WO2017101737A1 - 一种新型便携式电动车及其驱动的控制方法 - Google Patents

一种新型便携式电动车及其驱动的控制方法 Download PDF

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Publication number
WO2017101737A1
WO2017101737A1 PCT/CN2016/109195 CN2016109195W WO2017101737A1 WO 2017101737 A1 WO2017101737 A1 WO 2017101737A1 CN 2016109195 W CN2016109195 W CN 2016109195W WO 2017101737 A1 WO2017101737 A1 WO 2017101737A1
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WO
WIPO (PCT)
Prior art keywords
rotating
folding
electric vehicle
rotatably mounted
rod
Prior art date
Application number
PCT/CN2016/109195
Other languages
English (en)
French (fr)
Inventor
姜立军
吴章鸿
潘绍辉
Original Assignee
华南理工大学
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Filing date
Publication date
Application filed by 华南理工大学 filed Critical 华南理工大学
Priority to US15/772,637 priority Critical patent/US10926826B2/en
Publication of WO2017101737A1 publication Critical patent/WO2017101737A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K15/00—Collapsible or foldable cycles
    • B62K15/006—Collapsible or foldable cycles the frame being foldable
    • B62K15/008—Collapsible or foldable cycles the frame being foldable foldable about 2 or more axes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
    • B62J25/04—Floor-type foot rests
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K3/00—Bicycles
    • B62K3/002—Bicycles without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/01—Motorcycles with four or more wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/10—Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/16—Single-axle vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/24—Personal mobility vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/18—Acceleration lateral
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/20—Acceleration angular
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/24—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the invention relates to the technical field of electric vehicles, and in particular to a novel portable electric vehicle.
  • the existing miniature electric vehicles are mainly for the electricization and folding transformation of the existing models, and the structural and functional design cannot break the old vehicle shape, so the functions and structures of the vehicles in the folding and folding are There is a lot of room for breakthrough.
  • the electric four-wheeled skateboard without handle has high requirements for handling technology and driving road surface, and is required for non-driving
  • the driver is carrying and cannot tow, and is not suitable for driving on crowded and discontinuous urban bicycle lanes.
  • Two-wheeled scooters with handles are more suitable for public transportation in urban areas than other types, but in the case of waiting for traffic lights, emergency stops or long periods of time, at least one foot is required to indirectly affect Use experience.
  • the longitudinal standing position does not conform to the habit of the natural standing posture of the human body, and standing for a long time will cause fatigue of the leg muscles.
  • the object of the present invention is to provide a novel portable electric vehicle with a good driving experience, small size, light weight and convenient folding.
  • Another object of the present invention is to provide a control method for a novel portable electric vehicle drive, by which the electric vehicle can be simply manipulated.
  • a novel portable electric vehicle includes two front and rear folding mechanisms, left and right folding mechanisms, and an operating mechanism; two front and rear folding mechanisms for supporting the driver are respectively disposed on the left and right sides of the lower side of the electric vehicle, and the rear of the front and rear folding mechanism
  • the front end of each of the front and rear folding mechanisms is provided with a rotating wheel mechanism; the two ends of the left and right folding mechanisms that drive the two front and rear folding mechanisms to close together are respectively connected with the two front and rear folding mechanisms;
  • the operating mechanism for driving is mounted on the left and right folding mechanism.
  • the turning wheel mechanism realizes the turning function.
  • the front and rear folding mechanisms and the left and right folding mechanisms are folded, and the volume of the electric vehicle can be greatly reduced.
  • the front and rear folding mechanism includes a front footrest, a joint block, and a rear pedal which are sequentially connected;
  • the front foot is mounted on the front end of the joint block through the rotating shaft, and the fixed force arm of the torsion spring fitted on the rotating shaft is fixed on the joint block, and the torsion power arm of the torsion spring for driving the front foot is fixed in front Step on the foot;
  • the rear foot is mounted on the rear end of the joint block through the rotating shaft, and the fixed force arm of the torsion spring fitted on the rotating shaft is fixed on the joint block, and the torsion power arm of the torsion spring that drives the pedal to rotate is fixed at Step on the back foot.
  • the left and right folding mechanism comprises a base, an upper left folding arm and a lower left folding arm which are arranged in parallel with each other, an upper right folding arm and a right lower folding arm, a right swinging arm and a right swinging bar which are arranged in parallel with each other;
  • One end of the upper left folding arm is rotatably mounted on the right end of the left joint block, and the other end is rotatably mounted on the left side of the base;
  • the left lower folding arm is rotatably mounted on the left side of the base, and the left lower folding arm
  • One end is rotatably mounted on the right end of the left joint block, and the other end is connected to the left swing rod;
  • the left swing rod that drives the lower left folding arm to rotate is rotatably mounted on the left side of the lower end of the operating mechanism;
  • One end of the upper right folding arm is rotatably mounted on the left end of the right joint block, and the other end is rotatably mounted on the right side of the base;
  • the right lower folding arm is rotatably mounted on the right side of the base, folded in the lower right
  • One end of the arm is rotatably mounted on the left end of the right joint block, and the other end is connected to the right swing rod;
  • the right swing rod that drives the lower right folding arm to rotate is rotatably mounted on the right side of the lower end of the operating mechanism.
  • the operating mechanism includes a top and bottom push-pull assembly, a front and rear rotating assembly, and a left and right rotating assembly; a top and bottom push-pull assembly that drives the left and right folding mechanisms to be folded or unfolded is mounted on the base, and the front and rear rotating components are rotatably mounted on the upper and lower push-pull assemblies. At the upper end, the left and right rotating components are rotatably mounted to the upper end of the front and rear rotating assembly.
  • the left and right rotating components can realize the left and right steering of the electric vehicle
  • the front and rear rotating components can realize the acceleration and deceleration of the electric vehicle
  • the upper and lower push-pull components can drive the left and right folding mechanisms to fold.
  • the left and right rotating assembly includes a rotating seat and a handle, the rotating seat is rotatably mounted on an upper end of the front and rear rotating assembly, and the handle is disposed on the rotating base in a left and right direction. With this configuration, the handle is rotated left and right by the rotating base on the front and rear rotating components.
  • the front and rear rotating assembly comprises a fixing seat fixed to an upper end of the upper and lower push-pull assembly, and a rotating rod, wherein the rotating rod is rotatably mounted on the fixing seat.
  • the rotating lever can be rotated back and forth to signal the electric vehicle to accelerate or decelerate.
  • the upper and lower push-pull assembly comprises a rod sleeve, a push-pull rod inserted into the rod sleeve, and a pull-up block fixed at a lower end of the push-pull rod; the rod sleeve is mounted on the base, and the push-pull rod moving up and down relative to the rod sleeve passes through the base.
  • the left swing lever is rotatably mounted on the left side of the pull block, and the right swing lever is rotatably mounted on the right side of the pull block.
  • the lower end of the rotating rod is provided with a first hole penetrating in the left-right direction, and the bottom of the rotating rod is provided with two longitudinal holes communicating with the first hole, the two longitudinal holes respectively located at the front end of the bottom of the rotating rod and a first rubber strip is disposed in the two longitudinal holes of the rear end;
  • the fixing seat is provided with an opening slot adapted to the lower end of the rotating rod, and a first shaft is arranged in the left and right direction in the opening groove, and the rotating rod is fitted on the first shaft through the first hole.
  • the first rubber strip allows the front and rear rotating components to be automatically reset.
  • the lower end of the rotating base is provided with a second hole in the up and down direction, and the right side of the rotating base is provided with two transverse holes communicating with the second hole, and the two lateral holes are respectively located on the right side of the rotating seat a front end and a rear end, wherein the two transverse holes are provided with a second rubber strip;
  • the upper end of the front and rear rotating assembly is provided with a second shaft, and the rotating seat is rotatably mounted on the second shaft through the second hole.
