WO2017120984A1 - 一种迷你代步电动体感汽车 - Google Patents

一种迷你代步电动体感汽车 Download PDF

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Publication number
WO2017120984A1
WO2017120984A1 PCT/CN2016/071559 CN2016071559W WO2017120984A1 WO 2017120984 A1 WO2017120984 A1 WO 2017120984A1 CN 2016071559 W CN2016071559 W CN 2016071559W WO 2017120984 A1 WO2017120984 A1 WO 2017120984A1
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WIPO (PCT)
Prior art keywords
motor
control unit
pressure sensors
electric
flat body
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PCT/CN2016/071559
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English (en)
French (fr)
Inventor
李威
田金良
张辉杉
汪升
胡绪华
Original Assignee
郑州飞轮威尔实业有限公司
深圳市平衡力科技有限公司
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Priority claimed from CN201610024179.3A external-priority patent/CN105539694A/zh
Priority claimed from CN201620045105.3U external-priority patent/CN205589394U/zh
Application filed by 郑州飞轮威尔实业有限公司, 深圳市平衡力科技有限公司 filed Critical 郑州飞轮威尔实业有限公司
Publication of WO2017120984A1 publication Critical patent/WO2017120984A1/zh

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/12—Roller skates; Skate-boards with driving mechanisms
    • 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
    • B62K17/00—Cycles not otherwise provided for
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the invention belongs to the field of portable scooters, and in particular relates to a mini-step electric somatosensory car.
  • the electric scooter has the problem that the body shape is too heavy and the folding is troublesome;
  • twisting car is easy to use, it also has many problems such as large body weight and low safety factor;
  • the object of the present invention is to overcome the deficiencies of the prior art and provide a mini-step electric body-sensing car that is easy to handle and can be carried and loaded into an imported bag.
  • a mini-step electric somatosensory car including a flat body, a left front wheel and a right front wheel symmetrically disposed on the left and right sides of the front end of the bottom of the flat body, and disposed on the flat plate a rear wheel at the rear end of the underbody and a drive motor;
  • the electric body sensor further includes a control unit disposed inside the flat body and electrically connected to the control unit a power supply unit, a motor drive circuit, an indication panel, a plurality of pressure sensors, a gyro sensor, and an obstacle detection sensor;
  • the power supply unit is configured to provide driving power to the electric body sensing vehicle and power supply of the system; Driving the driving motor to operate;
  • the indicating panel is disposed on the flat body, between the left foot and the right foot, and the plurality of pressure sensors are disposed on the left foot and the right side of the flat body
  • the gyro sensor is effective for improving performance in terms of machine acceleration; the obstacle detecting
  • the electric body-sensing automobile further includes an automatic tracker disposed on the flat body and electrically connected to the controlled unit.
  • the automatic tracker is implemented separately or together by a GPS module or an automatic tracking high speed dome camera.
  • the electric body-sensing automobile further includes a wireless communication unit and an intelligent terminal, the wireless communication unit is electrically connected to the control unit, and the wireless communication unit is wirelessly connected to the smart terminal.
  • the electric body sensing vehicle further includes a voice control unit, the voice control unit is disposed on the flat body and electrically connected to the control unit.
  • the voice control unit is implemented by an intelligent voice system and voice recognition software that is interactively experienced by a human machine, and controls the machine.
  • the number of the pressure sensors is two, four or eight;
  • the number of pressure sensors is four, two of the pressure sensors are respectively mounted on the left foot of the flat body and the underside of the rear heel, and the other two pressure sensors are respectively mounted on the right side of the flat body Under the forefoot and under the heel;
  • the number of pressure sensors is eight, four of the pressure sensors are mounted on the left foot of the flat body; the other four pressure sensors are mounted on the right foot of the flat body.
  • the number of the motor drive circuits is two, which are respectively a first motor drive circuit and a second motor drive circuit, and the number of the drive motors is two, respectively a first drive motor and a second drive motor;
  • the electric body sensing vehicle further includes a first PWM interface circuit and a second PWM interface circuit; the control unit, the first PWM interface circuit, the first motor driving circuit, and the first driving motor are electrically connected in sequence; the control unit, The second PWM interface circuit, the second motor driving circuit, and the second driving motor are electrically connected in sequence; the first driving motor is used to drive the left front wheel operation, and the second driving motor is used to drive the right front wheel operation.
  • the electric body-sensing automobile further includes a first transmission and a second transmission, the first transmission being disposed between the first drive motor and the left front wheel, and the second transmission being disposed at the second drive Between the motor and the right front wheel.
  • the first drive motor and the second drive motor each adopt a hollow cup motor, an integrated waterproof hub motor or a servo motor.
  • the electric body sensor is further provided with a Bluetooth transparent transmission and an audio, the Bluetooth transparent transmission and the sound are electrically connected to the control unit, and the Bluetooth transparent transmission and the sound are connected to the intelligent terminal through the Bluetooth, and are realized by the intelligent terminal.
  • the electric body sense car operation and the reading of the machine information are controlled.
  • the electric body sensor is further provided with a remote control unit, the remote control unit is electrically connected to the control unit, and the remote control unit is configured to control the operation of the electric body sense vehicle.
  • the electric body sensor is further provided with a wireless transceiver unit and a GPS positioning unit, wherein the wireless transceiver unit and the GPS positioning unit are electrically connected to the control unit; the left foot step and the right foot step are set There are anti-slip lines.
