WO2017107838A1 - 一种安全的两轮自平衡车 - Google Patents

一种安全的两轮自平衡车 Download PDF

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Publication number
WO2017107838A1
WO2017107838A1 PCT/CN2016/110044 CN2016110044W WO2017107838A1 WO 2017107838 A1 WO2017107838 A1 WO 2017107838A1 CN 2016110044 W CN2016110044 W CN 2016110044W WO 2017107838 A1 WO2017107838 A1 WO 2017107838A1
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WO
WIPO (PCT)
Prior art keywords
wheel
protection wheel
chassis structure
protection
control circuit
Prior art date
Application number
PCT/CN2016/110044
Other languages
English (en)
French (fr)
Inventor
鲍炜
Original Assignee
鲍炜
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 鲍炜 filed Critical 鲍炜
Priority to US16/064,870 priority Critical patent/US10988199B2/en
Priority to EP16877649.0A priority patent/EP3395659B1/en
Publication of WO2017107838A1 publication Critical patent/WO2017107838A1/zh
Priority to ZA2018/04296A priority patent/ZA201804296B/en

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Classifications

    • 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
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
    • B62H1/00—Supports or stands forming part of or attached to cycles
    • B62H1/10—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
    • B62H1/12—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride using additional wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D51/00—Motor vehicles characterised by the driver not being seated
    • B62D51/02—Motor vehicles characterised by the driver not being seated the driver standing in the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
    • B62H7/00—Devices for learning to ride cycles, not otherwise provided for, e.g. assisting balance
    • 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
    • B62J1/00—Saddles or other seats for cycles; Arrangement thereof; Component parts
    • 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
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • 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
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/20—Cycle computers as cycle accessories
    • 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
    • B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
    • B62K23/08—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips foot actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
    • B62L3/00—Brake-actuating mechanisms; Arrangements thereof
    • B62L3/04—Brake-actuating mechanisms; Arrangements thereof for control by a foot lever

Definitions

  • the invention relates to an electric vehicle, in particular to a two-wheel self-balancing vehicle with a dynamically controllable floating safety protection wheel.
  • Chinese invention patent application publication No. CN104960607A "a new type of free-body car” discloses a scheme of adding an auxiliary wheel.
  • the auxiliary wheel and the auxiliary wheel are mounted on the front part of the main body of the vehicle, and when the risk of falling over occurs, the auxiliary The wheel flexing arm extends forward to attempt to stabilize the body.
  • the main disadvantages of this scheme are: 1. When the car body falls over, the auxiliary wheel often cannot reach out; 2. When the car body is tilted or uphill or there is an obstacle, the auxiliary wheel flexing arm cannot be extended because it is blocked by the ground; This auxiliary wheel lost its effect when going downhill.
  • OBJECT OF THE INVENTION To design a safe two-wheel self-balancing vehicle with a controllable protection wheel that can float up and down and contact or approach the ground without causing force on the vehicle body during normal vehicle driving, in case of emergency braking or vehicle occurrence.
  • the protection wheel (rack) can be fixed with respect to the frame by human or electric drive, thereby achieving rapid protection.
  • a safe two-wheel self-balancing vehicle including two power wheels, motion sensor, control circuit, chassis structure, direction control input device, power supply, power wheel mounted on both sides of the chassis structure, motion sensor connection control circuit And the chassis structure is relatively fixed, the direction control input device is connected to the control circuit, and the control circuit drives the power wheel.
  • the utility model is characterized in that a protection wheel bracket is arranged at the front part of the chassis structure, or a protection wheel bracket is arranged at the front and the rear.
  • the front end of the protection wheel bracket is provided with a floating protection wheel, the connection manner of the protection wheel bracket and the chassis structure or the structure of the protection wheel bracket itself enables the floating protection wheel to freely move up and down with respect to the chassis structure, and at the same time, the locking device is connected to the chassis. Structure and protection wheel bracket, when it is locked, the position of the floating protection wheel is fixed with the chassis structure when it is released The floating protection wheel can move freely up and down.
