WO2017162111A1 - 一种基于位移检测的四轮平衡车 - Google Patents

一种基于位移检测的四轮平衡车 Download PDF

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Publication number
WO2017162111A1
WO2017162111A1 PCT/CN2017/077235 CN2017077235W WO2017162111A1 WO 2017162111 A1 WO2017162111 A1 WO 2017162111A1 CN 2017077235 W CN2017077235 W CN 2017077235W WO 2017162111 A1 WO2017162111 A1 WO 2017162111A1
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WO
WIPO (PCT)
Prior art keywords
pedal
module
wheel
displacement
balance vehicle
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PCT/CN2017/077235
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English (en)
French (fr)
Inventor
刘耀金
杨焕章
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深圳市踏路科技有限公司
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Publication of WO2017162111A1 publication Critical patent/WO2017162111A1/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
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/01—Motorcycles with four or more wheels
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw

Definitions

  • the invention relates to the field of balance vehicles, in particular to a four-wheel balance vehicle based on displacement detection.
  • the traditional balance car generally adopts two rounds to detect the state of the vehicle body through the gyroscope, and then drives the servo motor or the stepping motor to adjust the vehicle balance and recognize the vehicle travel operation through the control device.
  • the balance car is adjusted and designed for the vehicle body balance.
  • the complexity of the vehicle body travel and steering design is relatively high, and the vehicle cost is high, and the vehicle energy consumption is also high.
  • Some four-wheel balance car schemes have poor control precision, poor stability, potential safety hazards, and limited application population.
  • the present invention proposes a four-wheel balance vehicle based on displacement detection, which aims to simplify the balance design and the traveling and steering design of the balance vehicle.
  • a four-wheel balance vehicle based on displacement detection comprising a vehicle body, a control module, a pedal module, a support module, a displacement detection module, a drive wheel module, a follower wheel module and a return module;
  • control module the pedal module, the support module, the displacement detecting module, the driving wheel module, the follower wheel module and the returning module are mechanically disposed on the vehicle body;
  • the control module is configured to control travel and steering of the four-wheel balance vehicle
  • the pedal module includes a first pedal and a second pedal, which are arranged side by side in the traveling direction of the four-wheel balance vehicle body; and is configured to support the stepping of the human foot and provide the traveling and steering indication actions of the four-wheel balance vehicle;
  • the support module is mechanically coupled to the first pedal and the second pedal, and the first pedal and the second pedal are respectively rotated by the support module;
  • the displacement detecting module includes a first displacement detecting device and a second displacement detecting device respectively disposed on the first pedal and the second pedal, respectively, for detecting displacement of the first pedal and the second pedal respectively by the supporting module as an axis the amount;
  • the driving wheel module includes a first driving wheel and a second driving wheel, respectively disposed under the first pedal and the second pedal, for providing the four-wheel balance vehicle traveling and steering power, the first driving The wheel and the second drive wheel are driven by a motor;
  • the follower wheel module includes a first follower wheel and a second follower wheel respectively disposed under the first pedal and the second pedal respectively; and the traveling direction of the four-wheel balance vehicle is respectively mechanically disposed on the first drive a wheel, a rear of the second driving wheel; for following the driving wheel movement, balancing the four-wheel balancing vehicle;
  • the returning module is disposed under the first pedal and the second pedal, and is used for the first pedal and the second pedal to return to the original position after the pedaling motion;
  • the movement process of the four-wheel balance vehicle is: the pedal module detects that an operator is on the vehicle body, and steps on the first pedal and the second pedal, and the first pedal and the second pedal respectively support the module according to the stepping motion of the operator.
  • the first detecting device and the second detecting device respectively detect the motion displacement amounts of the first pedal and the second pedal, and Feedback to the control module, the control module controls the travel and steering of the first drive wheel and the second drive wheel according to the settings;
  • the four-wheel balancing vehicle travel is realized, and if the speed is different, the steering of the four-wheel balancing vehicle is realized;
  • the return module returns to the original position after the first pedal and the second pedal are stepped on.