  • the invention adopts the above technical solution, detects the pressure value of the left and right feet by using the set pressure sensor, and controls the operation of the driving motor through the control unit and the driving circuit to control the operation of the electric body sensing automobile.
  • the invention is similar to an electric skateboard, but more like a mini car. Once the person is standing on it, it can be started automatically. When you get off the bus, it will automatically stop. As for the direction of regulation, users only need to shift their body weight. The body's pressure direction and pressure value are detected by two, four or eight pressure sensors, and then the corresponding speed is output.
  • the gyro sensor is used in the invention, and the three-axis angle and the three-axis accelerator sensor can effectively improve the performance of the machine acceleration, such as the starting moment, the sudden acceleration, the sudden deceleration, the sharp turn, the emergency retreat, the sudden braking, etc.
  • Aspect performance improvement; the use of obstacle detection sensors can effectively avoid obstacles in time, and also has an automatic tracker on the flat body to track the set targets.
  • the battery of the invention adopts 18650 cylindrical power lithium battery/polymer power battery, which reduces the weight and volume of the battery, and adopts a lightweight magnesium/aluminum alloy flat body shell, thereby minimizing the weight and volume of the outer casing and the whole machine. .
  • the invention adopts the front left and right two small-volume high-power hollow cup motor drives, and the rear two steering wheels are designed to increase the stability.
  • the novice can ride without learning, because the chassis is low, the safety factor is also Super high, very suitable for urban travel of urban office workers.
  • FIG. 1 is a schematic structural view of a mini-step electric somatosensory car of the present invention
  • FIG. 2 is a schematic structural diagram of a system of a mini-step electric somatosensory car according to the present invention
  • FIG. 3 is a schematic structural view of two pressure sensors of the mini-step electric somatosensory car of the present invention.
  • FIG. 4 is a schematic structural view of four pressure sensors of the mini-step electric somatosensory car of the present invention.
  • FIG. 5 is a schematic structural view of eight pressure sensors of the mini-step electric somatosensory car of the present invention.
  • the present invention provides a mini-drive electric somatosensory car, including a flat body 1, a left front wheel 3 and a right front wheel 2 symmetrically disposed on the left and right sides of the bottom front end of the flat body 1.
  • the electric body sensor further includes a control unit 6 disposed inside the flat body 1 and a power supply unit 5 electrically connected to the control unit 6, a motor drive circuit, an indication panel 19, a plurality of pressure sensors, a gyro sensor 26, and an obstacle detection sensor 17;
  • the power supply unit 5 is for supplying driving power to the electric body sensing vehicle and system power supply;
  • the motor driving circuit is used for Driving the driving motor to operate;
  • the indicating panel 19 is disposed on the flat body 1 between the left foot and the right foot, and the plurality of pressure sensors are disposed on the left side of the flat body 1 a foot and a right foot;
  • the obstacle detecting sensor 17 is disposed at a front end of the flat body 1, between the left front wheel 3 and the right front wheel 2; the obstacle detecting sensor 17 is To achieve electrical sensor or an ultrasonic sensor tube.
  • the electric body sensor further includes an automatic tracker 25 disposed on the flat body 1 and electrically connected to the control unit 6.
  • the electric body sensor further includes a wireless communication unit, an intelligent terminal, and a voice control unit 24, the wireless communication unit is electrically connected to the control unit 6, the wireless communication unit and the smart The terminal is wirelessly connected; the voice control unit 24 is disposed on the tablet body and electrically connected to the control unit 6.
  • the number of the pressure sensors is two, four or eight;
  • the number of pressure sensors is four, two of the pressure sensors are respectively mounted on the flat plate
  • the left side of the body 1 is stepped on the forefoot and the underside of the heel, and the other two pressure sensors are respectively mounted on the right foot of the flat body 1 below the forefoot and the rear heel;
  • the number of pressure sensors is eight, four of the pressure sensors are mounted on the left foot of the flat body 1; the other four pressure sensors are mounted on the right foot of the flat body 1.
  • the number of the motor driving circuits is two, which are the first motor driving circuit 11 and the second motor driving circuit 12, respectively, the number of the driving motors is two, respectively, the first driving motor 7 and the first
  • the second driving motor 8 further includes a first PWM interface circuit 13 and a second PWM interface circuit 14; the control unit 6, the first PWM interface circuit 13, the first motor driving circuit 11, and the first driving motor 7
  • the control unit 6, the second PWM interface circuit 14, the second motor drive circuit 12, and the second drive motor 8 are electrically connected in sequence; the first drive motor 7 is used to drive the left front wheel 3 to operate.
  • the second drive motor 8 is used to drive the right front wheel 2 to operate.
  • the electric body-sensing automobile further includes a first transmission 15 and a second transmission 16, and the first transmission 15 is disposed between the first driving motor 7 and the left front wheel 3, A second transmission 16 is disposed between the second drive motor 8 and the right front wheel 2.
  • the first drive motor 7 and the second drive motor 8 each use a hollow cup motor, an integrated waterproof hub motor or a servo motor.
  • the electronic body-sensing car is further provided with a Bluetooth transparent transmission and audio 20, and the Bluetooth transparent transmission and audio 20 is electrically connected to the control unit 6, and the Bluetooth transparent transmission and audio 20 are connected to the intelligent terminal via Bluetooth.