  • the safe two-wheel self-balancing vehicle of the invention has the floating protection wheel in the upper and lower free movement state and falls naturally during normal running, so no matter whether it is uphill or down or encounters an obstacle, the balance of the car body is not affected; Abnormal conditions, such as stalling, slipping, power failure, overcurrent, over-tilt of the vehicle body, etc., the upper and lower activities of the floating protection wheel can be prevented by the locking device, that is, the upper and lower positions of the floating protection wheel are fixed relative to the chassis structure Therefore, the steady state of the multi-wheel support is realized, and the danger of overturning is avoided. Since the floating protection wheel always touches the ground under the weight of its own weight, the process of supporting the protection wheel can be very rapid, even in the case of downhill.
  • the solution of the present invention is adopted, and the braking process can be made more rapid and reliable in the case of emergency braking: the wheel frame is protected before locking, and then the center of gravity of the load is moved backward to tilt the vehicle body backward. Due to the support of the protection wheel, the center of gravity does not need to be delayed, so it can quickly enter the deceleration process.
  • the prior art two-wheel self-balancing brake process is: pushing the body (chassis) forwardly, and accelerating the wheel forward so that the load center of gravity (the person's weight center) moves backward relatively, causing the body to lean backward and thus decelerate, which requires a certain time. In particular, there may be loss of control when there is insufficient power and uneven road surface. Therefore, the safe two-wheel self-balancing vehicle of the present invention has the characteristics of flexibility, compactness and high efficiency of the existing two-wheel self-balancing vehicle, and also has the safety and reliability of the three-wheeled or four-wheeled vehicle.
  • the locking of the floating protection wheel can be achieved by the driver manually by a mechanical brake control device which is connected to the locking device by a mechanical mechanism to control the floating protection wheel to be freely movable or fixed relative to the chassis structure.
  • the locking device is connected, for example, by a brake mechanism like a bicycle and a motorcycle.
  • the locking device can be controlled to be locked and released by an electronically controlled actuator, the floating protection wheel position being fixed to the chassis structure when it is locked, and floating when it is released.
  • the guard wheel is free to move up and down, the actuator being connected to and controlled by the control circuit.
  • a cabin for the ride of the driver the cabin being slidably or rotatably mounted on the chassis structure in the front-rear direction between the cabin and the chassis
  • a motor-driven mechanism controls the front and rear rotation or sliding of the cabin to change the front and rear positions of its center of gravity, the motor is driven by the control circuit; and includes a speed control input device and a brake control input device, both of which are connected to the The control circuit.
  • the control circuit can quickly adjust the center of gravity of the cabin and the lock/release state of the floating wheel frame according to the balance state of the vehicle and the driver's control intention, thereby achieving smoother, faster and safer control, and the driver does not need to always participate in the balance control. And therefore more comfortable.
  • the floating protection wheel is connected with a directional servo, and the control circuit controls the direction of the floating protection wheel through the rudder, so that the rolling direction of the floating protection wheel coincides with the actual movement direction. This avoids lateral resistance and wear of the floating guard wheel.
  • Embodiment 1 is a schematic view of a two-wheel self-balancing vehicle of a standing driving according to Embodiment 1 of the present invention.
  • FIG. 2 is a schematic structural view of a locking device according to Embodiment 1 of the present invention.
  • 31 is a protection wheel bracket slide bar; 5 is a locking device; 53 is a first friction plate; 54 is a second friction plate; 8 is an electronically controlled locking device.
  • FIG. 3 is a schematic view of a two-wheel self-balancing vehicle with a cockpit slidable according to Embodiment 2 of the present invention.
  • FIG. 4 is a schematic view showing the release state of the protection wheel bracket locking mechanism in the second embodiment of the present invention.
  • 33 is a protection wheel bracket toothed disc; 51 is a lock motor; 52 is a clip.
  • FIG. 5 is a schematic view showing the locked state of the protection wheel bracket locking mechanism in the second embodiment of the present invention.
  • 33 is a protection wheel bracket toothed disc; 51 is a lock motor; 52 is a clip.
  • FIG. 6 is a schematic view of a two-wheel self-balancing vehicle with front and rear protection wheels that can be rotated before and after the cockpit according to Embodiment 3 of the present invention.
  • FIG. 1 is a schematic diagram of a two-wheel self-balancing vehicle for standing driving according to the embodiment
  • FIG. 2 is a schematic structural view of the locking device in the embodiment.
  • the main body is a typical two-wheel self-balancing vehicle, including two power wheels 2, a motion sensor, a control circuit, a chassis structure 1, a direction control input device, a power source, etc., and the power wheel 2 is mounted on both sides of the chassis structure 1,
  • the motion sensor is connected to the control circuit and is relatively fixed to the chassis structure 1, typically a MEMS sensor, soldered to the PCB, and the PCB is fixed to the chassis structure 1.