  • the second rubber strip allows the left and right rotating components to be automatically reset.
  • a novel portable electric vehicle driving control method the first acceleration sensor is mounted on the handle of the electric vehicle operating mechanism, and the chicken circuit board is mounted on the front and rear folding mechanism of the electric vehicle; when performing the following operations:
  • the acceleration sensor of the first three-dimensional coordinates measured attitude angle vector O in a rollover angle vector R 1,
  • the acceleration sensor of the first three-dimensional coordinates measured attitude angle vector O in a rollover angle vector R 1,
  • the acceleration sensor of the first three-dimensional coordinates measured attitude angle vector O in a rollover angle vector R 1,
  • the acceleration sensor of the first three-dimensional coordinates measured attitude angle vector O in a rollover angle vector R 1,
  • the acceleration sensor of the first three-dimensional coordinates measured attitude angle vector O in a rollover angle vector R 1
  • the acceleration sensor of the first three-dimensional coordinates measured attitude angle vector O in a rollover angle vector R 1
  • the acceleration sensor of the first three-dimensional coordinates measured attitude angle vector O in a rollover angle vector R 1
  • the acceleration sensor of the first three-dimensional coordinates measured attitude angle vector O in a rollover angle vector R 1
  • the acceleration sensor of the first three-dimensional coordinates measured attitude angle vector O in a rollover angle vector R 1
  • the acceleration sensor of the first three-dimensional coordinates
  • the chicken circuit board calculates a relative attitude angle vector ⁇ O of the attitude angle vector O 1 and the attitude angle vector O 2 , wherein
  • the chicken board calculates a value n based on the value of ⁇ P.
  • the chicken board derives a turning factor k based on the values of ⁇ Y and ⁇ R.
  • the chicken board outputs the left speed n L and the right speed of the driving wheel mechanism of the electric vehicle according to n and k. n R , where
  • the relative attitude angle vector ⁇ O is used to determine the driver's intention of operation, thereby outputting the rotational speed to the drive wheel mechanism of the electric vehicle to drive the electric vehicle to travel.
  • the present invention has the following advantages:
  • the invention has the advantages of small volume, light weight, convenient folding and good driving experience after folding.
  • the left and right folding mechanism and the front and rear folding mechanism of the invention can realize the folding function, and the folding is simple and quick.
  • the first spring and the second spring of the present invention can provide a shock absorbing effect.
  • the driving wheel of the driving wheel mechanism and the rotating wheel of the rotating wheel mechanism can all contact the ground.
  • the mobile phone on the mobile phone holder of the present invention can be combined with the posture sensor on the front and rear folding mechanism to judge the driver's operation intention.
  • the torsion spring provided by the present invention can realize automatic folding of the front and rear folding mechanism when the driver does not stand in the front and rear folding mechanism.
  • the third spring provided by the present invention can help the driver to fold the left and right folding mechanisms.
  • the cushion provided by the present invention can cushion the collision between the front pedal, the rear pedal and the joint block.
  • the invention has high intelligence, light and flexible, and simple operation.
  • FIG. 1 is a perspective view showing an expanded state view of the present invention.
  • Figure 2 is a perspective view of a folded state diagram of the present invention.
  • Figure 3 is a schematic view showing the structure of the front and rear folding mechanism.
  • FIG. 4 is a schematic structural view of a joint block.
  • Fig. 5 is a schematic structural view of the left and right folding mechanism.
  • Figure 6 is an exploded view of the left and right rotating assembly and the front and rear rotating assembly.
  • Figure 7 is an exploded view of the junction of the left and right rotating assembly and the front and rear rotating assembly.
  • Figure 8 is an exploded view of the front and rear rotating assembly.
  • Figure 9 is a schematic view showing the assembly of the upper and lower push-pull assemblies and the left and right folding mechanisms.
  • Figure 10 is a schematic view of the structure of the pipe clamp.
  • Figure 11 is a schematic view showing the structure of the rotating wheel mechanism.
  • Figure 12 is a schematic view of the structure of the drive wheel mechanism.
  • Fig. 13 is a view showing a state in which the electric vehicle of the present invention travels in a laterally inclined state.
  • FIG. 14 is a flow chart of a data fusion method for complementary filtering of the present invention.
  • 1 is a front and rear folding mechanism
  • 2 is a left and right folding mechanism
  • 3 is a left and right rotating component
  • 4 is a front and rear rotating component
  • 5 is a vertical push and pull assembly
  • 6 is a rotating wheel mechanism
  • 7 is a driving wheel mechanism
  • 1-1 is a front foot Step
  • 1-2 is the joint block
  • 1-3 is the rear pedal
  • 1-4 is the torsion spring
  • 1-5 is the rotating shaft
  • 1-2-1 is the fixed ear
  • 2-1 is the base
  • 2-2 is Left upper folding arm
  • 2-3 is left lower folding arm
  • 2-4 is upper right folding arm
  • 2-5 is right lower folding arm
  • 2-6 is right swinging rod
  • 2-7 is left swinging pole
  • 2-8 is the first
  • 2-9 is the second spring
  • 2-10 slider 2-1-1 is the front clamp block
  • 2-1-2 is the rear clamp block
  • 3-1 is the handlebar
  • 3-2 is the rotary seat.
  • 3-3 is a mobile phone holder, 3-4 is a fixed cover, 3-5 is a second rubber strip, 3-2-1 is a transverse hole, 3-2-2 is a second hole, and 4-1 is a fixed seat.
  • 4-2 is the rotating rod
  • 4-3 is the first axis
  • 4-4 is the first rubber strip
  • 4-2-1 is the second shaft
  • 4-2-2 is the first hole
  • 4-2-3 is Longitudinal hole
  • 5-1 is the rod sleeve
  • 5-2 is the push rod
  • 5-3 is the third spring
  • 5-4 is the pull block
  • 5-5 is the pipe clamp
  • 5-1-1 is the ring block
  • 6-1 is the third axis
  • 7-1 is the right guard
  • 7-2 is the left guard
  • 7-3 is the motor
  • 7-4 is the cover
  • 7-5 Belt drive assembly, the drive wheels 7-6, 7-7 of the motor cover, shade 7-8.
  • the front, rear, left, and right directions described below are consistent with the front, rear, left, and right up and down directions of the body when the driver is driving.
  • the direction in which the rotating wheel mechanism is located is the front, and the direction in which the driving wheel mechanism is located is rear.
  • the overall scheme of a novel portable electric vehicle includes: two front and rear folding mechanisms, left and right folding mechanisms, and an operating mechanism; two front and rear folding mechanisms for supporting the driver are respectively set in the electric vehicle.
  • the rear end of the front and rear folding mechanism is provided with a driving wheel mechanism, and the front end of the front and rear folding mechanism is provided with a rotating wheel mechanism; the two ends of the left and right folding mechanism that drive the two front and rear folding mechanisms to close each other
  • the two front and rear folding mechanisms are respectively connected; the operating mechanism for controlling the electric vehicle to travel is mounted on the left and right folding mechanisms.
  • the front and rear folding mechanism includes a front footrest, a joint block, and a rear pedal which are sequentially connected.
  • the front foot is surrounded by an upper cover, a right cover, a lower cover, and a left cover to form a length with an inner cavity
  • the square body, the left and right sides of the front end of the joint block are provided with protruding fixing ears, the left cover plate and the right cover plate are arranged on the fixed ear, a rotating shaft is arranged on the fixed ear along the left and right direction, and the front foot is installed through the rotating shaft
  • a torsion spring is set on the rotating shaft, and a fixed force arm of the torsion spring is fixed at the front end of the joint block, and a torsion power arm of the torsion spring for driving the front foot is fixed on the upper cover.
  • the rear pedal is also surrounded by a top cover, a right cover, a lower cover and a left cover to form a rectangular parallelepiped having an inner cavity.