  • the first pedal and the second pedal are adapted to be stepped on the entire sole of the human body, and the support module is mechanically disposed under the first pedal and the second pedal, and the first pedal and the second pedal may respectively be supported by the supporting module.
  • the return module is located below at least one side of the first pedal and the second pedal.
  • the support module is located at a first pedal, and the second pedal is mechanically disposed at a front end position of the center line of the four-wheel balance vehicle traveling direction.
  • the pedal module further includes a fixed pedal, the fixed pedal is disposed at a rear end of the plane of the four-wheel balance vehicle traveling direction, and is configured to be suitable for stepping on the hind paw of the human body; the first pedal and the second The pedals are respectively mechanically connected to the support module on the contact side with the fixed pedal, or the first pedal and the second pedal are mechanically connected to the fixed pedal through the support module; the first pedal and the second pedal are used for the forefoot of the human body Stepping on, the return module is located below one side of the first pedal and the second pedal.
  • the four-wheel balancing vehicle travel is realized, and if the speed is different, the steering of the four-wheel balancing vehicle is realized;
  • the initial value of the speed of the driving wheel module of the four-wheel balance vehicle is set; the initial position of the first pedal and the second pedal is set; and the rotational displacement of the first pedal and the second pedal Corresponding to the linear speeds of the first driving wheel and the second driving wheel respectively; when the displacement amount is increased, the corresponding linear speed is correspondingly increased, and vice versa;
  • the first driving wheel and the second driving wheel are operated. Otherwise, if the displacement amount of the first pedal and the second pedal is less than the initial position, the first driving wheel and the second driving wheel are second. The drive wheel does not move.
  • the first detecting device and the second detecting device comprise a displacement magnet and a Hall element
  • the displacement magnet is mechanically disposed on the first pedal and the second pedal for using the first pedal and the second pedal
  • the support module is synchronously operated for the rotation of the shaft, and the Hall element is for detecting the amount of movement displacement of the displacement magnet.
  • the displacement magnet is a magnetic bar that is mechanically disposed at a position other than the support module, and the Hall element detects a linear displacement of the magnetic bar.
  • the displacement magnet is a magnetic cake, which is mechanically disposed at the position of the support module, and can be circumferentially moved as the first pedal and the second pedal respectively rotate with the support module as an axis, and the Hall element detects the angular displacement of the magnetic cake.
  • the first displacement detecting device and the second displacement detecting device are laser displacement detecting devices.
  • the first driving wheel and the second driving wheel are driven by a stepping motor or a servo motor.
  • the first follower wheel and the second follower wheel are universal wheels.
  • the invention adopts a four-wheel balancing scheme in which two driving wheels and two follower wheels are matched for the design of the balance car, which greatly simplifies the balance design of the balance car, and adopts the pedal displacement detection.
  • the method of measuring to identify the balance car travel and steering instructions, simple design, high control accuracy, good stability, and simpler operation, suitable for all types of people.
  • Figure 1 is a schematic view of a four-wheel balance car based on displacement detection
  • FIG. 2 is a schematic diagram of a first and second embodiment of a four-wheel balance vehicle based on displacement detection
  • Figure 3 is a second schematic diagram of a four-wheel balance car based on displacement detection
  • FIG. 4 is a schematic diagram of the principle of a four-wheel balance vehicle displacement detecting module based on displacement detection.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • a four-wheel balance vehicle based on displacement detection includes a vehicle body 13, a control module 27, a pedal module, a support module 26, a displacement detecting module, a driving wheel module, a follower wheel module, and a return module. 25.
  • the control module 27, the drive wheel module, the follower wheel module, the pedal module, and the support module 26 are mechanically mounted on the vehicle body.
  • the control module 27 is configured to control the travel and steering of the four-wheel balance vehicle.