  • the direction control input device is connected to the control circuit, and the control circuit drives the power wheel.
  • the operation of the car is determined by the movement of the center of gravity of the driver and the direction control input.
  • a front protection wheel bracket 3 is provided at the front of the vehicle, and the chassis structure 1 is rotatably connected up and down; a protection wheel 4 is mounted at the front portion thereof, and the protection wheel 4 passes through a protection wheel
  • the frame 41 is mounted on the front end of the front protection wheel bracket 3; as part of the protection wheel bracket, the protection wheel bracket slide bar 31 and the protection wheel bracket body are rotatably connected and pass through the locking device 5; the locking device 5 A portion of the tubular portion is rotatably fixed to the upper portion of the chassis structure, and the other portion is two friction plates, wherein the first friction plate 53 is connected to the brake handle through the brake wire, and the other second friction plate 54 is connected to the electronically controlled lock.
  • the actuator 8 is tightly controlled, and the electronically controlled locking device 8 has a control circuit for control.
  • the circular riser in the lower portion of the handlebar 6 can be rotated left and right to control the running direction.
  • the protection wheel bracket slide rod 31 is a metal tube. During normal driving, both friction plates are in a relaxed position, and the protection wheel bracket slide rod 31 can slide freely inside the locking device 5, so that the protection wheel 4 can be opposite to the vehicle.
  • the chassis structure is free to move up and down, and the protection wheel 4 will always contact the ground under the action of its own gravity, and the force on the vehicle body can be neglected, thus not affecting the self-balancing driving operation.
  • the second friction plate 54 can be tightened by the electronically controlled locking device 8 to make the protection wheel bracket slide 31 It is impossible to slide, so that the position of the protection wheel 4 is locked, and the protection wheel and the two power wheels form a triangular support body, which can prevent the vehicle and the driver from tipping over.
  • the driver can also pull the brake lever 7 when judging that there is a risk of falling over, and tighten the first friction plate 53 through the brake wire, and also achieve the function of the lock protection wheel.
  • protection wheel bracket can be locked first when braking, and then the center of gravity is quickly moved back under the support of the protection wheel 4, so that the balance control automatically enters the deceleration process.
  • the prior art self-balancing vehicle must have a process of tilting the vehicle body (chassis structure) forward to advance the power wheel before entering the deceleration process, and thus the brake must be delayed.
  • the guard wheel carrier 41 of the guard wheel 4 employs an eccentric wheel axle that automatically aligns the direction of the running wheel in its running direction.
  • This embodiment is a two-wheel self-balancing vehicle in which the cockpit can slide back and forth.
  • FIG. 3 it is a schematic diagram of a two-wheel self-balancing vehicle that can slide in the cockpit of the present embodiment.
  • a cabin 9 is added above the chassis structure 1, and the cabin 9 is connected to the chassis structure 1 via the cabin rails 11 on the chassis structure 1.
  • the control circuit can control the front and rear positions of the cabin 9 by the screw connected to the cabin drive motor 10, thereby changing the center of gravity of the load.
  • the cockpit has seats 91 and pedals 92 for passengers to ride.
  • the speed input device 93 connects the control signal to the control circuit via the handlebar.
  • the guard wheel bracket is also provided only in front of the vehicle, and the lock device is constituted by the lock motor 51 and the clip 52, and the lock motor 51 is fixed to the chassis structure 1.
  • the forward and reverse rotation of the lock motor 51 determines the locking and release of the guard wheel bracket.
  • the guard wheel bracket toothed disc 33 on the guard wheel bracket is restrained by the force of the clip 52.
  • Figures 4 and 5 show the position of the clip 52 in the released state and the locked state, respectively.
  • two guard wheels 4 are provided to the left and right, and the direction of the guard wheels is controlled by the guard wheel rudder 42.
  • the introduction of the guard wheel steering gear 42 can avoid the swing of the protection wheel 4 during running, reduce energy loss and wheel wear, and increase driving stability.
  • the presence of the brake lever 7 allows the driver to actively control the brakes directly and increase the safety.
  • the control circuit can be connected, and on the one hand, the lock of the protection wheel bracket and the braking of the power wheel can be mechanically performed.