  • the electric body feeling vehicle is further provided with a remote control unit 21, the remote control unit 21 is electrically connected to the control unit 6, and the remote control unit 21 is configured to control the operation of the electric body sense vehicle.
  • the electric body sensor is further provided with a wireless transceiver unit 22 and a GPS positioning unit 23, wherein the wireless transceiver unit 22 and the GPS positioning unit 23 are electrically connected to the control unit 6; the left foot and the right side An anti-slip pattern 18 is provided on the foot.
  • the brushless motor is used as the driving source, respectively placed in the front left and front right, and the two steering wheels are used in the back.
  • the left and right turns are realized by the difference of the rotational speed of the front motor, and the weight on the foot is detected by the pressure sensor.
  • the quantity changes to control the motor acceleration, deceleration, and turning.
  • the start control portion of the present invention employs two pressure sensors, one mounted on the left side of the front side of the flat body 11 and the other on the right side of the front side of the flat body 11.
  • one foot When one foot is stepped on, one side sensor senses the pressure, but does not start.
  • both feet When both feet are stepped on, both sensors sense the pressure and start to start.
  • the front foot control is used to maintain two pressure sensors.
  • the pressure values are similar to control the direction of the forward direction and proceed at the corresponding speed.
  • the left and right control sections also utilize the above two pressure sensors.
  • the center of gravity of the body is tilted to the left, and the two pressure sensors sense the left side (first pressure sensor 9) than the right side (second pressure sensor). 10) The pressure is larger, forming a larger pressure difference on the left side and the right side.
  • the right motor (second drive motor 8) runs faster than the left motor (first drive motor 7), achieving a left turn;
  • the center of gravity of the body is tilted to the right, and the two pressure sensors sense that the right side (second pressure sensor 10) is more pressure than the left side (first pressure sensor 9), forming a larger pressure on the right side relative to the left side.
  • the left motor (first drive motor 7) runs faster than the right motor (second drive motor 8), enabling a right turn.
  • the stop control part firstly, the forefoot of the two feet is lifted and decelerated, and then the electric car will automatically stop after the two feet are jumped to the ground.
  • two of the pressure sensors (front left pressure sensor 911, rear left pressure sensor 912) are respectively mounted on the left foot of the flat body 1 under the forefoot and the rear heel, and the other two Pressure sensors (front right pressure sensor 1011, rear right pressure sensor 1021) are respectively mounted on the right side of the flat body 11 below the forefoot and the rear heel;
  • Start-up control four pressure sensors, one mounted on the front left side of the machine (specifically the flat body 11), one mounted on the right side of the front of the machine, one mounted on the left side of the rear of the machine, and one mounted on the machine Below the right side of the back, as shown in Figure 4.
  • the pressure sensor on the front and the back of the one side senses that the pressure becomes larger, but does not start.
  • the pressure sensors on the other side of the other side sense that the pressure becomes larger before starting. start up.
  • Forward driving control After starting, the center of gravity is forward, and the pressure sensors on the left and right sides of the front sense that the pressure becomes larger and the pressure values differ greatly. The pressure sensors on the rear sides become smaller and the pressure values are small. The range can be accelerated, and the pressure difference between the two pressure sensors at the front is used to output the corresponding speed. The greater the pressure difference, the faster the speed.
  • Left steering driving control After starting, during forward driving, the center of gravity is to the left front, the front left pressure sensor 911 feels the pressure becomes larger, and the pressure is much larger than that of several other pressure sensors, such as the speed is close to the most At high speed, the left motor decelerates, and the right motor speed does not change, so that it can be driven to the left; if there is a lot of speed from the highest speed, the right motor accelerates, and the left motor speed does not change, so that it can be driven to the left. The greater the pressure difference, the faster the turn to the left.
  • Right steering control After starting, during forward driving, the center of gravity is right forward, the front right pressure sensor 1011 feels the pressure becomes larger, and the pressure is much larger than that of several other pressure sensors, such as the speed is close to the most At high speed, the right motor decelerates, and the left motor speed does not change, so that it can drive to the right; if there is a lot of speed from the highest speed, the left motor accelerates, and the right motor speed does not change, so that it can be driven to the right. The greater the pressure difference, the faster the turn to the right.
  • Back deceleration control After starting, during forward driving, the center of gravity is backward, and the pressure on the left and right sides of the rear
  • the force sensors 912 and 1021 sense a range in which the pressure becomes large and the pressure values differ greatly, and the pressure sensors on both sides of the front side become smaller and the pressure values differ by a small difference, and the vehicle can be decelerated and then retracted.
  • the pressure difference between the two pressure sensors 912 and 1021 at the rear is compared with the pressure sensors between the two front pressure sensors to output a corresponding speed. The greater the pressure difference, the faster the speed.
  • the number of pressure sensors is eight, four of the pressure sensors (911, 91, 912, 92) are mounted on the left foot of the flat body 1, and two of the pressure sensors are respectively mounted on the forefoot and The rear of the heel is mounted; the other four pressure sensors (1011, 101, 1021, 102) are mounted on the right side of the flat body 1, wherein two of the pressure sensors are mounted under the forefoot and the rear heel, respectively.
  • Start control as shown in Figure 5 eight pressure sensors, one mounted on the left side of the front of the machine, one mounted on the right side of the front of the machine, one mounted on the left side of the rear of the machine, and one mounted on the right side of the rear of the machine Below, one is installed under the front left middle side, one is installed under the front right middle side, one is installed below the rear left middle side, and one is installed below the rear right middle side, as shown in FIG.