  • the left and right sides of the rear end of the joint block are provided with protruding fixing ears, a left cover and a right
  • the cover plate is disposed on the fixed ear
  • a rotating shaft is disposed on the fixed ear along the left and right direction
  • the rear foot is mounted on the rear end of the joint block through the rotating shaft
  • a torsion spring is set on the rotating shaft
  • the fixed force arm of the torsion spring Fixed at the rear end of the joint block, and the torsion power arm of the torsion spring that drives the pedal to rotate is fixed on the upper cover.
  • a groove is provided on the right end surface of the joint block located on the left side of the electric vehicle, and the left end of the left and right folding mechanism is rotatably mounted on the groove.
  • the joint blocks located on the right side of the electric vehicle can be symmetrically set.
  • the front and rear ends of the joint block are provided with cushions to cushion the collision between the front foot and the rear foot and the joint block.
  • the torsion power arm of the torsion spring drives the front foot and the rear foot to rotate around the joint block, thereby realizing the folding process.
  • the left and right folding mechanism includes a base, an upper left folding arm and a lower left folding arm which are disposed in parallel with each other, and an upper right folding arm and a right lower folding arm, a left swinging lever, and a right swinging lever which are disposed in parallel with each other.
  • the upper end of the upper left folding arm is rotatably mounted in the groove on the right end surface of the left joint block, and the lower end is rotatably mounted on the left side of the base; in the middle of the lower left folding arm The portion is rotatably mounted on the left side of the base, and the upper end of the lower left folding arm is rotatably mounted in a groove on the right end surface of the left joint block, and the lower end is in contact with the left swing rod.
  • the left swinging lever for driving the lower left folding arm is rotatably mounted on the left side of the lower end of the operating mechanism, the left swinging rod is generally cylindrical in shape, and a slider is set on the left swinging pole and can slide along the left swinging pole;
  • the compressed springs are all placed on the left swing rod, one spring is located between the upper end of the slider and the left swing rod, called the first spring; the other spring is located between the slider and the lower end of the left swing rod, called the first Two springs.
  • the lower end of the lower left folding arm is fixed to the slider.
  • the upper end of the upper right folding arm is rotatably mounted in a groove on the left end surface of the right joint block, and the lower end is rotatably mounted on the right side of the base; a portion of the lower right folding arm is rotatably mounted on the base On the right side, the upper end of the lower right folding arm is rotatably mounted in a groove on the left end surface of the right joint block, and the lower end is in contact with the right swing rod.
  • the right swing lever that drives the lower right folding arm to rotate is rotatably mounted under the operating mechanism
  • the right swing rod On the right side of the end, the right swing rod is generally cylindrical, a slider is placed on the right swing rod and can slide along the right swing rod; two compressed springs are set on the right swing rod, and a spring is located on the slider. Between the upper end of the right swing rod, called the first spring; the other spring is located between the slider and the lower end of the right swing rod, called the second spring. The lower end of the lower right folding arm is fixed to the slider.
  • the base comprises a front clamping block and a rear clamping block, and the left and right sides of the front clamping block and the rear clamping block are provided with inclined plates, and the left upper folding arm, the lower left folding arm, the upper right folding arm and the lower right folding arm are all rotatably mounted before and after Between two inclined plates.
  • the driver tilts the handle laterally to overcome the centrifugal force to balance the motion, and when in this state, the first spring and the second spring force the left swing lever It is not on the same level as the slider on the right swing rod, so that the drive wheel of the drive wheel mechanism and the rotating wheel of the rotating wheel mechanism can contact the ground.
  • the first spring and the second spring also help the driver return to a non-tilted state when driving to a flat road.
  • the first spring and the second spring can also serve as a shock absorber.
  • the operating mechanism comprises a top and bottom push-pull assembly, a front and rear rotating assembly, a left and right rotating assembly; a top and bottom push-pull assembly for driving the left and right folding mechanism to be folded or unfolded is mounted on the base, and the front and rear rotating assembly is rotatably mounted on the upper end of the upper and lower push-pull assembly.
  • the left and right rotating assembly is rotatably mounted to the upper end of the front and rear rotating assembly.
  • the left and right rotating assembly includes a rotating seat and a handle, the rotating seat is rotatably mounted to the upper end of the front and rear rotating assembly, and the handle is disposed on the rotating seat along the left and right direction.
  • the handle is provided with a mobile phone holder for fixing the mobile phone.
  • the upper portion of the rotating base is provided with an opening slot penetrating in the front-rear direction, the opening slot extending through the front end and the rear end of the upper portion of the rotating seat; the upper portion of the rotating seat is further provided with a through hole penetrating in the left-right direction, the through hole penetrating through the upper portion of the rotating seat The left end and the right end, the handle passes through the through hole in the left and right direction, and is disposed on the rotating seat.
  • the lower end of the rotating base is provided with a second hole in the up and down direction, and the right side of the rotating base is provided with two transverse holes communicating with the second hole, and the two lateral holes are respectively located at the front end of the right side of the rotating seat And a rear end, wherein the two transverse holes are provided with a second rubber strip.
  • the upper end of the front and rear rotating assembly is provided with a second shaft, and the rotating seat is rotatably mounted on the second shaft through the second hole, and after the rotating seat is sleeved on the second shaft, a fixing cover is placed from the open slot Passing through the second shaft of the second hole to fix the rotating seat on the second shaft.
  • the front and rear rotating assembly includes a fixed seat and a rotating rod fixed to the upper end of the upper and lower push-pull assembly, and the rotating rod is rotatably mounted on the fixed seat.
  • the lower end of the rotating rod is provided with a first hole penetrating in the left-right direction, and the bottom of the rotating rod is provided with two longitudinal holes communicating with the first hole, the two longitudinal holes respectively located at the front end and the rear end of the bottom of the rotating rod
  • the first longitudinal rubber strip is provided with a first rubber strip.
  • the upper portion of the fixing base is also provided with an opening groove penetrating in the front-rear direction, the opening groove extending through the front end and the rear end of the upper portion of the fixing seat; the upper portion of the fixing seat further has a through hole penetrating in the left-right direction, the through hole penetrating through the upper portion of the fixing seat The left and right ends.
  • the opening groove on the fixing seat is adapted to the lower end of the rotating rod, and the first shaft is disposed in the left and right direction in the opening groove, and the first shaft can be fixed on the through hole in the left and right direction on the fixing seat, the The rotating rod is fitted on the first shaft through the first hole.
  • the position where the first shaft contacts the first rubber strip also has a corresponding recess.
  • the upper and lower push-pull assembly includes a rod sleeve, a push-pull rod inserted into the rod sleeve, a pull-up block fixed at the lower end of the push-pull rod, and a pipe-removing clip.
  • the lower end of the sleeve is fixed on the base, and the push rod that moves up and down with respect to the sleeve passes through the base, the left swing rod is rotatably mounted on the left side of the pull block, and the right swing rod is rotatably mounted on the base Pull the right side of the block.
  • the inner wall of the sleeve is provided with an inwardly projecting ring retaining wall, and a compressed spring is placed on the push-pull rod between the pull block and the ring stop wall.
  • the spring is referred to as a third spring.
  • the pipe clamp is placed at the upper end of the pole sleeve, and the pipe clamp can be clamped to clamp the push rod.
  • the push-pull rod is pushed down, the pull block moves downward, thereby driving the rotation of the left swing lever and the right swing lever, thereby causing the left and right folding mechanisms to fold.
  • the dismantling clip is loosened, and the driver can easily fold laterally because the third spring has a downward thrust on the pull block.
  • a shaft is disposed between the upper and lower covers of the front pedal, and the shaft is referred to as a third shaft, and the rotating wheel mechanism is rotatable relative to the front foot through the third shaft.
  • the drive wheel mechanism includes a left guard plate and a right guard plate fixed to the rear foot, a motor, a cover, a belt drive assembly, a drive wheel, a motor cover, and a lamp cover.
