.5 years old, and the average life expectancy of women is 84 years. years, and are also higher than the global average life expectancy. Therefore, in the long run, the average life expectancy of Chinese people will show an upward trend, and it will also show an upward trend in the future.

Although advances in medical technology have contributed to increasing longevity, as humans age, the functions of various organs in the body also age. When a serious disease occurs in the human body, or when the old age is weak, it will be caused by the physical disease, or because the body of the elderly is naturally debilitated, and it will not be able to move.

When the sick or the elderly are inconvenient to move, and in order to meet their needs When they need to move, they will often assist them with assistive devices, such as wheelchairs, or assistive devices such as electric vehicles to help them in daily life. At the same time, in order to facilitate the activities of the elderly or patients, it is very important that the related assistive devices are convenient to operate and meet the relevant requirements for safety.

Usually "assistive device" refers to the abbreviation of assistive devices. In 1988, in the "Technology-Related Assistance for Individuals with Disabilities Act" promulgated in the United States, the definition of assistive device is: "Assistance is any product, part , instruments and facilities, whether off-the-shelf or individually fabricated or adapted, to increase, maintain or improve the daily functioning of the disabled".

In my country's current "Ministry of the Interior Subsidy Standards for Assistive Devices for Persons with Disabilities", assistive devices are divided into two categories: "living aids" and "rehabilitation aids". Living aids include mobility aids, such as walking aids. , wheelchairs, crutches, electric scooters, etc., as well as diet, bathing, toileting, clothing, home barrier-free facilities and computer aids, etc. Rehabilitation aids include special wheelchairs, electric wheelchairs, air mattresses, braces, and prosthetics.

Therefore, a wheelchair is one of the aforementioned rehabilitation aids, which can mainly provide mobility for people with inconvenient mobility. However, as far as patients are concerned, it can mainly assist patients with spinal cord injury, cerebral palsy, muscular dystrophy, motor neurone disease, cerebellar atrophy, osteogenesis imperfecta, stroke and head trauma.

In addition, the electric wheelchair is also one of the aforementioned rehabilitation aids. When it is used, there are three key choices in its use, including: diameter, and seat height. Among them, in the selection of the turning radius, the current wheelchairs on the market all require a large turning radius, so the home space needs to reserve a large turning space.

Most of the electric wheelchairs require the user to hold the joystick all the time before they can be controlled. Therefore, the user can only use the other hand in the air, which becomes a troublesome problem for many users.

The aforementioned shortcomings show the problems derived from the use of conventional assistive devices, and it is extremely necessary to effectively improve the aforementioned shortcomings, and to be able to produce assistive devices with both practicality and safety considerations. There is still considerable room for improvement and improvement in the durability of the assistive devices, and further review is needed to seek a feasible solution, so it has become an important topic of continuous concern in the field.

In view of solving the aforementioned problems, the present invention provides a balance car system, and the balance car system has a frame mechanism, including a frame unit, a left wheel and a right wheel.

The balance car system of the present invention includes a battery unit, a first power conversion unit, a second power conversion unit, a left motor unit, a right motor unit, a left motor control unit, a right motor control unit, and a body sitting posture center of gravity sensing unit.

The battery unit of the balance car system of the present invention provides the power required by the balance car system, the battery unit is arranged on the frame unit, and the battery unit provides a first voltage and a first current. The first power conversion unit is electrically connected to the battery unit, the first The power conversion unit receives the first voltage and the first current, and converts the boost current into a second current and a second voltage. The second power conversion unit is electrically connected to the first power conversion unit.

The left motor unit of the balance car system of the present invention provides the rotational power for the left wheel to rotate forward or backward. The right motor unit provides the rotational power for the right wheel to rotate forward or backward. The left motor control unit is electrically connected to the first power conversion unit and the left motor unit, the second current of the first power conversion unit, and the second voltage provide power to the left motor control unit and the left motor unit, The left motor control unit is used for controlling the left motor unit to rotate forward or backward. The right motor control unit is electrically connected to the first power conversion unit and the right motor unit, and the right motor control unit is used for controlling the right motor unit to rotate forward or backward.