  • the pedal module includes a first pedal 11 and a second pedal 12, which are arranged side by side in the traveling direction of the four-wheel balance vehicle body; and is used for supporting the stepping of the human foot and providing the traveling and steering instruction actions of the four-wheel balance vehicle.
  • the first pedal 11 and the second pedal 12 are adapted to be stepped on the entire sole of the human body.
  • the support module 26 is mechanically disposed on the first pedal 11 and the second pedal 12, and the first pedal 11 and the second pedal 12 can respectively support
  • the module 26 moves the shaft in the form of a seesaw, and the return module 25 is located below the first pedal 11 and the second pedal 12 Both sides of the module 26 are used for the first pedal 11 and the second pedal 12 to return to the position after being stepped on.
  • the displacement detecting module includes a first displacement detecting device and a second displacement detecting device respectively disposed under the first pedal 11 and the second pedal 12 for detecting the first pedal 11 and the second pedal 12 respectively to support the module 26 The amount of displacement for the shaft to rotate.
  • the pedal module rotates with the support module 26 as an axis
  • the first detecting device and the second detecting device can be set in two ways:
  • Method 1 the first detecting device and the second detecting device comprise a magnetic bar C and a Hall element;
  • the magnetic bar C is disposed at one end of the pedal module, and a hole H is disposed on the vehicle body 13.
  • the hole H is used for the passage of the magnetic bar C.
  • the magnetic bar C can synchronously move with the action of the pedal module, and the Hall element is disposed in the hole H. And used to detect the magnetic flux change of the magnetic bar C, and then feedback the magnetic flux change amount to the control module 27, and the control module 27 calculates the change of the displacement amount of the pedal module, thereby controlling the movement of the drive wheel module.
  • Method 2 the first detecting device and the second detecting device comprise a magnetic cake C and a Hall element;
  • the magnetic cake C is disposed on the support module 26, and a hole H is disposed on the vehicle body 13.
  • the hole H is used for the operation of the magnetic cake C, and the magnetic cake C can rotate synchronously with the pedal module rotating with the support module 26 as an axis.
  • the Hall element is disposed in the hole H and used to detect the change of the magnetic flux of the magnetic cake C, thereby feeding back the amount of change of the magnetic flux to the control module 27.
  • the control module 27 calculates the angular displacement change of the pedal module, thereby controlling the movement of the driving wheel module. .
  • the support module 26 is located at the front end position of the pedal module extending in the traveling direction of the four-wheel balance vehicle.
  • the schematic diagram is shown in FIG. 4 .
  • the driving wheel module includes a first driving wheel 21 and a second driving wheel 22, respectively mechanically And disposed under the first pedal 11 and the second pedal 12 for providing the four-wheel balance vehicle traveling and steering power, wherein the first driving wheel 21 and the second driving wheel 22 are driven by a motor, preferably, A driving wheel 21 and a second driving wheel 22 may also be servo motors or stepping motors for improving the control precision of the four-wheel balancing vehicle.
  • the following wheel module includes a first follower wheel 23 and a second follower wheel 24.
  • the first follower wheel 23 and the second follower wheel 24 are specifically a universal wheel, respectively disposed under the first pedal 11 and the second pedal. 12; and extending the four-wheel balance vehicle traveling direction is respectively disposed behind the first driving wheel 21 and the second driving wheel 22; for following the driving wheel movement, balancing the four-wheel balancing vehicle.
  • the returning module 25 is disposed under the first pedal 11 and the second pedal 12 for returning the first pedal 11 and the second pedal 12 to the original position after the pedaling motion, and the returning module 25 can be a spring.
  • the movement process of the four-wheel balance vehicle is: the pedal module detects that an operator is on the vehicle body, and steps on the first pedal 11 and the second pedal 12, and the first pedal 11 and the second pedal 12 are different according to the stepping motion of the operator.
  • the first detecting device and the second detecting device respectively detect the motion displacement amounts of the first pedal 11 and the second pedal 12, and feed back to the control module 27, and the control module 27 controls the first according to the settings.