  • the left guard is fixed to the left cover of the rear pedal Upper
  • the right guard plate is fixed on the right cover of the rear pedal
  • the motor is fixed on the left guard plate
  • the outer cover of the left guard plate is provided with a protective cover and a motor cover
  • the outer cover is provided with a motor cover .
  • the cover is fixed on the rotor of the motor, and the rotation of the motor rotor drives the rotation of the cover.
  • the cover drives the drive wheel to rotate through the belt drive assembly.
  • the drive wheel is rotatably mounted between the left guard and the right guard.
  • the driving wheel of the belt drive assembly is fixed on the cover, and the cover surrounds the driving wheel, which can protect the utility.
  • the driving speeds of the left and right sides are not the same, the purpose of turning left and right can be achieved.
  • the mobile phone When driving the electric car, the mobile phone should be installed on the mobile phone holder.
  • the mobile phone should have an accelerometer built in.
  • the PC circuit board and attitude sensor should be installed on the front and rear folding mechanism. When the handle is turned left and right, or the handle is tilted horizontally.
  • the PC circuit board processes the data measured by the acceleration sensor and the attitude sensor, after processing the data, the chicken circuit board outputs a signal to the motor to control the rotation speed of the motor, thereby achieving the purpose of operating the electric vehicle.
  • the drive wheel can also be used as a front wheel.
  • the first acceleration sensor is mounted on the handle of the electric vehicle operating mechanism, and the mobile phone with the built-in acceleration sensor can be placed on the mobile phone holder, and the acceleration sensor in the mobile phone is called the first Acceleration sensor; then the PC board is mounted on the front and rear folding mechanism of the electric vehicle and can be placed on the lower cover.
  • an acceleration sensor measures the three-dimensional coordinates of the position angle of the vector. 1 O roll angle vector R 1,
  • PC board recording three-dimensional coordinate pitch attitude angle vector vector R 2 O 2.
  • the PC circuit board calculates the relative attitude angle vector ⁇ O of the attitude angle vector O 1 and the attitude angle vector O 2 , and the relative attitude angle vector ⁇ O is the driver's operation intention, wherein
  • the chicken board calculates a value n based on the value of ⁇ P.
  • the chicken board derives a turning factor k based on the values of ⁇ Y and ⁇ R.
  • the chicken board outputs the left speed n L and the right speed of the driving wheel mechanism of the electric vehicle according to n and k. n R , where
  • the yaw angle vector Yaw is abbreviated as Y
  • the pitch angle vector Pitch is abbreviated as P
  • the roll angle vector Roll is abbreviated as R.
  • An attitude sensor integrated with the gyro sensor, the second acceleration sensor, and the geomagnetic sensor is mounted on the front and rear folding mechanism;
  • the second acceleration sensor is susceptible to external acceleration
  • the geomagnetic sensor is susceptible to interference by the magnetic field
  • the gyro sensing has drifting phenomenon and accumulated error.
  • the present invention uses a complementary filtering data fusion method to process the data of each sensor. As shown in FIG. 14, the attitude angle vector data obtained from the gyro sensor is processed by the high-pass filter to eliminate data drift; the low-pass filter is used to eliminate the high-frequency signal calculated by the second acceleration sensor and the geomagnetic sensor, and finally two The group data is used for compensation calculation.