The center of gravity sensing unit of the sitting posture of the balance vehicle system of the present invention is electrically connected to the second power conversion unit for detecting the direction of the center of gravity of the user. Wherein, when the user changes the direction of the center of gravity, the body sitting posture center of gravity sensing unit detects the direction of the center of gravity, and generates a direction control signal to the left motor control unit and the right motor control unit, and the left motor control unit controls the direction according to the direction. The signal generates a left motor control signal, the left motor unit receives the left motor control signal and generates forward rotation or reverse rotation, the left motor unit drives the left wheel forward or backward, and the right motor control unit controls the signal according to the direction. A right motor control signal is generated, the right motor unit receives the right motor control signal, and generates forward rotation or backward rotation, the right motor unit drives the right wheel forward or backward to control the traveling direction of the balance car system.

A technical means of the present invention is that the center of gravity sensing unit of the sitting posture of the human body has a gyroscope sensing unit for detecting the direction of the center of gravity of the user.

A technical means of the present invention is that the balance car system further includes a lift control unit, a lift mechanism and a seat, the lift mechanism is pivotally connected to the seat, the lift control unit is electrically connected to the second power conversion unit, and the direction indicating unit , the body sitting posture center of gravity sensing unit and the seat, the second power conversion unit provides the power required by the lift control unit and the lift mechanism, the lift control unit controls the lift mechanism to rise or fall, so that the seat is seated the user goes up or down.

A technical means of the present invention is that the frame mechanism further includes a handle, disposed on the frame unit, the handle is electrically connected to the body sitting posture center of gravity sensing unit, and the handle provides the user to control the seat to rise or descending. When the user pulls the handle up, the body sitting posture center of gravity sensing unit detects that the handle is up, and sends a height control signal to the lift control unit. The lift control unit controls the lift mechanism to move upward and drives the seat The chair is up, when the user pulls the handle down, the body sitting posture center of gravity sensing unit detects that the handle is down, and sends the height control signal to the lift control unit, which controls the lift mechanism down and drive the seat down.

A technical means of the present invention is that the balance car system further includes a direction indicating unit, which is turned on or off for direction indication or warning.

A technical means of the present invention is that the balance car system further includes a direction indication control unit, which is electrically connected to the second power conversion unit, the direction indication unit and the body sitting posture center of gravity sensing unit, and the second power conversion unit provides the A direction indication control unit and a power supply required by the direction indication unit, wherein when the body sitting posture center of gravity sensing unit detects a change in the direction of the center of gravity, the direction control signal is transmitted to the direction indication control unit, and the direction indication control unit generates a direction indication A control signal, the direction indicating control signal controls the direction indicating unit to be turned on or off.

Another technical means of the present invention is a balance car system, wherein the direction indicating unit includes a photodiode element, a light bulb or an organic light-emitting element.

Another technical means of the present invention is that the self-balancing vehicle system further includes a bluetooth, which is electrically connected to the direction indicating control unit, and the bluetooth is used for wireless communication.

One of the advantages of the balance car system of the present invention is that the center of gravity of the mobile mechanism changes direction, and the contact force between the wheels and the ground is adjusted in time, and the balance is maintained and the vehicle travels at a specified speed and direction.

One of the advantages of the balance car system of the present invention is that the user can control without using hand movements, and the body's sitting posture center of gravity sensing unit can automatically detect the direction of the center of gravity by changing the center of gravity of the body.

One of the advantages of the balance car system of the present invention is that it can be easily controlled, can automatically advance and guide the direction of the vehicle, and can also rotate on the spot.

One advantage of the balance car system of the present invention is that it belongs to a personalized somatosensory mobile vehicle, and the balance car system can rotate with a small rotation radius when it rotates on the spot.

In addition, one of the advantages of the self-balancing vehicle system of the present invention is that the self-balancing vehicle system of the present invention has the function of lifting up and down, so that the user is easy to control and can obtain a better riding experience.