  • the specific control manner is: setting an initial value of the driving speed of the four-wheel balance vehicle driving wheel module; setting an initial position of the first pedal 11 and the second pedal 12; respectively, the rotational displacement amounts of the first pedal 11 and the second pedal 12 respectively correspond to The linear velocity of the first driving wheel and the second driving wheel; when the displacement amount is increased, the corresponding linear velocity is correspondingly increased, and vice versa.
  • the four-wheel balance car travel is achieved, and if there is a difference in speed, the steering of the four-wheel balance vehicle is achieved.
  • the returning module 25 returns to the original position after the first pedal 11 and the second pedal 12 are stepped on, wherein the returning module 25 is a spring.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • Embodiment 2 differs from Embodiment 1 only in that the pedal module further includes a fixed pedal 33, and the fixed pedal 33 is located at a rear end of the four-wheel balance vehicle traveling direction plane of the pedal module.
  • the setting (as shown in FIG. 3 ) is suitable for stepping on the hind paw of the human body; the first pedal 31 and the second pedal 32 are respectively mechanically connected to the support module on the vehicle body on the contact side with the fixed pedal 33; The first pedal 31 and the second pedal 32 can be mechanically connected to the fixed pedal through the supporting module.
  • the form of the supporting module can be a hinge; the second form of the supporting module can be a rotating shaft integrally designed with the fixed pedal, the first pedal 31, The second pedal 32 can be directly engaged with the rotating shaft; the first pedal 31 and the second pedal 32 are adapted to be stepped on the forefoot of the human body, and the returning module is located at the first pedal 31 and the second pedal 32. Below one side, the first pedal 31 and the second pedal 32 are returned to the original position after being stepped on.
  • the first detecting device and the second detecting device in the first embodiment include a magnetic bar C and a Hall element; the magnetic bar C is disposed at one end of the pedal module, and a hole H is provided on the vehicle body 13, and the hole H is used for the magnetic bar C Passing, the magnetic rod C can move synchronously with the action of the pedal module.
  • the Hall element is disposed in the hole H and is used for detecting the change of the magnetic flux of the magnetic bar C, thereby feeding back the amount of change of the magnetic flux to the control module 27.
  • the control module 27 calculates the change of the displacement amount of the pedal module, thereby controlling the movement of the drive wheel module. This method is also suitable in the second embodiment.
  • the first detecting device and the second detecting device in the first embodiment include a magnetic cake C and a Hall element; the magnetic cake C is disposed on the supporting module 26, and a hole H is provided on the vehicle body 13, and the hole H is used for the magnetic cake.
  • the magnetic cake C can be synchronously rotated with the pedal module rotating with the support module 26 as an axis, and the Hall element is disposed in the hole H and used to detect the magnetic flux change of the magnetic cake C, thereby feeding back the magnetic flux change amount to the control.
  • the module 27, the control module 27 calculates the angular displacement amount change of the pedal module, thereby controlling the movement of the driving wheel module; the method is also applicable to the second embodiment.
  • the detection module described in Embodiments 1 and 2 detects the displacement amount of the pedal module by the Hall element, and other methods for detecting the displacement amount of the pedal module, such as detecting the displacement by the laser ranging method, are included in the patent scheme of the present invention.