  • the two pressure sensors on the front left and front left and the left middle of the left front and the two pressure sensors on the rear left and rear left and the middle of the rear sense that the pressure becomes larger, but does not start
  • the two pressure sensors on the front right and front right middle of the right front and the two pressure sensors in the rear right and rear right middle sense that the pressure becomes larger before starting.
  • Forward travel control After starting, the center of gravity forward, the two pressure sensors on the left side of the front and the two pressure sensors on the right side of the front sense the range where the pressure becomes large and the pressure values differ very little, the left side of the rear The two pressure sensors and the two pressure sensors on the right side of the rear sense that the pressure becomes smaller and the pressure values differ greatly, so that the forward travel can be accelerated.
  • the front four pressure sensors are connected to the rear four pressure sensors. The magnitude of the pressure difference between them is used to output the corresponding speed. The greater the pressure difference, the faster the speed.
  • Left steering driving control After starting, during forward driving, the center of gravity is to the left front, and the two pressure sensors on the left side of the front feel the pressure becomes larger, and the pressure is much larger than that of several other pressure sensors. If the speed is close to the highest speed, the left motor decelerates, and the right motor speed does not change, so that it can be driven to the left; if there is a lot of speed from the highest speed, the right motor accelerates, and the left motor speed does not change. You can drive to the left. The greater the pressure difference, the faster the turn to the left.
  • Right steering control After starting, during forward driving, the center of gravity is to the right front, and the two pressure sensors on the front right side feel the pressure becomes larger, and the pressure is much larger than that of several other pressure sensors, such as speed.
  • speed When the speed is close to the maximum speed, the right motor decelerates and the left motor speed does not change, so that it can drive to the right. If there is a lot of speed from the highest speed, the left motor accelerates and the right motor speed does not change. Drive right. The greater the pressure difference, the faster the turn to the right.