In order to make the above objects, technical features, and advantages more clearly understood, the following is a detailed description of the preferred embodiments in conjunction with the accompanying drawings.

100: Balance car system

110: battery unit

120: The first power conversion unit

122: The second power conversion unit

130: Right motor control unit

1302: Right Motor Unit

132: Left motor control unit

1322: Left Motor Unit

1324: Revolver

1304: Right Wheel

140: Human body sitting posture center of gravity sensing unit

142: Gyroscope Sensing Unit

150: Direction indicating control unit

152: Direction indicating unit

154:Bluetooth

160: Lifting control unit

162: Lifting mechanism

300: Balance car

310: Frame mechanism

310: Frame mechanism

320: Frame unit

C: Seat

H: handle

I1: the first current

I2: second current

G: center of gravity

Gd: direction of center of gravity

U: user

V1: first voltage

V2: The second voltage

Sa: altitude control signal

Sd: direction control signal

S1: Direction indicating control signal

SL: Left motor control signal

SR: Right motor control signal

The foregoing and many other advantages of the present invention will be more clearly presented in the following detailed description of a preferred embodiment with reference to the accompanying drawings, among which are as follows:

Fig. 1 is a circuit block diagram of the balance car system of the present invention.

FIG. 2 is a schematic diagram of a balance car system according to a preferred embodiment of the present invention.

FIG. 3 is a schematic diagram of a balance car system according to a preferred embodiment of the present invention.

Please refer to the accompanying drawings for description and description below, in order to describe the embodiments of the present invention according to the schematic diagrams. In the schematic diagrams, the same reference numerals represent the same elements, and the size or thickness of the elements may be exaggerated for clarity.

Please refer to FIG. 1 , which is a system circuit block diagram of the balance car system of the present invention, including: a battery unit 110 , a first power conversion unit 120 , and a second power conversion unit 122 .

Please refer to the system circuit block diagram of the balance car system of the present invention, wherein the right motor control unit 130, and the right motor unit 1302, and the left motor control unit 132, and the left motor unit 1322, and the left motor unit 1322 provides the left wheel ( Including the left front wheel and the left rear wheel) 1324 forward rotation, or backward rotation The right motor unit 1302 provides the rotational power for the right wheel (including the right front wheel and the right rear wheel) 1304 to rotate forward or backward.

Figure 1 shows the system circuit block diagram of the self-balancing vehicle system of the present invention, wherein the battery unit 110 provides the power required by the self-balancing vehicle system 100 of the present invention, and the battery unit 110 can provide a first voltage V1 and a first current I1. The first power conversion unit 120 is electrically connected to the battery unit 110 . The second power conversion unit 122 is electrically connected to the first power conversion unit 120 . The first power conversion unit 120 receives the first voltage V1 and the first current I1, and converts the boost current into the second current I2 and the second voltage V2.

Fig. 1 is a circuit block diagram of the balance car system of the present invention. The right motor control unit 130 is electrically connected to the first power conversion unit 120 and the right motor unit 1302. The right motor control unit 130 controls the forward rotation of the right motor unit 1302, or Backward rotation function. The left motor control unit 132 is electrically connected to the first power conversion unit 120 and the left motor unit 1322 , and the second current I2 and the second voltage V2 of the first power conversion unit 120 are provided to the left motor control unit 132 and the left motor unit 1322 . power supply required. The left motor control unit 132 has the function of controlling the left motor unit 1322 to rotate forward or backward.

Please refer to the circuit block diagram of the balance car system of the present invention in FIG. 1, wherein the body sitting posture center of gravity sensing unit 140 further has a gyroscope sensing unit 142, and the gyroscope sensing unit 142 has the function of detecting the user's center of gravity direction Gd function, and the human body sitting posture center of gravity sensing unit 140 is electrically connected to the second power conversion unit 122, and is also connected to a handle H.