  • the gyro sensor is configured to measure an attitude angle vector O t (n), and the second acceleration sensor and the geomagnetic sensor jointly measure an attitude angle vector O jd (n), wherein
  • O t (n) O t (n-1)+ ⁇ tR t
  • O jd (n) ⁇ O jd (n-1)+(1- ⁇ )O YP ,
  • ⁇ t is the sampling period
  • O t (n-1) is the last measured attitude angle vector O t (n)
  • R t is the angular velocity vector measured by the gyro sensor.
  • O jd (n-1) is the attitude angle vector measured by the last time the second acceleration sensor and the geomagnetic sensor.
  • O YP second acceleration sensor and geomagnetic sensor jointly measured attitude angle vector. (1- ⁇ )O YP is the low-frequency signal of the data.
  • O(n) is the fused attitude angle vector, which is treated as O 2 and is used to calculate ⁇ O.
  • the present invention In order to avoid the electric vehicle encountering obstacles, the sudden deceleration causes the driver to vigorously operate the handlebar under the driving of inertia or when the handlebar is stationary, due to the erroneous operation caused by the data jitter of the attitude sensor at the zero point, the present invention
  • the thresholds P L and P H are set . When the value of ⁇ P is greater than the lower limit threshold P L , the rotational speed is output. When the value of ⁇ P is greater than the upper limit threshold P H , the rotational speed is no longer increased.
  • the present invention In addition to the safety range setting in the speed direction, in order to avoid a safety accident caused by the driver making a large operation in an instant, the present invention also sets another threshold for the overall motion state of the electric vehicle:
  • Acc x, Acc y, Acc z represent acceleration values of the three orthogonal directions
  • a given threshold value Acc Acc 0, 0 if Acc is greater than the threshold, the erroneous operation has occurred can be determined
  • current speed is Set to the safe speed threshold and locked, ie the motor speed can no longer increase.
  • Acc is less than the threshold and the current input speed is less than the locked speed, the lock will be released.

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Abstract

一种新型便携式电动车，包括两个前后折叠机构（1）、左右折叠机构（2）、操作机构；用于支撑驾驶者的两个前后折叠机构（1）分别设置在电动车下边的左右两侧，所述前后折叠机构（1）的后端均设有驱动轮机构（7），所述前后折叠机构（1）的前端均设有转动轮机构（6）；带动两个前后折叠机构（1）相互靠拢的左右折叠机构（2）的两端分别与两个前后折叠机构（1）相接；控制电动车行驶的操作机构安装在左右折叠机构（2）上。一种新型便携式电动车驱动的控制方法，利用Arduino电路板控制电动车的行驶，具有良好的驾驶体验，且体积小，重量轻，折叠方便，操作简单，属于电动车技术领域。

Description

一种新型便携式电动车及其驱动的控制方法 技术领域
本发明涉及电动车技术领域，尤其涉及一种新型便携式电动车。
背景技术
由于便携式微型电动车大都具有电池驱动、占地面积小、轻巧灵活等特点，近年来其在市面上涌现出了多种不同的类型。部分电动车不具备折叠机构，如两轮自平衡车、自平衡独轮车等，虽然自平衡能力高，但不便于拖行、收纳与放置。另外由于其需要额外利用回旋装置维持车身平衡，所以重量大、学习时间长。而电动四轮滑板，虽然结构简单且有四轮维持车身平衡，但缺少固定的把手，驾驶安全性低。用户在步行时，由于以上的车型过重或无把手，均不便于拖行，对拥挤且路况复杂的交通环境适应性低。
对于可折叠的电动车，如折叠电动滑板车、折叠电动自行车等，虽然可以进行折叠，但存在折叠后体积依旧很大、折叠后不能直立放置、不能拖行、折叠操作步骤复杂等问题。另外由于其是并列双轮的结构，在骑行时，无原地滞留的平衡能力，需要驾驶者在地面上踏出一只脚辅助人车平衡，间接地影响到了使用体验。
另外，由于电动滑板车、电动四轮滑板的条形结构，无论驾驶者如何放置双脚，都必须遵守双脚一前一后的方式，并与前进方向平行。纵向的站立驾驶姿势不符合人体自然站立的习惯，长时间的站立将导致腿部肌肉疲劳。
由此可见，现有微型电动车主要是对已有车型的电动化、折叠化改造，结构和功能设计无法突破旧型车形态的禁锢，所以这类车在围绕折叠中和折叠后的功能、结构上有很大的突破空间。
结合城市交通驳接问题，总结现有的电动车产品可发现：
(1)无论是独轮的还是双轮的自平衡电动车，由于需要自身平衡装置的实时辅助，其耗电高、重量大、价格高和学习时间长，安全性低。
(2)并列双轮的自平衡车，如自平衡扭扭车等，在转向时底盘仍处于水平状态，不能为驾驶者提供向心倾斜，使其保持身体平衡。
(3)无把手的电动四轮滑板对操控技术、行驶路面要求高，非驾驶时需要 驾驶者抬着走而不能拖行，不适宜在拥挤和不连续的城市自行车道驾驶。
(4)折叠电动自行车和电动摩托车行驶速度较高、里程长，但重量大。
(5)带把手的两轮滑板车相对其他类型而言更适合城市中公共交通驳接，但在等红绿灯、急停或较长时间不用等情况下，需要至少一只脚下车，间接地影响使用体验。其纵向的站立位置不符合人体自然站立姿势的习惯，长时间的站立将导致腿部肌肉疲劳。
发明内容
针对现有技术中存在的技术问题，本发明的目的是：提供一种新型便携式电动车，具有良好的驾驶体验，且体积小，重量轻，折叠方便。