  • Backward deceleration control After starting, during forward driving, the center of gravity is backward, the two pressure sensors on the left side of the rear and the two pressure sensors on the right side of the front sense that the pressure becomes large and the pressure values differ greatly.
  • the two pressure sensors on the left side of the unit and the two pressure sensors on the right side of the rear sense that the pressure becomes smaller and the pressure values differ greatly, so that the vehicle can be decelerated and then retreated.
  • the pressure difference between the four pressure sensors on the back of the four pressure sensors is used to output the corresponding speed. The greater the pressure difference, the faster the speed.

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Abstract

一种迷你代步电动体感汽车，包括平板车身（1）、对称设置在平板车身（1）底部前端左右两侧的左前轮（3）和右前轮（2）、设置在平板车身（1）底部后端的后轮（4）以及驱动电机（7，8）；还包括设置在平板车身（1）内部的控制单元（6）、以及与控制单元（6）电连接的供电单元（5）、电机驱动电路（11，12）、指示面板（19）、若干压力传感器（9，10，91，92，101，102，911，912，1011，1021）、陀螺仪传感器（26）以及由光电对管传感器或者超声波传感器实现的障碍物检测传感器（17）；指示面板（19）设置在平板车身（1）上，若干压力传感器（9，10，91，92，101，102，911，912，1011，1021）设置在平板车身（1）的左侧踏脚和右侧踏脚上；障碍物检测传感器（17）设置在平板车身（1）前端，位于左前轮（3）和右前轮（2）之间。该电动体感汽车便于携带、操作简单且能够改善加速度方面的性能。

Description

一种迷你代步电动体感汽车 技术领域
本发明属于便携式代步车领域，具体涉及一种迷你代步电动体感汽车。
背景技术
目前市面上常用的电动独轮车、电动滑板车、电动扭扭车等众多便携式代步车，存在如下缺点：
1)、电动独轮车存在体形偏重偏大、学习难，安全系数低的问题；
2)、电动滑板车存在体形偏重偏大、折叠麻烦的问题；
3)、扭扭车虽然是容易上手，但同样存在比如体形偏重偏大、且安全系数低等诸多问题；
以上三款产品共同的问题都有体形偏重偏大，不利于使用者携带，为此，有必要开发一种新的便携式迷你的电动汽车，该电动汽车在综合众多便携式自平衡代步车的优缺点的基础上，其更加有利于使用者携带，且操作简单、便于初学者使用。
发明内容
有鉴于此，本发明的目的在于克服现有技术的不足，提供一种操控简便、能随身携带并装进口袋的迷你代步电动体感汽车。
为实现以上目的，本发明采用如下技术方案：一种迷你代步电动体感汽车，包括平板车身、对称设置在所述平板车身底部前端左右两侧的左前轮和右前轮、设置在所述平板车身底部后端的后轮以及驱动电机；所述电动体感汽车还包括设置在所述平板车身内部的控制单元、以及与所述控制单元电连 接的供电单元、电机驱动电路、指示面板、若干压力传感器、陀螺仪传感器以及障碍物检测传感器；所述供电单元用于向所述电动体感汽车提供驱动动力以及系统供电；所述电机驱动电路用于驱动所述驱动电机运转；所述指示面板设置在所述平板车身上，位于左侧踏脚与右侧踏脚之间，若干所述压力传感器设置在所述平板车身的左侧踏脚和右侧踏脚上；所述陀螺仪传感器，有效的改善机器加速度方面的性能；所述障碍物检测传感器设置在所述平板车身前端，位于左前轮和右前轮之间；所述障碍物检测传感器由红外光电对管传感器或者超声波传感器实现。
所述电动体感汽车还包括自动跟踪器，所述自动跟踪器设置在所述平板车身上，且与所述控制的单元电连接。所述自动跟踪器由GPS模块或自动跟踪高速球摄像头等单独或共同实现。
所述电动体感汽车还包括无线通信单元和智能终端，所述无线通信单元与所述控制单元电连接，所述无线通信单元与所述智能终端无线连接。
所述电动体感汽车还包括语音控制单元，所述语音控制单元设置在所述平板车身上，且与所述控制单元电连接。所述语音控制单元由人机交互式体验的智能语音系统及语音识别软件实现，对机器进行控制。
所述压力传感器数量为两个、四个或八个；
当压力传感器数量为两个时，一个安装在所述平板车身的左侧踏脚前脚掌下面，另一个安装在所述平板车身的右侧踏脚前脚掌下面；
当压力传感器数量为四个时，其中两个压力传感器分别安装在所述平板车身的左侧踏脚前脚掌和后脚跟下面，另外两个压力传感器分别安装在所述平板车身的右侧踏脚前脚掌和后脚跟下面；
当压力传感器数量为八个时，其中四个压力传感器安装在所述平板车身的左侧踏脚上；另外四个压力传感器安装在所述平板车身的右侧踏脚上。
所述的电机驱动电路数量为两个，分别为第一电机驱动电路和第二电机驱动电路，所述驱动电机数量为两个，分别为第一驱动电机和第二驱动电机； 所述电动体感汽车还包括第一PWM接口电路和第二PWM接口电路；所述控制单元、第一PWM接口电路、第一电机驱动电路、第一驱动电机依次电性连接；所述控制单元、第二PWM接口电路、第二电机驱动电路、第二驱动电机依次电性连接；所述第一驱动电机用于驱动左前轮运转，所述第二驱动电机用于驱动右前轮运转。