  • the shape of the teeth of the guard wheel bracket toothed disc 33 and the shape of the head of the clip 52 are close to a triangle in order to emphasize the strength of the support protection. In fact, the relevant shape may also be trapezoidal or rectangular, so that the locking in both directions is powerful.
  • the locking device can also be implemented in a variety of ways, such as with reference to various existing power clutch devices.
  • the acceleration control input device and the brake control input device can adopt an accelerator pedal (speed pedal) and a brake pedal structure similar to a car, which is convenient for the direction control operation of the hand.
  • the brake pedal can be mounted on the bottom of the cockpit or can be mounted on the chassis structure. The advantage of being mounted on the chassis structure is that the cockpit can be moved backwards by manpower.
  • the status signals of the speed pedal and the brake pedal are coupled to the control circuit.
  • the operation process is like this: in the parking state, the protection wheel bracket is locked, the center of gravity of the cabin is moved forward between the power wheel and the protection wheel, and the vehicle is at Stable attitude of the four-wheel support; when starting, first maintain the above-mentioned attitude acceleration, after reaching a certain speed, the center of gravity of the cabin moves back until the support force of the protection wheel bracket to the chassis structure is close to zero, at this time, the locking device is released to make the protection wheel enter Free floating state, at the same time start self-balancing control; achieve the acceleration, smooth running and deceleration by changing the position of the center of gravity of the cabin; when parking, first decelerate, then lock the protection wheel bracket, the center of gravity of the cabin moves forward, enters the state of four-wheel support, and stops.
  • sensors are installed at appropriate positions of the protection wheel bracket, or the locking device or the chassis structure, such as a strain gauge, a Hall displacement sensor, and a micro switch device.