本发明的另一目的是提供一种新型便携式电动车驱动的控制方法，使用该方法可以简单的操纵该电动车。
为了达到上述目的，本发明采用如下技术方案：
一种新型便携式电动车，包括两个前后折叠机构、左右折叠机构、操作机构；用于支撑驾驶者的两个前后折叠机构分别设置在电动车下边的左右两侧，所述前后折叠机构的后端均设有驱动轮机构，所述前后折叠机构的前端均设有转动轮机构；带动两个前后折叠机构相互靠拢的左右折叠机构的两端分别与两个前后折叠机构相接；控制电动车行驶的操作机构安装在左右折叠机构上。采用这种结构后，驾驶者踩在前后折叠机构上，操纵操作机构即可驾驶该电动车，当位于电动车左右两侧的驱动轮机构的驱动轮的转速不一样时，则迫使左右两侧的转动轮机构实现转弯功能。不驾驶该电动车时，对前后折叠机构、左右折叠机构进行折叠，可大大缩小该电动车的体积。
所述的前后折叠机构包括依次相接的前脚踏、关节块、后脚踏；
所述的前脚踏通过转动轴安装在关节块的前端，套装在转动轴上的扭力弹簧的固定力臂固定在关节块上，驱动前脚踏转动的扭力弹簧的扭动力臂固定在前脚踏上；
所述的后脚踏通过转动轴安装在关节块的后端，套装在转动轴上的扭力弹簧的固定力臂固定在关节块上，驱动后脚踏转动的扭力弹簧的扭动力臂固定在后脚踏上。采用这种结构后，可以对前后折叠机构进行折叠，当驾驶者没有站在前后折叠机构上时，由于扭力弹簧的作用，前后折叠机构可以自动进行折叠。
所述的左右折叠机构包括底座、相互平行设置的左上折叠臂和左下折叠臂、相互平行设置的右上折叠臂和右下折叠臂、左摆杆、右摆杆；
所述左上折叠臂的一端转动式地安装在左侧关节块的右端，另一端转动式地安装在底座的左侧；所述左下折叠臂转动式地安装在底座的左侧，左下折叠臂的一端转动式地安装在左侧关节块的右端，另一端与左摆杆相接；驱动左下折叠臂转动的左摆杆转动式地安装在操作机构下端的左侧；
所述右上折叠臂的一端转动式地安装在右侧关节块的左端，另一端转动式地安装在底座的右侧；所述右下折叠臂转动式地安装在底座的右侧，右下折叠臂的一端转动式地安装在右侧关节块的左端，另一端与右摆杆相接；驱动右下折叠臂转动的右摆杆转动式地安装在操作机构下端的右侧。采用这种结构后，操纵操作机构可迫使左摆杆和右摆杆转动，从而可实现左右折叠机构的折叠功能。
所述的操作机构包括上下推拉组件、前后转动组件、左右转动组件；驱动左右折叠机构折叠或展开的上下推拉组件安装在底座上，所述的前后转动组件前后转动式地安装在上下推拉组件的上端，所述的左右转动组件左右转动式地安装在前后转动组件的上端。采用这种结构后，左右转动组件可实现电动车的左右转向，前后转动组件可实现电动车的加速和减速，上下推拉组件可驱动左右折叠机构进行折叠。
所述的左右转动组件包括转动座和手把，所述的转动座转动式地安装在前后转动组件的上端，所述的手把沿着左右方向设置在转动座上。采用这种结构后，手把通过转动座在前后转动组件上实现左右转动。
所述的前后转动组件包括固定座和转动杆，所述的固定座固定在上下推拉组件的上端，所述的转动杆转动式地安装在固定座上。采用这种结构后，转动杆可前后转动，从而对电动车发出加速或者减速的信号。
所述的上下推拉组件包括杆套、插入杆套内的推拉杆、固定在推拉杆下端的收拉块；所述的杆套安装在底座上，相对杆套上下移动的推拉杆穿过底座，所述的左摆杆转动式地安装在收拉块的左侧，所述的右摆杆转动式地安装在收拉块的右侧。采用这种结构后，推拉杆的上下运动，可带动左右折叠机构进行折叠或者展开。
所述转动杆的下端设有沿着左右方向贯穿的第一孔，转动杆的底部设有两个与第一孔相通的纵向孔，所述的两个纵向孔分别位于转动杆底部的前端和后端，所述的两个纵向孔内均设有第一橡皮条；
所述的固定座设有与转动杆下端相适应的开口槽，在开口槽内沿着左右方向设有第一轴，所述的转动杆通过第一孔套装在第一轴上。采用这种结构后，第一橡皮条可以让前后转动组件自动复位。
所述转动座的下端设有沿着上下方向的第二孔，所述转动座的右侧设有两个与第二孔相通的横向孔，所述的两个横向孔分别位于转动座右侧的前端和后端，所述的两个横向孔内均设有第二橡皮条；
所述前后转动组件的上端设有第二轴，所述的转动座通过第二孔转动式安装在第二轴上。采用这种结构后，第二橡皮条可以让左右转动组件自动复位。
一种新型便携式电动车驱动的控制方法，将第一加速度传感器安装在电动车操作机构的手把上，将Arduino电路板安装在电动车的前后折叠机构上；进行以下操作时：
转动操作机构上的左右转动组件，第一加速度传感器测得三维坐标姿态角矢量O1中的偏航角矢量Y1，Arduino电路板记录三维坐标姿态角矢量O2中的偏航角矢量Y2；
转动操作机构上的前后转动组件，第一加速度传感器测得三维坐标姿态角矢量O1中的俯仰角矢量P1，Arduino电路板记录三维坐标姿态角矢量O2中的俯仰角矢量P2；
左右转动组件上的手把横向倾斜时，第一加速度传感器测得三维坐标姿态角矢量O1中的翻滚角矢量R1，Arduino电路板记录三维坐标姿态角矢量O2中的俯仰角矢量R2；
Arduino电路板计算姿态角矢量O1与姿态角矢量O2的相对姿态角矢量ΔO，其中，
ΔO＝O1-O2，ΔO＝(ΔP,ΔY,ΔR)，O1＝(P1,Y1,R1)，O2＝(P2,Y2,R2)，ΔP＝P1-P2，ΔY＝Y1-Y2，ΔR＝R1-R2；
Arduino电路板依据ΔP的值计算出一数值n，Arduino电路板依据ΔY和ΔR的值得出一个转弯系数k，Arduino电路板依据n和k输出电动车的驱动轮机构 的左转速nL和右转速nR，其中，
nL＝n(1+k)，nR＝n(1-k)。
采用这种方法后，相对姿态角矢量ΔO用于判断驾驶者的操作意图，从而给电动车的驱动轮机构输出转速，驱动电动车行驶。
总的说来，本发明具有如下优点：
1.本发明折叠后的体积小，重量轻，折叠方便，具有良好的驾驶体验。
2.本发明的左右折叠机构、前后折叠机构可实现折叠功能，且折叠简单快捷。
3.本发明的第一弹簧和第二弹簧可起到避震作用，电动车处于横向倾斜状态时，驱动轮机构的驱动轮和转动轮机构的转动轮均可以接触地面。
4.本发明手机架上手机，可和前后折叠机构上的姿态传感器相结合，从而判断驾驶者的操作意图。
5.本发明设置的扭力弹簧，在驾驶者不站在前后折叠机构时，可实现前后折叠机构的自动折叠。
6.本发明设置的第三弹簧可帮助驾驶者对左右折叠机构进行折叠。
7.本发明设置的缓冲垫，可以缓冲前脚踏、后脚踏与关节块之间的碰撞。
8.本发明智能化程度高、轻巧灵活、操作简单。
附图说明
图1是本发明展开状态图的立体图。
图2是本发明折叠状态图的立体图。
图3是前后折叠机构的结构示意图。
图4是关节块的结构示意图。
图5是左右折叠机构的结构示意图。
图6是左右转动组件和前后转动组件处的爆炸图。
图7是左右转动组件和前后转动组件相接处的爆炸图。
图8是前后转动组件的爆炸图。
图9是上下推拉组件与左右折叠机构装配的结构示意图。
图10是拆管夹处的结构示意图。
图11是转动轮机构处的结构示意图。
图12是驱动轮机构处的结构示意图。
图13是本发明的电动车在横向倾斜状态行驶时的状态图。
图14是本发明互补滤波的数据融合方法的流程图。
其中，1为前后折叠机构，2为左右折叠机构，3为左右转动组件，4为前后转动组件，5为上下推拉组件，6为转动轮机构，7为驱动轮机构，1-1为前脚踏，1-2为关节块，1-3为后脚踏，1-4为扭力弹簧，1-5为转动轴，1-2-1为固定耳，2-1为底座，2-2为左上折叠臂，2-3为左下折叠臂，2-4为右上折叠臂，2-5为右下折叠臂，2-6为右摆杆，2-7为左摆杆，2-8为第一弹簧，2-9为第二弹簧，2-10滑块，2-1-1为前夹块，2-1-2为后夹块，3-1为手把，3-2为转动座，3-3为手机架，3-4为固定盖，3-5为第二橡皮条，3-2-1为横向孔，3-2-2为第二孔，4-1为固定座，4-2为转动杆，4-3为第一轴，4-4为第一橡皮条，4-2-1为第二轴，4-2-2为第一孔，4-2-3为纵向孔，5-1为杆套，5-2为推拉杆，5-3为第三弹簧，5-4为收拉块，5-5拆管夹，5-1-1为环挡壁，6-1为第三轴，7-1为右护板，7-2为左护板，7-3为电机，7-4为护盖，7-5为皮带传动组件，7-6为驱动轮，7-7为电机罩，7-8为灯罩。
具体实施方式
下面将结合附图和具体实施方式来对本发明做进一步详细的说明。
下文所说的前后左右上下方向与驾驶者驾驶时身体的前后左右上下方向一致，转动轮机构所在的方位为前，驱动轮机构所在的方位为后。