所述电动体感汽车包括还包括第一变速器和第二变速器，所述第一变速器设置在所述第一驱动电机与所述左前轮之间，所述第二变速器设置在所述第二驱动电机与所述右前轮之间。
所述第一驱动电机和所述第二驱动电机均采用空心杯电机、一体式防水轮毂电机或伺服电机。
所述电动体感汽车上还设有蓝牙透传及音响，所述蓝牙透传及音响与所述控制单元电连接，且所述蓝牙透传及音响通过蓝牙连接有智能终端，并通过智能终端实现控制所述电动体感汽车运转及机器信息的读取。
所述电动体感汽车上还设有遥控控制单元，所述遥控控制单元与所述控制单元电连接，且所述遥控控制单元用于控制所述电动体感汽车运转。
所述电动体感汽车上还设有无线收发单元和GPS定位单元，所述无线收发单元和GPS定位单元均与所述控制单元电连接；所述左侧踏脚和所述右侧踏脚上设置有防滑纹。
本发明采用以上技术方案，利用设置的压力传感器检测左右脚的压力值，通过控制单元和驱动电路来控制驱动电机运转，以控制电动体感汽车的运转。本发明形似电动滑板，但更像一款迷你型小汽车。一旦人站在上面后，就可以自动启动。而当下车后，其会自动停下。至于调控方向，用户只需要转移身体重心即可。通过二、四或八个压力传感器检测身体的压力方向和压力值，然后输出相应的速度，当想向前行驶时，身体重心朝前；当想减速及刹车时，身体重心往后仰；当想往左转弯时，身体重心稍稍往左倾斜；当想往右转弯行骑时，身体重心稍稍往右倾斜。完全不需要双手，只需转移身体重心，就 可以控制行驶的方向。
本发明中采用陀螺仪传感器，是利用其三轴角度和三轴加速器传感器，能有效地改善机器加速度方面的性能，如对启动瞬间，急加速，急减速，急转弯，急后退，急刹车等方面性能的提升；使用障碍物检测传感器，可及时有效的避开障碍物，同时还在平板车身上设有自动跟踪器，可对设定的目标进行跟踪。本发明中电池采用18650圆柱状动力锂电池/聚合物动力电池，减轻了电池的重量及体积，采用轻质镁/铝合金平板车身外壳，从而最大程度的降低了外壳及整机的重量和体积。本发明采用了前部左右两个小体积大功率空心杯电机驱动，后部两个转向轮的设计，增加了平稳度，新手无须学习，即可上手骑行，由于底盘较低，安全系数也超高，非常适合城市上班族白领们的城市出行。
附图说明
图1是本发明迷你代步电动体感汽车的结构示意图；
图2是本发明迷你代步电动体感汽车的系统结构示意图；
图3是本发明迷你代步电动体感汽车之二个压力传感器结构示意图；
图4是本发明迷你代步电动体感汽车之四个压力传感器结构示意图；
图5是本发明迷你代步电动体感汽车之八个压力传感器结构示意图。
图中：1、平板车身；2、右前轮；3、左前轮；4、后轮；5、供电单元；6、控制单元；7、第一驱动电机；8、第二驱动电机；9、第一压力传感器；10、第二压力传感器；11、第一电机驱动电路；12、第二电机驱动电路；13、第一PWM接口电路；14、第二PWM接口电路；15、第一变速器；16、第二变速器；17、障碍物检测传感器；18、防滑纹；911、前左压力传感器；912、后左压力传感器；1011、前右压力传感器；1021、后右压力传感器；91、前左中压力传感器；92、后左中压力传感器；101、前右中压力传感器；102、后右中压力传感器；19、指示面板；20、蓝牙透传及音响；21、遥控控制单 元；22、无线收发单元；23、GPS定位单元；24、语音控制单元；25、自动跟踪器；26、陀螺仪传感器。
具体实施方式
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。
如图1和图2所示，本发明提供一种迷你代步电动体感汽车，包括平板车身1、对称设置在所述平板车身1底部前端左右两侧的左前轮3和右前轮2、设置在所述平板车身1底部后端的后轮4以及驱动电机；所述电动体感汽车还包括设置在所述平板车身1内部的控制单元6、以及与所述控制单元6电连接的供电单元5、电机驱动电路、指示面板19、若干压力传感器、陀螺仪传感器26以及障碍物检测传感器17；所述供电单元5用于向所述电动体感汽车提供驱动动力以及系统供电；所述电机驱动电路用于驱动所述驱动电机运转；所述指示面板19设置在所述平板车身1上，位于左侧踏脚与右侧踏脚之间，若干所述压力传感器设置在所述平板车身1的左侧踏脚和右侧踏脚上；所述障碍物检测传感器17设置在所述平板车身1前端，位于左前轮3和右前轮2之间；所述障碍物检测传感器17由光电对管传感器或者超声波传感器实现。
作为一种优选的实施方式，所述电动体感汽车还包括自动跟踪器25，所述自动跟踪器25设置在所述平板车身1上，且与所述控制单元6电连接。
作为一种优选的实施方式，所述电动体感汽车还包括无线通信单元、智能终端和语音控制单元24，所述无线通信单元与所述控制单元6电连接，所述无线通信单元与所述智能终端无线连接；所述语音控制单元24设置在所述平板车身上，且与所述控制单元6电连接。
本实施例中，所述压力传感器数量为两个、四个或八个；
当压力传感器数量为两个时，一个安装在所述平板车身1的左侧踏脚前脚掌下面，另一个安装在所述平板车身1的右侧踏脚前脚掌下面；
当压力传感器数量为四个时，其中两个压力传感器分别安装在所述平板 车身1的左侧踏脚前脚掌和后脚跟下面，另外两个压力传感器分别安装在所述平板车身1的右侧踏脚前脚掌和后脚跟下面；
当压力传感器数量为八个时，其中四个压力传感器安装在所述平板车身1的左侧踏脚上；另外四个压力传感器安装在所述平板车身1的右侧踏脚上。
本实施例中，所述的电机驱动电路数量为两个，分别为第一电机驱动电路11和第二电机驱动电路12，所述驱动电机数量为两个，分别为第一驱动电机7和第二驱动电机8；该电动体感汽车还包括第一PWM接口电路13和第二PWM接口电路14；所述控制单元6、第一PWM接口电路13、第一电机驱动电路11、第一驱动电机7依次电性连接；所述控制单元6、第二PWM接口电路14、第二电机驱动电路12、第二驱动电机8依次电性连接；所述第一驱动电机7用于驱动左前轮3运转，所述第二驱动电机8用于驱动右前轮2运转。