In FIG. 1, the circuit block diagram of the self-balancing vehicle system of the present invention, in this embodiment, the self-balancing vehicle system 100 includes a direction indicating control unit 150, and a direction indicating unit 152. The direction indication control unit 150 is electrically connected to the second power conversion unit 122 , the direction indication unit 150 , and the body sitting posture center of gravity sensing unit 140 . The second power conversion unit 122 provides the direction indicating control unit 150 and the power required by the direction indicating unit 152 . In the embodiment of the self-balancing vehicle system of the present invention, the direction indicating control unit 150 can control the direction indicating unit 152 to fix the on/off time to form a direction indicator with a fixed flashing frequency. The direction indicating unit 152 includes LED lights, light bulbs or organic light-emitting elements.

Referring to the circuit block diagram of the self-balancing vehicle system of the present invention in FIG. 1 , in this embodiment, a bluetooth 154 is included to electrically connect the direction indicating control unit 150 , and the bluetooth 154 is used for wireless communication.

As shown in FIG. 1 , the circuit block diagram of the balance car system of the present invention, in this embodiment, the balance car system 100 includes a lift control unit 160 , a lift mechanism 162 and a seat C. The lift mechanism 162 is pivotally connected to the seat C, and the lift control unit 160 is electrically connected to the second power conversion unit 122 , the direction indicating unit 150 , the body posture center of gravity sensing unit 140 , and the seat C. The second power conversion unit 122 provides the lift control unit 160 and the power required by the lift mechanism 162 . The elevating control unit 160 controls the elevating or descending of the elevating mechanism 162 , so that the user U sitting on the seat C can ascend or descend.

Please also refer to FIG. 2 for the schematic diagram of the balance car system of the present invention, and also refer to FIG. 1 , the aforementioned human body sitting posture center of gravity sensing unit 140 is used to detect the direction Gd of the user U's center of gravity. The user U has a center of gravity G, and when the user U sits on the seat C, the center of gravity G is located on the seat C, and the direction Gd of the center of gravity faces directly downward. The seat C is pivotally connected to the lifting mechanism 162 . When the user U changes its center of gravity direction Gd, the human body The sitting posture center of gravity sensing unit 140 detects the direction of the center of gravity Gd, and generates a direction control signal Sd correspondingly. When the body sitting posture center of gravity sensing unit 140 detects that the direction of the center of gravity of the user U changes, the direction control signal Sd is transmitted to the direction indication control unit 150, and the direction indication control unit 150 generates a direction indication control signal S1, which controls The signal S1 controls the direction indicating unit 152 to be turned on or off.

Please refer to the circuit block diagram of the balance car system of the present invention in FIG. 1, the left motor control unit 132 generates the left motor control signal SL according to the direction control signal Sd, the left motor unit 1302 receives the left motor control signal SL, and generates forward rotation, or When it rotates backward, the left motor unit 1302 further drives the left wheel 1324 to move forward or backward. Meanwhile, the right motor control unit 130 generates the right motor control signal SR according to the direction control signal Sd. When the right motor unit 1302 receives the right motor control signal SR and generates forward rotation or reverse rotation, the right motor unit 1302 further drives the right wheel 1304 to move forward or backward to control the traveling direction of the balance car system 300 . By controlling the left wheel 1324 and the right wheel 1304 to rotate forward, or rotate backward, the balance car system 300 can be controlled to generate the functions of going straight, turning left, turning right, and backward.

FIG. 3 is a schematic diagram of a self-balancing vehicle system according to a preferred embodiment of the present invention. Please also refer to FIG. 1, wherein the battery unit 110 is disposed on the frame unit 320 of the self-balancing vehicle system 300, and the self-balancing vehicle system 100 also has a vehicle Shelf mechanism 310 . The frame mechanism 310 includes a frame unit 320 , a left wheel 1324 , and a right wheel 1304 . The frame mechanism 310 also includes a pair of handlebars H. And the direction indicating unit 150 is turned on or When turned off, it can be used as a direction indicator or warning light of the balance car system 300. With the balance car system 300 of the present invention, the user U can change the body's center of gravity, so that the body's sitting posture center-of-gravity sensing unit 140 can automatically detect the body's center of gravity direction Gd without using hand movements for control, so as to achieve easy control, A personalized somatosensory mobile vehicle that can automatically move forward and guide the vehicle direction and rotate on the spot.