  • any kind of sensor and installation method can detect the presence and disappearance of such support force as long as it can detect the support force of the protection wheel bracket to the chassis structure.
  • One of ordinary skill in the art can design a variety of different implementations to achieve the above objectives.
  • the two-wheel self-balancing vehicle with the front and rear sliding of the cockpit of the embodiment has the flexible characteristics of the two-wheel self-balancing vehicle, such as the original head turning, the same stability as the four-wheeled vehicle, and the occupying size on the road surface. Small, especially when the protection wheel carrier can be folded and contracted.
  • FIG. 6 is a schematic diagram of a two-wheel self-balancing vehicle with front and rear protection wheels that can be rotated before and after the cockpit of the present embodiment.
  • a rear protection wheel bracket 301 is introduced, which has the advantages of better preventing the vehicle from tipping over and speeding up the speed increasing process.
  • the disadvantage is that the longitudinal dimension and the vehicle complexity are increased.
  • the cabin 9 of the present embodiment is coupled to the chassis structure 1 via a shaft 901, so that the cabin 9 can be moved back and forth by the cabin shaft 901 to move the center of gravity.
  • a power unit driven by the control circuit is also provided between the chassis structure 1 and the cabin 9 for changing the center of gravity of the cabin 9, which is not shown.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Automatic Cycles, And Cycles In General (AREA)
  • Regulating Braking Force (AREA)

Abstract

一种两轮自平衡车，包括两个动力车轮（2），运动传感器，控制电路，底盘结构（1），方向控制输入装置，电源，所述动力车轮（2）安装于所述底盘结构（1）的两侧，所述运动传感器连接所述控制电路并与所述底盘结构（1）相对固定，所述方向控制输入装置连所述控制电路，所述控制电路驱动所述动力车轮（2），在所述底盘结构（1）的前部或前后部设置有保护轮支架（3），所述保护轮支架（3）的前端安装有浮动保护轮（4），所述保护轮支架（3）与所述底盘结构（1）的连接方式或所述保护轮支架（3）本身的结构使所述浮动保护轮（4）能够相对于所述底盘结构（1）上下自由活动，同时还有锁止装置（5）连接所述底盘结构（1）和保护轮支架（3），当其锁止时所述浮动保护轮（4）位置与所述底盘结构（1）固定，当其释放时所述浮动保护轮（4）上下自由活动。该两轮自平衡车在车辆正常行驶时能上下浮动且接触或接近地面而不对车体发生作用力，在紧急刹车或出现车辆失控危险时，可以人力或电力驱动使保护轮(架)相对于车架固定，从而达到迅速保护的目的。