需要进一步说明的是，所述电动体感汽车还包括第一变速器15和第二变速器16，所述第一变速器15设置在所述第一驱动电机7与所述左前轮3之间，所述第二变速器16设置在所述第二驱动电机8与所述右前轮2之间。
所述第一驱动电机7和所述第二驱动电机8均采用空心杯电机、一体式防水轮毂电机或伺服电机。该电动体感汽车上还设有蓝牙透传及音响20，所述蓝牙透传及音响20与所述控制单元6电连接，且该蓝牙透传及音响20通过蓝牙连接有智能终端。该电动体感汽车上还设有遥控控制单元21，所述遥控控制单元21与所述控制单元6电连接，且该遥控控制单元21用于控制所述电动体感汽车运转。
该电动体感汽车上还设有无线收发单元22和GPS定位单元23，所述无线收发单元22和GPS定位单元23均与所述控制单元6电连接；所述左侧踏脚和所述右侧踏脚上设置有防滑纹18。
利用无刷电机作为驱动源，分别放置在前左和前右，后面采用两个转向轮，利用前面电机的转速差实现左转和右转，利用压力传感器检测脚上的重 量变化，从而去控制电机加速、减速、转弯。
功能实现原理：每次开机，系统通过几个压力传感器检测压力数据，进行空载值的校准。当有人站在上面时系统会检测到压力变化，当人的身体向前时前面的重力传感器会检测到压力的变化，当压力增大时电机速度也随着增快，压力减小时电机速度随之减小。左边的压力增大时，右边的电机速度随之增加，即实现左转，同理右边的压力增大时，左边的电机速度随之增加，即实现右转。
下面对本发明工作原理说明如下：
应用场景一、采用两个压力传感器，如图3所示。
当压力传感器数量为两个时，一个安装在所述平板车身11的左侧踏脚前脚掌下面，另一个安装在所述平板车身11的右侧踏脚前脚掌下面；
本发明中的启动控制部分是采用两个压力传感器，一个安装在平板车身11左侧踏脚前脚掌下面，另一个安装在平板车身11右侧踏脚前脚掌下面。当一只脚踩上去，一侧传感器感应到压力，但不启动，当两只脚都踩上去后，两个传感器都感应到压力，才开始启动，用前脚掌前压控制保持两个压力传感器的压力值相近即可控制前行的方向，以相应的速度前行。
左右控制部分同样利用上面的两个压力传感器，当想向左转弯行驶时，身体重心向左倾斜，两个压力传感器会感应到左侧(第一压力传感器9)比右侧(第二压力传感器10)压力更大，形成左边相对右边较大的压力差，这时右侧电机(第二驱动电机8)比左侧电机(第一驱动电机7)运行速度快一点，实现左转弯；当想向右转弯行驶时，身体重心向右倾斜，两个压力传感器会感应到右侧(第二压力传感器10)比左侧(第一压力传感器9)压力更大，形成右边相对左边较大的压力差，这时左侧电机(第一驱动电机7)比右侧电机(第二驱动电机8)运行速度快一点，实现可以右转弯。
停机控制部分，首先两脚的前脚掌上抬减速，然后两脚跳车落地后，该电动汽车会自动停机。
应用场景二、采用四个压力传感器，如图4所示。
当压力传感器数量为四个时，其中两个压力传感器(前左压力传感器911、后左压力传感器912)分别安装在所述平板车身1的左侧踏脚前脚掌和后脚跟下面，另外两个压力传感器(前右压力传感器1011、后右压力传感器1021)分别安装在所述平板车身11的右侧踏脚前脚掌和后脚跟下面；
启动控制：采用四个压力传感器，一个安装在机器(具体为平板车身11)前部左侧下面，一个安装在机器前部右侧下面，一个安装在机器后部左侧下面，一个安装在机器后部右侧下面，如图4所示。当一只脚踩上去，一侧前后部的压力传感器感应到压力变大，但不启动，当两只脚都踩上去后，另外一侧前后两个压力传感器感应到压力变大后，才开始启动。
向前行驶控制：启动后，重心向前，前部左右两侧的压力传感器感应到压力变大且压力值相差很小的范围，后部两侧的压力传感器压力变小且压力值相差很小的范围，即可加速向前行驶，根椐前部两个压力传感器对后部两个压力传感器之间的压力差的大小，来输出相应的速度，压力差越大，速度就越快。
左转向行驶控制：启动后，向前行驶当中，重心向左前方，前左压力传感器911感受到压力变大，且比其他几个压力传感器的压力都大得多，如速度本已接近到最高速时，则左电机减速，右电机速度不变，即可实现向左行驶；如速度离最高速还有很多时，则右电机加速，左电机速度不变，也即可实现向左行驶。压力差越大，向左转弯速度就越快。
右转向行驶控制：启动后，向前行驶当中，重心向右前方，前右压力传感器1011感受到压力变大，且比其他几个压力传感器的压力都大得多，如速度本已接近到最高速时，则右电机减速，左电机速度不变，即可实现向右行驶；如速度离最高速还有很多时，则左电机加速，右电机速度不变，也即可实现向右行驶。压力差越大，向右转弯速度就越快。
后退减速控制：启动后，向前行驶当中，重心向后，后部左右两侧的压 力传感器912、1021感应到压力变大且压力值相差很小的范围，前部两侧的压力传感器压力变小且压力值相差很小的范围，即可减速而后后退行驶。根椐后部两个压力传感器912、1021对前部两个压力传感器之间的压力差的大小，来输出相应的速度，压力差越大，速度就越快。
应用场景三、采用八个压力传感器，如图5所示。
当压力传感器数量为八个时，其中四个压力传感器(911、91、912、92)安装在所述平板车身1的左侧踏脚上，这其中的两个压力传感器分别安装在前脚掌和后脚跟下面；另外四个压力传感器(1011、101、1021、102)安装在所述平板车身1的右侧踏脚，其中这其中的两个压力传感器分别安装在前脚掌和后脚跟下面。
如图5启动控制：采用八个压力传感器，一个安装在机器前部左侧下面，一个安装在机器前部右侧下面，一个安装在机器后部左侧下面，一个安装在机器后部右侧下面，一个安装在前左中侧下面，一个安装在前右中侧下面，一个安装在后左中侧下面，一个安装在后右中侧下面，如图5所示。当一只左脚踩上去，左侧前部的前左和前左中部的两个压力传感器与后部的后左和后左中部的两个压力传感器感应到压力变大，但不启动，当另外一只脚也踩上去后，另外右侧前部的前右和前右中部的两个压力传感器与后右和后右中部的两个压力传感器感应到压力变大后，才开始启动。