Please refer to FIG. 3 for a schematic diagram of a balance car system according to a preferred embodiment of the present invention, and also refer to FIG. 1 . The handle H is disposed on the frame unit 320, and the handle H is electrically connected to the body sitting posture center of gravity sensing unit 140 (as shown in FIG. 1), so the handle H has the function of providing the user U to control the seat C to ascend or descend. When the user U pulls the handle H upward, the body sitting posture center of gravity sensing unit 140 detects that the handle H is upward, and sends a height control signal Sa to the lift control unit 160 . The lift control unit 160 controls the lift mechanism 162 upward, and drives the seat C upward. It should be noted that the elevating mechanism 162 of the present invention can be raised to a height of several tens of centimeters. When the user U pulls the handle H downward, the body sitting posture center of gravity sensing unit 140 detects that the handle H is downward, and sends a height control signal Sa to the lift control unit 160, and the lift control unit 160 controls the lift mechanism 162 downward, and Drive seat C down. In addition, the battery unit 110 is provided on the frame unit 320 .

Please refer to Fig. 3 for the schematic diagram of the balance car system according to the preferred embodiment of the present invention. As mentioned above, most of the electric wheelchairs in the past usually require the user to hold the joystick all the time before they can control, so the user can only use the other wheel in the air. One hand is a troublesome problem for many users, but with the balance car system of the present invention, the user does not need to use hand movements to control, and can directly change the body's center of gravity, so that the body's sitting posture center of gravity sensing unit can automatically detect measure the direction of the center of gravity, In addition to automatically advancing and guiding the direction of the vehicle, it can become an easily controlled auxiliary device, and it can also become a personalized somatosensory mobile vehicle and auxiliary device that rotates in place. The rotation radius is used to rotate, effectively reducing the rotation space.

In addition, the balance car system of the present invention also has the function of lifting up and down, so that the user can easily and flexibly control, and can obtain a better riding experience, effectively achieving the function of an auxiliary device. On the other hand, the balance car system of the present invention changes the direction with the center of gravity of the moving mechanism, which can adjust the contact force between the wheels and the ground in a timely manner, and can keep the balance and drive at the designated speed and direction.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the scope of the patent application of the present invention; all other equivalent changes or modifications accomplished without departing from the spirit disclosed in the present invention shall be included in the following within the scope of the patent application.

100: Balance car system

110: battery unit

120: The first power conversion unit

122: The second power conversion unit

130: Right motor control unit

1302: Right Motor Unit

1304: Right wheel (right front and right rear)

132: Left motor control unit

1322: Left Motor Unit

1324: Revolver (left front and left rear)

140: Human body sitting posture center of gravity sensing unit

142: Gyroscope Sensing Unit

150: Direction indicating control unit

152: Direction indicating unit

154:Bluetooth

160: Lifting control unit

162: Lifting mechanism

C: Seat

H: handle

Claims (1)