Description

一种安全的两轮自平衡车 技术领域
本发明涉及一种电动车辆，特别是一种具有动态可控的浮动安全保护轮的两轮自平衡车。
背景技术
采用倒立摆控制原理的两轮自平衡车已经有大量的使用，这种车的最初代表产品是赛格威(Segway)，技术方案由美国专利U.S.Pat.No.6,302,230公开。由于只需两个动力和支撑车轮，这种车辆具有操纵灵活，结构体积小的优点。但因为安全问题，实际上无法成为一种交通工具。从大量的实际使用经验来看，目前两轮自平衡车的失控情况主要是前后倾倒，特别是向前的倾倒，比如翻越障碍时动力不足、高速和上坡行驶时动力不足以维持、突然的系统失控所导致的突然倾倒。还有突破障碍或急停或受到外力时因控制系统本身特性导致大幅度摆动而最终翻倒等。这些情况往往非常危险而且驾驶人完全无法控制。
中国发明专利申请公布号CN104960607A，“一种新型自由体感车”公开了一种增加了辅助轮的方案，辅助轮同辅助轮屈臂安装在车的主体前部，当发生翻倒危险时，辅助轮屈臂向前伸出，从而试图达到稳定车体的目的。这种方案的主要缺点是：1.在车体翻倒的瞬间往往辅助轮来不及伸出；2.车体倾斜或上坡时或有障碍时辅助轮屈臂因被地面阻挡无法伸出；3.下坡时这种辅助轮失去了作用。
还有固定安装辅助轮的方案，但这种方案实际改变了自平衡控制状态，即便在平路上可以行驶，在上下坡或遇障碍时将出现控制问题。
发明内容
发明目的：设计一种安全的两轮自平衡车，它具有可控的保护轮，其在车辆正常行驶时能上下浮动且接触或接近地面而不对车体发生作用力，在紧急刹车或出现车辆失控危险时，可以人力或电力驱动使保护轮(架)相对于车架固定，从而达到迅速保护的目的。
技术方案：一种安全的两轮自平衡车，包括两个动力车轮，运动传感器，控制电路，底盘结构，方向控制输入装置，电源，动力车轮安装于底盘结构的两侧，运动传感器连接控制电路并与底盘结构相对固定，方向控制输入装置连控制电路，控制电路驱动动力车轮，其特征在于，在底盘结构的前部设置有保护轮支架，或者前部和后部都设置有保护轮支架，保护轮支架的前端安装有浮动保护轮，保护轮支架与所述底盘结构的连接方式或保护轮支架本身的结构使浮动保护轮能够相对于底盘结构上下自由活动，同时还有锁止装置连接底盘结构和保护轮支架，当其锁止时浮动保护轮位置与底盘结构固定，当其释放 时浮动保护轮可以上下自由活动。
本发明的安全的两轮自平衡车，在正常行驶中浮动保护轮处于上下自由活动状态而自然下落，因此无论上下坡或遇到障碍，都不会对车体的平衡造成影响；而当出现异常状况，如堵转、打滑、断电、过流、车身过度倾斜等，则可以通过锁止装置使浮动保护轮的上下活动被阻止，即浮动保护轮的上下位置相对于车底盘结构被固定，从而实现了多轮支撑的稳定状态，避免翻倒危险。由于浮动保护轮在自重的作用下会始终接触地面，因此保护轮起到支撑作用的过程可以非常迅速，即便下坡情况也是如此。另外，采用了本发明的方案，在紧急刹车时可以采用如下方法使刹车过程更加快速可靠：锁止前保护轮架，然后向后移动负荷重心使车身后倾。由于保护轮的支撑，重心后移不需要延时，所以可以迅速进入减速过程。而现有技术的两轮自平衡车刹车过程为：推动车身(底盘)前倾，车轮加速前移使负荷重心(人体重心)相对后移，导致车身后倾从而减速，这一过程需要一定时间，特别是动力不足和路面不平时可能出现失控。所以本发明的安全的两轮自平衡车在具备现有两轮自平衡车的灵活、紧凑、高效的特点的同时，还具有三轮或四轮车的安全性和可靠性。
浮动保护轮的锁止可以通过一个机械的刹车控制装置由驾驶者人力实现，它通过机械的机构连接所述锁止装置，从而控制浮动保护轮相对于底盘结构上下自由活动或位置固定。例如通过类似自行车和摩托车的刹车机构连接锁止装置。人力实现的锁止的优点是，在电子系统失灵的情况下可以确保安全。
为了实现快速控制并与车辆整体控制系统协调，所述锁止装置可以由一个电控的执行机构控制锁止和释放，当其锁止时浮动保护轮位置与底盘结构固定，当其释放时浮动保护轮可以上下自由活动，所述执行机构连接到并受控于所述控制电路。
作为进一步的改进，为了提高安全性和操控性，还可以引入一个用于驾驶者乘坐的座舱，所述座舱前后方向可滑动或可转动地安装在所述底盘结构上，在座舱和底盘之间有电机驱动的机构控制所述座舱的前后转动或滑动，从而改变其重心的前后位置，所述电机由所述控制电路驱动；还包括速度控制输入装置和刹车控制输入装置，它们都连到所述控制电路。控制电路根据车辆的平衡状态和驾驶者的操控意图，可以迅速调整座舱重心和浮动轮架的锁止/释放状态，从而实现更平稳和快速、安全的控制，而驾驶者不需要始终参与平衡控制，因此也较舒适。
作为进一步的改进，所述浮动保护轮连接有方向舵机，所述控制电路通过方向舵机控制浮动保护轮的方向，使得浮动保护轮的滚动方向与其实际运动方向相一致。这样可以避免浮动保护轮侧向阻力和磨损。
附图说明
图1为本发明实施例1的站立驾驶的两轮自平衡车的示意图。