向前行驶控制：启动后，重心向前，前部左侧的两个压力传感器与前部右侧的两个压力传感器感应到压力变大且压力值相差很小的范围，后部左侧的两个压力传感器与后部右侧的两个压力传感器感应到压力变小且压力值相差很小的范围，即可加速向前行驶，根椐前部四个压力传感器对后部四个压力传感器之间的压力差的大小，来输出相应的速度，压力差越大，速度就越快。
左转向行驶控制：启动后，向前行驶当中，重心向左前方，前部左侧两个压力传感器感受到压力变大，且比其他几个压力传感器的压力都大得多， 如速度本已接近到最高速时，则左电机减速，右电机速度不变，即可实现向左行驶；如速度离最高速还有很多时，则右电机加速，左电机速度不变，也即可实现向左行驶。压力差越大，向左转弯速度就越快。
右转向行驶控制：启动后，向前行驶当中，重心向右前方，前部右侧两个压力传感器感受到压力变大，且比其他几个压力传感器的压力都大得多，如速度本已接近到最高速时，则右电机减速，左电机速度不变，即可实现向右行驶；如速度离最高速还有很多时，则左电机加速，右电机速度不变，也即可实现向右行驶。压力差越大，向右转弯速度就越快。
后退减速控制：启动后，向前行驶当中，重心向后，后部左侧的两个压力传感器与前部右侧的两个压力传感器感应到压力变大且压力值相差很小的范围，前部左侧的两个压力传感器与后部右侧的两个压力传感器感应到压力变小且压力值相差很小的范围，即可减速而后后退行驶。根椐后部四个压力传感器对前部四个压力传感器之间的压力差的大小，来输出相应的速度，压力差越大，速度就越快。
本发明不局限于上述最佳实施方式，任何人在本发明的启示下都可得出其他各种形式的产品，但不论在其形状或结构上作任何变化，凡是具有与本申请相同或相近似的技术方案，均落在本发明的保护范围之内。

Claims (10)

  1. 一种迷你代步电动体感汽车，其特征在于：包括平板车身、对称设置在所述平板车身底部前端左右两侧的左前轮和右前轮、设置在所述平板车身底部后端的后轮以及驱动电机；
    所述电动体感汽车还包括设置在所述平板车身内部的控制单元、以及与所述控制单元电连接的供电单元、电机驱动电路、指示面板、若干压力传感器、陀螺仪传感器以及障碍物检测传感器；
    所述供电单元用于向所述电动体感汽车提供驱动动力以及系统供电；所述电机驱动电路用于驱动所述驱动电机运转；
    所述指示面板设置在所述平板车身上，位于左侧踏脚与右侧踏脚之间，若干所述压力传感器设置在所述平板车身的左侧踏脚和右侧踏脚上；
    所述陀螺仪传感器，用于改善电动体感汽车加速度方面的性能；
    所述障碍物检测传感器设置在所述平板车身前端，位于左前轮和右前轮之间；所述障碍物检测传感器由光电对管传感器或者超声波传感器实现。
  2. 根据权利要求1所述的迷你代步电动体感汽车，其特征在于：所述电动体感汽车还包括自动跟踪器，所述自动跟踪器设置在所述平板车身上，且与所述控制单元电连接。
  3. 根据权利要求1所述的迷你代步电动体感汽车，其特征在于：所述电动体感汽车还包括无线通信单元、智能终端和语音控制单元，所述无线通信单元与所述控制单元电连接，所述无线通信单元与所述智能终端无线连接；所述语音控制单元设置在所述平板车身上，且与所述控制单元电连接。
  4. 根据权利要求1所述的迷你代步电动体感汽车，其特征在于：所述压力传感器数量为两个、四个或八个；
    当压力传感器数量为两个时，一个安装在所述平板车身的左侧踏脚前脚掌下面，另一个安装在所述平板车身的右侧踏脚前脚掌下面；
    当压力传感器数量为四个时，其中两个压力传感器分别安装在所述平板 车身的左侧踏脚前脚掌和后脚跟下面，另外两个压力传感器分别安装在所述平板车身的右侧踏脚前脚掌和后脚跟下面；
    当压力传感器数量为八个时，其中四个压力传感器安装在所述平板车身的左侧踏脚上；另外四个压力传感器安装在所述平板车身的右侧踏脚上。
  5. 根据权利要求1所述的迷你代步电动体感汽车，其特征在于：所述的电机驱动电路数量为两个，分别为第一电机驱动电路和第二电机驱动电路，所述驱动电机数量为两个，分别为第一驱动电机和第二驱动电机；
    所述电动体感汽车还包括第一PWM接口电路和第二PWM接口电路；所述控制单元、第一PWM接口电路、第一电机驱动电路、第一驱动电机依次电性连接；所述控制单元、第二PWM接口电路、第二电机驱动电路、第二驱动电机依次电性连接；所述第一驱动电机用于驱动左前轮运转，所述第二驱动电机用于驱动右前轮运转。
  6. 根据权利要求1所述的迷你代步电动体感汽车，其特征在于：所述电动体感汽车包括还包括第一变速器和第二变速器，所述第一变速器设置在所述第一驱动电机与所述左前轮之间，所述第二变速器设置在所述第二驱动电机与所述右前轮之间。
  7. 根据权利要求3所述的迷你代步电动体感汽车，其特征在于：所述第一驱动电机和所述第二驱动电机均采用一体式防水轮毂电机、伺服电机或空心杯电机。
  8. 根据权利要求1所述的迷你代步电动体感汽车，其特征在于：该电动体感汽车上还设有蓝牙透传及音响，所述蓝牙透传及音响与所述控制单元电连接，且所述蓝牙透传及音响通过蓝牙连接有智能终端。
  9. 根据权利要求1所述的迷你代步电动体感汽车，其特征在于：所述电动体感汽车上还设有遥控控制单元，所述遥控控制单元与所述控制单元电连接，且所述遥控控制单元用于控制所述电动体感汽车运转。
  10. 根据权利要求1所述的迷你代步电动体感汽车，其特征在于：所述 电动体感汽车上还设有无线收发单元和GPS定位单元，所述无线收发单元和GPS定位单元均与所述控制单元电连接；所述左侧踏脚和所述右侧踏脚上设置有防滑纹。
PCT/CN2016/071559 2016-01-14 2016-01-21 一种迷你代步电动体感汽车 WO2017120984A1 (zh)

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