结合图1和图2所示，一种新型便携式电动车的总体方案为：包括两个前后折叠机构、左右折叠机构、操作机构；用于支撑驾驶者的两个前后折叠机构分别设置在电动车下边的左右两侧，所述前后折叠机构的后端均设有驱动轮机构，所述前后折叠机构的前端均设有转动轮机构；带动两个前后折叠机构相互靠拢的左右折叠机构的两端分别与两个前后折叠机构相接；控制电动车行驶的操作机构安装在左右折叠机构上。
下面对各个机构做详细的说明：
前后折叠机构的说明如下：
结合图3和图4所示，前后折叠机构包括依次相接的前脚踏、关节块、后脚踏。前脚踏由上盖板、右盖板、下盖板、左盖板围成一个具有内空腔的类长 方体，关节块前端的左右两侧设有突出的固定耳，左盖板和右盖板设置在固定耳上，一转动轴沿着左右方向设置在固定耳上，前脚踏通过转动轴安装在关节块的前端，一扭力弹簧套装在转动轴上，扭力弹簧的固定力臂固定在关节块的前端，驱动前脚踏转动的扭力弹簧的扭动力臂固定在上盖板上。
后脚踏也由上盖板、右盖板、下盖板、左盖板围成一个具有内空腔的类长方体，关节块后端的左右两侧设有突出的固定耳，左盖板和右盖板设置在固定耳上，一转动轴沿着左右方向设置在固定耳上，后脚踏通过转动轴安装在关节块的后端，一扭力弹簧套装在转动轴上，扭力弹簧的固定力臂固定在关节块的后端，驱动后脚踏转动的扭力弹簧的扭动力臂固定在上盖板上。
位于电动车左边的关节块的右端面上设有凹槽，左右折叠机构的左端转动式地安装在该凹槽上。位于电动车右边的关节块对称设置即可。关节块的前端和后端设有缓冲垫，可以缓冲前脚踏、后脚踏与关节块之间的碰撞。
当驾驶者不站在前脚踏和后脚踏上时，扭力弹簧的扭动力臂驱动前脚踏和后脚踏绕关节块转动，从而实现折叠过程。
左右折叠机构的说明如下：
结合图5和图9所示，左右折叠机构包括底座、相互平行设置的左上折叠臂和左下折叠臂、相互平行设置的右上折叠臂和右下折叠臂、左摆杆、右摆杆。
左右折叠机构在折叠状态时，左上折叠臂的上端转动式地安装在左侧关节块右端面上的凹槽内，下端转动式地安装在底座的左侧；所述左下折叠臂的中间某一部位转动式地安装在底座的左侧，左下折叠臂的上端转动式地安装在左侧关节块右端面上的凹槽内，下端与左摆杆相接。驱动左下折叠臂转动的左摆杆转动式地安装在操作机构下端的左侧，左摆杆整体大致呈圆柱状，一滑块套装在左摆杆上，并可沿着左摆杆滑动；两个压缩的弹簧均套装在左摆杆上，一弹簧位于滑块和左摆杆的上端之间，称为第一弹簧；另一弹簧位于滑块和左摆杆的下端之间，称为第二弹簧。左下折叠臂的下端固定在该滑块上。
右上折叠臂的上端转动式地安装在右侧关节块左端面上的凹槽内，下端转动式地安装在底座的右侧；所述右下折叠臂的中间某一部位转动式地安装在底座的右侧，右下折叠臂的上端转动式地安装在右侧关节块左端面上的凹槽内，下端与右摆杆相接。驱动右下折叠臂转动的右摆杆转动式地安装在操作机构下 端的右侧，右摆杆整体大致呈圆柱状，一滑块套装在右摆杆上，并可沿着右摆杆滑动；两个压缩的弹簧均套装在右摆杆上，一弹簧位于滑块和右摆杆的上端之间，称为第一弹簧；另一弹簧位于滑块和右摆杆的下端之间，称为第二弹簧。右下折叠臂的下端固定在该滑块上。
底座包括前夹块和后夹块，前夹块和后夹块的左右两侧均设有倾斜板，左上折叠臂、左下折叠臂、右上折叠臂、右下折叠臂都转动式地安装在前后两个倾斜板之间。
结合图13所示，在倾斜路面上驾驶，或者在转弯时，驾驶者横向倾斜手把以克服离心力，使运动平衡，当处于这种状态时，由于第一弹簧和第二弹簧迫使左摆杆和右摆杆上的滑块不在同一水平面上，使得驱动轮机构的驱动轮和转动轮机构的转动轮均可以接触地面。行驶到平坦路面时，第一弹簧和第二弹簧也可以帮助驾驶者恢复至无倾斜的状态。第一弹簧和第二弹簧还可起到避震作用。
操作机构的说明如下：
操作机构包括上下推拉组件、前后转动组件、左右转动组件；驱动左右折叠机构折叠或展开的上下推拉组件安装在底座上，所述的前后转动组件前后转动式地安装在上下推拉组件的上端，所述的左右转动组件左右转动式地安装在前后转动组件的上端。
结合图6和图7所示，左右转动组件包括转动座和手把，所述的转动座左右转动式地安装在前后转动组件的上端，所述的手把沿着左右方向设置在转动座上。所述的手柄上设有用于固定手机的手机架。转动座的上部设有前后方向贯穿的开口槽，该开口槽贯穿转动座上部的前端和后端；转动座的上部还设有沿着左右方向贯穿的通孔，该通孔贯穿转动座上部的左端和右端，手把穿过左右方向贯穿的通孔，从而设置在转动座上。转动座的下端设有沿着上下方向的第二孔，所述转动座的右侧设有两个与第二孔相通的横向孔，所述的两个横向孔分别位于转动座右侧的前端和后端，所述的两个横向孔内均设有第二橡皮条。前后转动组件的上端设有第二轴，所述的转动座通过第二孔转动式安装在第二轴上，将转动座套在第二轴上后，将一固定盖从开口槽内放在穿过第二孔的第二轴上，从而将转动座固定在第二轴上。第二轴与第二橡皮条接触的位置开有 相应的凹口，当驾驶者左右转动手把时，第二橡皮条处于挤压扭曲的状态，驾驶者松开手后，第二橡皮条由于要恢复原来状态，促使手把复位。
结合图6和图8所示，前后转动组件包括固定座和转动杆，所述的固定座固定在上下推拉组件的上端，所述的转动杆前后转动式地安装在固定座上。转动杆的下端设有沿着左右方向贯穿的第一孔，转动杆的底部设有两个与第一孔相通的纵向孔，所述的两个纵向孔分别位于转动杆底部的前端和后端，所述的两个纵向孔内均设有第一橡皮条。固定座的上部同样设有前后方向贯穿的开口槽，该开口槽贯穿固定座上部的前端和后端；固定座的上部还设有沿着左右方向贯穿的通孔，该通孔贯穿固定座上部的左端和右端。固定座上的开口槽与转动杆的下端相适应，在开口槽内沿着左右方向设有第一轴，第一轴可以固定在固定座上沿着左右方向贯穿的通孔上，所述的转动杆通过第一孔套装在第一轴上。第一轴与第一橡皮条接触的位置同样开有相应的凹口，当驾驶者前后转动手把时，第一橡皮条处于挤压扭曲的状态，驾驶者松开手后，第一橡皮条由于要恢复原来状态，促使前后转动组件复位。
结合图9和图10所示，上下推拉组件包括杆套、插入杆套内的推拉杆、固定在推拉杆下端的收拉块、拆管夹。杆套的下端固定在底座上，相对杆套上下移动的推拉杆穿过底座，所述的左摆杆转动式地安装在收拉块的左侧，所述的右摆杆转动式地安装在收拉块的右侧。杆套的内壁设有向内突出的环挡壁，一压缩的弹簧套装在推拉杆上，位于收拉块和环挡壁之间，该弹簧称为第三弹簧。拆管夹设置在杆套的上端，拆管夹可以环抱式的夹住推拉杆。向下推动推拉杆时，收拉块往下运动，从而带动左摆杆和右摆杆的转动，进而促使左右折叠机构折叠。当驾驶者需要横向折叠时，松开拆管夹，由于第三弹簧对收拉块具有向下的推力，驾驶者可以较轻松的进行横向折叠。
转动轮机构的说明如下：
结合图11所示，有一轴设置在前脚踏的上盖板和下盖板之间，该轴称为第三轴，转动轮机构通过第三轴可以相对前脚踏转动。
驱动轮机构的说明如下：
结合图12所示，驱动轮机构包括固定在后脚踏上的左护板和右护板、电机、护盖、皮带传动组件、驱动轮、电机罩、灯罩。左护板固定在后脚踏的左盖板 上，右护板固定在后脚踏的右盖板上，电机固定在左护板上，左护板的外部设有起到保护作用的灯罩和电机罩，右护板的外部设有电机罩。所述的护盖固定在电机的转子上，电机转子的转动带动护盖的转动，护盖则通过皮带传动组件带动驱动轮转动，驱动轮转动式地安装在左护板和右护板之间，皮带传动组件的主动轮固定在护盖上，护盖包围着主动轮，能起到保护作用。当左右两边的驱动轮速度不一样时，即可实现左右转向的目的。
驾驶该电动车时，应在手机架上安装手机，手机应内置有加速度传感器，在前后折叠机构上应安装有Arduino电路板和姿态传感器，左右前后转动手把时，或者手把处于横向倾斜状态时，Arduino电路板处理加速度传感器和姿态传感器测得的数据，处理完数据后，Arduino电路板对电机输出信号，控制电机的转速，从而达到操纵电动车的目的。使用时，驱动轮也可以当作前轮使用。
下面对一种新型便携式电动车驱动的控制方法进行说明：
一种新型便携式电动车驱动的控制方法，将第一加速度传感器安装在电动车操作机构的手把上，可将内置有加速度传感器的手机放置在手机架上，手机内的加速度传感器称为第一加速度传感器；然后将Arduino电路板安装在电动车的前后折叠机构上，可放置在下盖板上。当进行以下操作时：
转动操作机构上的左右转动组件，即左右转动手把时，第一加速度传感器测得三维坐标姿态角矢量O1中的偏航角矢量Y1，Arduino电路板记录三维坐标姿态角矢量O2中的偏航角矢量Y2；
转动操作机构上的前后转动组件，即前后转动手把时，第一加速度传感器测得三维坐标姿态角矢量O1中的俯仰角矢量P1，Arduino电路板记录三维坐标姿态角矢量O2中的俯仰角矢量P2；
左右转动组件上的手把横向倾斜时，即手把与地面倾斜时，比如在倾斜路面上驾驶，或者在转弯时，驾驶者需要横向倾斜手把以克服离心力，使运动平衡；此时，第一加速度传感器测得三维坐标姿态角矢量O1中的翻滚角矢量R1，Arduino电路板记录三维坐标姿态角矢量O2中的俯仰角矢量R2。