图中，1为底盘结构；2为动力轮；3为前部保护轮支架；31为保护轮支架滑杆；4为保护轮；41 为保护轮轮架；5为锁止装置；6为手把；7为刹车手柄。
图2为本发明实施例1中锁止装置的结构示意图。
图中，31为保护轮支架滑杆；5为锁止装置；53为第一摩擦片；54为第二摩擦片；8为电控锁紧执行装置。
图3为本发明实施例2的座舱可滑动的两轮自平衡车示意图。
图中，1为底盘结构；11为座舱滑轨；2为动力轮；3为前部保护轮支架；33为保护轮支架齿盘；4为保护轮；42为保护轮方向舵机；51为锁止电机；52为卡子；9为座舱；91为座椅；92为脚踏；93为速度输入装置；10为座舱驱动电机。
图4为本发明实施例2中保护轮支架锁止机构释放状态示意图。
图中，33为保护轮支架齿盘；51为锁止电机；52为卡子。
图5为本发明实施例2中保护轮支架锁止机构锁止状态示意图。
图中，33为保护轮支架齿盘；51为锁止电机；52为卡子。
图6为本发明实施例3的座舱前后可转动的具有前后保护轮的两轮自平衡车示意图。
图中，9为座舱；901为座舱转轴；3为前部保护轮支架；301为后部保护轮支架。
具体实施方式
以下结合附图和具体实施例对本发明作进一步详细阐述。
实施例1：
本实施例是一种站立驾驶的两轮自平衡车。如图1和图2所示，图1为本实施例的站立驾驶的两轮自平衡车的示意图；图2为本实施例中锁止装置的结构示意图。其主体构成是一个典型的两轮自平衡车，包括两个动力车轮2、运动传感器、控制电路、底盘结构1、方向控制输入装置，电源等，动力车轮2安装于底盘结构1的两侧，运动传感器连接控制电路并与底盘结构1相对固定，一般是MEMS传感器，焊接于PCB，而PCB固定于底盘结构1。方向控制输入装置连控制电路，控制电路驱动动力车轮，车的运行由驾驶者身体重心的移动和方向控制输入决定。与现有技术不同的是，在车的前部设置了前部保护轮支架3，它上下可转动地连接底盘结构1；在其前部安装了保护轮4，保护轮4通过一个保护轮轮架41安装在前部保护轮支架3的前端；作为保护轮支架的一部分，保护轮支架滑杆31与保护轮支架主体之间可转动地连接，并穿过锁止装置5；锁止装置5的一部分管状的，可转动地固定于底盘结构的上部，其另一部分为两片摩擦片，其中第一摩擦片53通过刹车线连到刹车手柄，另一第二摩擦片54连到电控锁紧执行装置8，电控锁紧执行装置8有控制电路进行控制。本实施例中，手把6下部的圆形立管可以左右旋转，用来控制运行方向。保护轮支架滑杆31是一个金属管，正常行驶中，两个摩擦片都处于放松位置，保护轮支架滑杆31可以在锁止装置5内部自由滑动，从而保护轮4可以相对于车 底盘结构上下自由活动，保护轮4将在自身重力的作用下始终接触地面，同时对车体的作用力可以忽略不计，因而不影响自平衡行驶操纵。当控制电路检测到异常状况时，例如车轮堵转、车轮打滑、电池过流、车身过度倾斜等，可以通过电控锁紧执行装置8收紧第二摩擦片54，使保护轮支架滑杆31无法滑动，从而保护轮4的位置被锁止，保护轮与两个动力轮形成一个三角支撑体，可以避免车辆和驾驶人向前翻倒。作为进一步的保护，驾驶人在判断可能出现翻倒危险时也可以拉动刹车手柄7，通过刹车线收紧第一摩擦片53，同样达到锁止保护轮的作用。本实施例的另一个优点是，在刹车时可以先行锁止保护轮支架，然后重心在保护轮4的支撑下迅速完成后移，从而使平衡控制自动进入减速过程。相比于此，现有技术的自平衡车在进入减速过程之前须有一个使车体(底盘结构)前倾，使动力轮加速前移的过程，因而刹车必然有所延缓。作为一种简化而可行的设计，保护轮4的保护轮轮架41采用偏心的轮架轴，使运行中保护轮的方向自动合于其运行方向。
实施例2：
本实施例是一种座舱可前后滑动的两轮自平衡车。如图3所示，为本实施例的座舱可滑动的两轮自平衡车示意图。本实施例中，在底盘结构1的上方增加了一个座舱9，而座舱9是通过底盘结构1上的座舱滑轨11与底盘结构1相连。通过与座舱驱动电机10相连的螺杆，控制电路可以控制座舱9的前后位置，从而改变负载重心。座舱上有座椅91和脚踏92等，方便驾驶者乘坐。速度输入装置93通过手把把控制信号连接到控制电路。本实施例中保护轮支架同样只设在车的前方，而锁止装置由锁止电机51和卡子52构成，锁止电机51固定在底盘结构1。锁止电机51的正反旋转决定了保护轮支架的锁止和释放。在锁止状态，保护轮支架上的保护轮支架齿盘33因卡子52的作用力而被限位。图4和图5分别显示了释放状态和锁止状态下卡子52的位置。为了增加横向稳定性，采用了两个保护轮4左右设置，而保护轮的方向由保护轮方向舵机42控制。保护轮方向舵机42的引入可以避免保护轮4在行驶中的摆动，减少能量损耗和车轮磨损，增加行驶稳定性。刹车手柄7的存在可以让驾驶者能主动直接地控制刹车，增加安全保障，它一方面可以连接控制电路，一方面可以机械地进行保护轮支架的锁止和动力轮的刹车。图中保护轮支架齿盘33的齿的形状和卡子52头部的形状接近三角形，是为了强调支撑保护的力量，实际上有关的形状也可以是梯形或矩形，使两个方向的锁止都有力。锁止装置还可以采用多种方式实现，例如参照现有的各种动力离合装置。