A balance car system, the balance car system has a frame unit, a battery unit, a first power conversion unit, a second power conversion unit, a left motor unit, a right motor unit, a left motor control unit, a The right motor control unit, a body sitting posture center of gravity sensing unit, a handle, a lift control unit, a direction indicating unit, a direction indicating control unit, a bluetooth, a left wheel and a right wheel, at least including: a frame unit a battery unit that provides the power required by the balance car system, the battery unit is arranged on the frame unit, the battery unit provides a first voltage and a first current; a first power conversion unit is electrically connected to the battery unit , the first power conversion unit receives the first voltage and the first current, and converts the boost current into a second current and a second voltage; a second power conversion unit is electrically connected to the first power conversion unit; a left a motor unit, which provides the rotation power of the left wheel to move forward or backward; a right motor unit, which provides the rotation power of the right wheel to move forward or backward; a left motor control unit, which is electrically connected to the first power conversion unit; The left motor unit, the second current and the second voltage of the first power conversion unit provide power for the left motor control unit and the left motor unit, the left motor A control unit is used to control the left motor unit to perform a forward rotation or a backward rotation; a right motor control unit is electrically connected to the first power conversion unit and the right motor unit, and the right motor control unit is used to control the The right motor unit performs the forward rotation or the backward rotation; a handle is arranged on the frame unit, the handle is electrically connected to the body sitting posture center of gravity sensing unit, and the handle provides the user to control the seat up or the For descending, when the user pulls the handle up, the body sitting posture center of gravity sensing unit detects that the handle is up, and sends a height control signal to the lift control unit, which controls the lift mechanism to go up , drive the seat upward, when the user pulls the handle downward, the body sitting posture center of gravity sensing unit detects that the handle is downward, and sends the height control signal to the lift control unit, the lift control unit Controlling the lifting mechanism downward, driving the seat downward; a lifting control unit, a lifting mechanism, and a seat, the lifting mechanism is pivotally connected to the seat, the lifting control unit is electrically connected to the second power conversion unit, The one direction indicating unit, the body sitting posture center of gravity sensing unit and the seat, the second power conversion unit provides the power required for the lift control unit and the lift mechanism, the lift control unit controls the lift mechanism to ascend or descend, so that The user sitting on the seat ascends or descends; a direction indicating unit, which is turned on or off for direction indication or warning, wherein the direction indicating unit is composed of a photodiode element, a light bulb, and a Selected from the organic light-emitting element group; a direction indicating control unit, electrically connected to the second power conversion unit, the direction indicating unit and the body sitting posture center of gravity sensing unit, the second power supply The replacement unit provides the direction indication control unit and a power supply required by the direction indication unit, wherein when the body sitting posture center of gravity sensing unit detects the change of the direction of the center of gravity, the direction control signal is transmitted to the direction indication control unit, and the direction indication The control unit generates a direction indicating control signal, the direction indicating control signal controls the direction indicating unit to be turned on or off; a bluetooth is electrically connected to the direction indicating control unit, wherein the bluetooth provides a wireless communication; and a human body sitting posture The center of gravity sensing unit has a gyroscope sensing unit for detecting the direction of the center of gravity of the user, and is electrically connected to the second power conversion unit for detecting one of the user's The direction of the center of gravity, wherein the body sitting posture center of gravity sensing unit is used to detect the direction of the center of gravity of a user, the user has a center of gravity, and when the user sits on a seat, the center of gravity is located on the seat, The direction of the center of gravity is directly downward, and the seat is pivotally connected to a lifting unit. When the user changes the direction of the center of gravity, the center of gravity sensing unit detects the direction of the center of gravity, and generates a direction control signal correspondingly. The human body sitting posture center of gravity sensing unit transmits a direction control signal to the left motor control unit and the right motor control unit. When the human body sitting posture center of gravity sensing unit detects that the direction of the user's center of gravity changes, the direction control signal The direction indication control unit is transmitted to the direction indication control unit, and the direction indication control unit generates a direction indication control signal, and the direction indication control signal controls a direction indication unit to open or close; wherein, when the user changes the direction of the center of gravity, the direction indication control signal The body sitting posture center of gravity sensing unit detects the direction of the center of gravity, and generates a direction control signal to the left motor control unit and the right motor control unit, the left motor control unit according to The direction control signal generates a left motor control signal, the left motor unit receives the left motor control signal and generates forward or backward rotation, the left motor unit drives the left wheel forward or backward, and the right motor control unit controls according to the direction The signal generates a right motor control signal, the right motor unit receives the right motor control signal and generates the forward rotation or the backward rotation, the right motor unit drives the right wheel forward or backward to control the traveling direction of the balance car system .

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