然后Arduino电路板计算姿态角矢量O1与姿态角矢量O2的相对姿态角矢量ΔO，相对姿态角矢量ΔO是驾驶者的操作意图，其中，
ΔO＝O1-O2，ΔO＝(ΔP,ΔY,ΔR)，O1＝(P1,Y1,R1)，O2＝(P2,Y2,R2)，ΔP＝P1-P2， ΔY＝Y1-Y2，ΔR＝R1-R2；
Arduino电路板依据ΔP的值计算出一数值n，Arduino电路板依据ΔY和ΔR的值得出一个转弯系数k，Arduino电路板依据n和k输出电动车的驱动轮机构的左转速nL和右转速nR，其中，
nL＝n(1+k)，nR＝n(1-k)。
为方便起见，上述的偏航角矢量Yaw简写为Y，俯仰角矢量Pitch简写为P，翻滚角矢量Roll简写为R。
所述的前后折叠机构上安装有集成陀螺传感器、第二加速度传感器、地磁传感器的姿态传感器；
第二加速度传感器容易受到外部加速度的影响，地磁传感器容易受到磁场的干扰，陀螺传感存在漂移现象和积累误差等问题，本发明采用了互补滤波的数据融合方法对各个传感器的数据进行处理。如图14所示，利用高通滤波器将从陀螺传感器得到的姿态角矢量数据进行处理，消除数据漂移；用低通滤波器消除第二加速度传感器和地磁传感器计算得到的高频信号，最后将两组数据进行补偿计算。
所述的陀螺传感器用于测得一姿态角矢量Ot(n)，所述的第二加速度传感器和地磁传感器共同测得的一姿态角矢量Ojd(n)，其中，
Ot(n)＝Ot(n-1)+ΔtRt，Ojd(n)＝αOjd(n-1)+(1-α)OYP，
Δt为采样周期，Ot(n-1)为上一次测得的姿态角矢量Ot(n)，Rt为陀螺传感器测得的角速度矢量。α为滤波器系数，根据Shane Colton提出的方法，当α＝0.98时可以取得更好的效果，Ojd(n-1)为上一次第二加速度传感器和地磁传感器共同测得的姿态角矢量，OYP第二加速度传感器和地磁传感器共同测得的姿态角矢量。(1-α)OYP是数据的低频信号，计划去除αOjd(n-1)中的高频信号Ojd(n-1)，则用陀螺传感器测得的姿态角矢量Ot(n)替代Ojd(n-1)，同时引进Ot(n)的高频信号，从而得到：
O(n)＝αOt(n)+(1-α)OYP，
O(n)是融合后的姿态角矢量，将其视为O2，用于计算ΔO。
为了避免电动车遇到阻碍，突然减速使驾驶者在惯性的驱动下大力地操作手把或当手把静置不动时，由于姿态传感器的在零点处数据抖动导致的误操作， 本发明设定了阀值PL和PH，当ΔP的值大于下限阀值PL时，才输出转速，当ΔP的值大于上限阀值PH时，转速不再增大。
除了速度方向上的安全范围设定，为了避免驾驶者在瞬时间做出过大幅度的操作导致的安全意外，本发明还针对电动车的整体运动状态设定了另一个阀值：
Figure PCTCN2016109195-appb-000001
其中，Accx、Accy、Accz分别表示3个正交方向的加速度值，给定Acc一个阀值Acc0，当大于阀值Acc0时，就可以判断发生了误操作，当前转速将被设定为当安全转速阀值且被锁定，即此时电机转速不能再增大。当Acc小于阀值，且当前输入转速小于锁定转速时，锁定将被解除。
上述实施例为本发明较佳的实施方式，但本发明的实施方式并不受上述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。

Claims (10)

  1. 一种新型便携式电动车，其特征在于：包括两个前后折叠机构、左右折叠机构、操作机构；用于支撑驾驶者的两个前后折叠机构分别设置在电动车下边的左右两侧，所述前后折叠机构的后端均设有驱动轮机构，所述前后折叠机构的前端均设有转动轮机构；带动两个前后折叠机构相互靠拢的左右折叠机构的两端分别与两个前后折叠机构相接；控制电动车行驶的操作机构安装在左右折叠机构上。
  2. 按照权利要求1所述的新型便携式电动车，其特征在于：所述的前后折叠机构包括依次相接的前脚踏、关节块、后脚踏；
    所述的前脚踏通过转动轴安装在关节块的前端，套装在转动轴上的扭力弹簧的固定力臂固定在关节块上，驱动前脚踏转动的扭力弹簧的扭动力臂固定在前脚踏上；
    所述的后脚踏通过转动轴安装在关节块的后端，套装在转动轴上的扭力弹簧的固定力臂固定在关节块上，驱动后脚踏转动的扭力弹簧的扭动力臂固定在后脚踏上。
  3. 按照权利要求2所述的新型便携式电动车，其特征在于：所述的左右折叠机构包括底座、相互平行设置的左上折叠臂和左下折叠臂、相互平行设置的右上折叠臂和右下折叠臂、左摆杆、右摆杆；
    所述左上折叠臂的一端转动式地安装在左侧关节块的右端，另一端转动式地安装在底座的左侧；所述左下折叠臂转动式地安装在底座的左侧，左下折叠臂的一端转动式地安装在左侧关节块的右端，另一端与左摆杆相接；驱动左下折叠臂转动的左摆杆转动式地安装在操作机构下端的左侧；
    所述右上折叠臂的一端转动式地安装在右侧关节块的左端，另一端转动式地安装在底座的右侧；所述右下折叠臂转动式地安装在底座的右侧，右下折叠臂的一端转动式地安装在右侧关节块的左端，另一端与右摆杆相接；驱动右下折叠臂转动的右摆杆转动式地安装在操作机构下端的右侧。
  4. 按照权利要求3所述的新型便携式电动车，其特征在于：所述的操作机构包括上下推拉组件、前后转动组件、左右转动组件；驱动左右折叠机构折叠或展开的上下推拉组件安装在底座上，所述的前后转动组件前后转动式地安装在上下推拉组件的上端，所述的左右转动组件左右转动式地安装在前后转动组件的 上端。
  5. 按照权利要求4所述的新型便携式电动车，其特征在于：所述的左右转动组件包括转动座和手把，所述的转动座转动式地安装在前后转动组件的上端，所述的手把沿着左右方向设置在转动座上。
  6. 按照权利要求4所述的新型便携式电动车，其特征在于：所述的前后转动组件包括固定座和转动杆，所述的固定座固定在上下推拉组件的上端，所述的转动杆转动式地安装在固定座上。
  7. 按照权利要求4所述的新型便携式电动车，其特征在于：所述的上下推拉组件包括杆套、插入杆套内的推拉杆、固定在推拉杆下端的收拉块；所述的杆套安装在底座上，相对杆套上下移动的推拉杆穿过底座，所述的左摆杆转动式地安装在收拉块的左侧，所述的右摆杆转动式地安装在收拉块的右侧。
  8. 按照权利要求6所述的新型便携式电动车，其特征在于：所述转动杆的下端设有沿着左右方向贯穿的第一孔，转动杆的底部设有两个与第一孔相通的纵向孔，所述的两个纵向孔分别位于转动杆底部的前端和后端，所述的两个纵向孔内均设有第一橡皮条；
    所述的固定座设有与转动杆下端相适应的开口槽，在开口槽内沿着左右方向设有第一轴，所述的转动杆通过第一孔套装在第一轴上。
  9. 按照权利要求5所述的新型便携式电动车，其特征在于：所述转动座的下端设有沿着上下方向的第二孔，所述转动座的右侧设有两个与第二孔相通的横向孔，所述的两个横向孔分别位于转动座右侧的前端和后端，所述的两个横向孔内均设有第二橡皮条；
    所述前后转动组件的上端设有第二轴，所述的转动座通过第二孔转动式安装在第二轴上。
  10. 一种权利要求1的电动车驱动的控制方法，其特征在于：将第一加速度传感器安装在电动车操作机构的手把上，将Arduino电路板安装在电动车的前后折叠机构上；进行以下操作时：
    转动操作机构上的左右转动组件，第一加速度传感器测得三维坐标姿态角矢量O1中的偏航角矢量Y1，Arduino电路板记录三维坐标姿态角矢量O2中的偏航角矢量Y2；
    转动操作机构上的前后转动组件，第一加速度传感器测得三维坐标姿态角矢量O1中的俯仰角矢量P1，Arduino电路板记录三维坐标姿态角矢量O2中的俯仰角矢量P2；
    左右转动组件上的手把横向倾斜时，第一加速度传感器测得三维坐标姿态角矢量O1中的翻滚角矢量R1，Arduino电路板记录三维坐标姿态角矢量O2中的俯仰角矢量R2；
    Arduino电路板计算姿态角矢量O1与姿态角矢量O2的相对姿态角矢量ΔO，其中，
    ΔO＝O1-O2，ΔO＝(ΔP,ΔY,ΔR)，O1＝(P1,Y1,R1)，O2＝(P2,Y2,R2)，ΔP＝P1-P2，ΔY＝Y1-Y2，ΔR＝R1-R2；
    Arduino电路板依据ΔP的值计算出一数值n，Arduino电路板依据ΔY和ΔR的值得出一个转弯系数k，Arduino电路板依据n和k输出电动车的驱动轮机构的左转速nL和右转速nR，其中，
    nL＝n(1+k)，nR＝n(1-k)。
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