作为一种优化，加速控制输入装置和刹车控制输入装置可以采用类似于汽车的油门踏板(速度踏板)及刹车踏板结构，便于手的方向控制操作。刹车踏板可以安装在所述座舱底部，也可以安装在所述底盘结构上，安装在底盘结构上的优点是可以借助于人力推动座舱后移。所述速度踏板和刹车踏板的状态信号连接所述控制电路。
运行过程是这样：停车状态下，保护轮支架锁止，座舱重心前移到动力轮和保护轮之间，车辆处于 四轮支撑的稳定姿态；启动时，先保持上述姿态加速，达到一定速度后，座舱重心后移，直到保护轮支架对底盘结构的支撑力接近于零，此时释放锁止装置使保护轮进入自由浮动状态，同时启动自平衡控制；通过改变座舱重心位置，实现加速、平稳运行和减速；停车时，首先减速，然后锁止保护轮支架，座舱重心前移，进入四轮支撑状态，停车。
作为一种改进，为了配合监测上述保护轮支架对底盘结构的支撑力，在保护轮支架、或锁止装置或底盘结构的适当位置安装传感器，如应变片、霍尔位移传感器、微动开关装置，实际上任何一种传感器和安装方式，只要能检测到保护轮支架对底盘结构的支撑力，至少能够检测到这种支撑力的出现和消失即可。现有技术条件下普通技术人员可以设计出多种不同的实现方式达到上述目的。
本实施例的座舱可前后滑动的两轮自平衡车既具备了两轮自平衡车的灵活的特点，如可以原地调头，又与四轮车有同样的稳定性，并且在路面占位尺寸小，尤其是当保护轮架可以折叠收缩时。
实施例3：
本实施例是座舱前后可转动的具有前后保护轮的两轮自平衡车。如图6为本实施例的座舱前后可转动的具有前后保护轮的两轮自平衡车示意图。本实施例中引入了一个后部保护轮支架301，其优点是可以更好地防止车辆向后翻倒，同时加快提速过程，缺点是增加了纵向尺度和整车复杂度。本实施例的座舱9通过轴901与底盘结构1连接，使座舱9可以通过座舱转轴901前后转动来移动重心。在底盘结构1和座舱9之间同样设置有由控制电路驱动的动力装置，用以改变座舱9的重心，图中没有画出。
以上实施例只是对于本发明的部分功能进行描述，但实施例和附图并不是用来限定本发明的。在不脱离本发明创造之精神和范围内所做的任何等效变化或润饰，同样属于本发明之保护范围。因此本发明的保护范围应当以本申请的权利要求所界定的内容为标准。

Claims (10)

  1. 一种安全的两轮自平衡车，包括两个动力车轮，运动传感器，控制电路，底盘结构，方向控制输入装置，电源，所述动力车轮安装于所述底盘结构的两侧，所述运动传感器连接所述控制电路并与所述底盘结构相对固定，所述方向控制输入装置连所述控制电路，所述控制电路驱动所述动力车轮，其特征在于：在所述底盘结构的前部设置有保护轮支架，或者前部和后部都设置有保护轮支架，所述保护轮支架的前端安装有浮动保护轮，所述保护轮支架与所述底盘结构的连接方式或所述保护轮支架本身的结构使所述浮动保护轮能够相对于所述底盘结构上下自由活动，同时还有锁止装置连接所述底盘结构和保护轮支架，当其锁止时所述浮动保护轮位置与所述底盘结构固定，当其释放时所述浮动保护轮可以上下自由活动。
  2. 根据权利要求1所述的两轮自平衡车，其特征在于：还有一个机械的刹车控制装置，所述刹车控制装置通过机械连接机构连接所述锁止装置，控制所述锁止装置的锁止和释放。
  3. 根据权利要求1所述的两轮自平衡车，其特征在于：所述锁止装置由一个电控的执行机构控制锁止和释放，所述执行机构连接到并受控于所述控制电路。
  4. 根据权利要求1或2或3所述的两轮自平衡车，其特征在于：还包括一个座舱，所述座舱前后方向可滑动或可转动地安装在所述底盘结构上，在所述座舱和所述底盘结构之间有电机驱动的机构控制所述座舱的前后滑动或转动，从而改变其重心的前后位置，所述电机由所述控制电路驱动；还包括速度控制输入装置和刹车控制输入装置，它们都连到所述控制电路。
  5. 根据权利要求4所述的两轮自平衡车，其特征在于，所述浮动保护轮连接有方向舵机，所述控制电路通过所述方向舵机控制所述浮动保护轮的方向，使得浮动保护轮的滚动方向与其实际运动方向相一致。
  6. 根据权利要求4所述的两轮自平衡车，其特征在于，刹车过程包括：锁止前保护轮架，然后向后移动座舱重心。
  7. 根据权利要求4所述的两轮自平衡车，其特征在于，启动过程包括：先保持前部保护轮参与支撑的姿态加速，达到一定速度后，座舱重心后移直到前部保护轮支架对底盘结构的支撑力接近于零，释放锁止装置使保护轮进入自由浮动状态，同时启动自平衡控制。
  8. 根据权利要求4所述的两轮自平衡车，其特征在于：在所述座舱底部设置有速度踏板和刹车踏板，所述速度踏板和刹车踏板的状态信号连接所述控制电路。
  9. 根据权利要求4所述的两轮自平衡车，其特征在于：在所述座舱底部设置有速度踏板，在所述底盘结构上设置有刹车踏板，所述速度踏板和刹车踏板的状态信号连接所述控制电路。
  10. 根据权利要求4所述的两轮自平衡车，其特征在于：在所述保护轮支架或锁止装置或底盘结构的适当位置有安装传感器，所述传感器能检测到保护轮支架对底盘结构的支撑力大小或者能够检测这种支撑 力的出现和消失。
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