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Abstract

一种基于位移检测的四轮平衡车，包括车体（13）、控制模块（27）、踏板模块、支撑模块（26）、位移检测模块、驱动轮模块、随动轮模块、回位模块（25）；踏板模块检测到有操作人员在车体（13）上，并踩踏第一踏板（11）及第二踏板（12），第一踏板（11）、第二踏板（12）根据操作人员的踩踏动作不同分别以支撑模块（26）为轴运动，第一检测装置及第二检测装置分别检测到第一踏板（11）及第二踏板（12）的运动位移量，并反馈给控制模块（27），控制模块（27）根据设置分别控制第一驱动轮（21）及第二驱动轮（22）的行进及转向；如果第一驱动轮（21）与第二驱动轮（22）速度相同则实现四轮平衡车行进，如果速度有差异则实现四轮平衡车的转向。该四轮平衡车设计简单，控制精度高，稳定性好，操作简单，适用人群广。

Description

一种基于位移检测的四轮平衡车 【技术领域】
本发明涉及平衡车领域，特别涉及一种基于位移检测的四轮平衡车。
【背景技术】
传统的平衡车一般采用两轮，通过陀螺仪检测车体状态，进而通过控制装置驱动伺服电机或者步进电机调整车辆平衡及识别车辆行进操作，该类平衡车无论对于车体平衡的调整设计及车体行进及转向设计的复杂度都比较高，且造成车辆成本高，车辆能源消耗也高。
部分四轮平衡车方案控制精度差、稳定性不好、存在安全隐患、适用人群受到限制。
【发明内容】
有鉴于此，本发明提出一种基于位移检测的四轮平衡车，旨在简化平衡车的平衡设计及行进、转向设计。
本发明的技术方案如下：
一种基于位移检测的四轮平衡车，包括车体、控制模块、踏板模块、支撑模块、位移检测模块、驱动轮模块、随动轮模块、回位模块；
所述控制模块、踏板模块、支撑模块、位移检测模块、驱动轮模块、随动轮模块、回位模块机械设置于车体上；
所述控制模块用于控制所述四轮平衡车的行进及转向；
所述踏板模块包括第一踏板、第二踏板，延所述四轮平衡车车体行进方向并列设置；用于支撑人体脚掌踩踏及提供所述四轮平衡车的行进及转向指示动作；
所述支撑模块与第一踏板、第二踏板机械连接，第一踏板、第二踏板分别以支撑模块为轴转动；
所述位移检测模块包括第一位移检测装置、第二位移检测装置，分别机械设置于第一踏板、第二踏板周边，用于检测第一踏板、第二踏板分别以支撑模块为轴转动的位移量；
所述驱动轮模块包括第一驱动轮、第二驱动轮，分别机械设置于所述第一踏板、第二踏板下方，用于提供所述四轮平衡车行进及转向动力，所述第一驱动轮、第二驱动轮由电机驱动；
所述随动轮模块包括第一随动轮、第二随动轮，分别机械设置于所述第一踏板、第二踏板下方；并延所述四轮平衡车行进方向分别机械设置于所述第一驱动轮、第二驱动轮后方；用于跟随驱动轮运动，对所述四轮平衡车起平衡作用；
所述回位模块设置于第一踏板、第二踏板的下方，用于第一踏板、第二踏板在踩踏运动后回复原位；
所述四轮平衡车运动过程为：踏板模块检测到有操作人员在车体上，并踩踏第一踏板及第二踏板，第一踏板、第二踏板根据操作人员的踩踏动作不同分别以支撑模块为轴运动，第一检测装置及第二检测装置分别检测到第一踏板及第二踏板的运动位移量，并 反馈给控制模块，控制模块根据设置分别控制第一驱动轮及第二驱动轮的行进及转向；
如果第一驱动轮与第二驱动轮速度相同则实现所述四轮平衡车行进，如果速度有差异则实现所述四轮平衡车的转向；
回位模块则在第一踏板、第二踏板经踩踏后回复原位。
优选地，所述第一踏板、第二踏板适合于人体整个脚掌踩踏，所述支撑模块机械设置于第一踏板、第二踏板下方，第一踏板、第二踏板可以分别以支撑模块为轴以跷跷板形式运动，所述回位模块位于第一踏板、第二踏板的至少一侧下方。
更具体地，所述支撑模块位于第一踏板、第二踏板延所述四轮平衡车行进方向中心线靠前端位置机械设置。
优选地，所述踏板模块还包括固定踏板，所述固定踏板位于踏板模块延所述四轮平衡车行进方向平面后端设置，用于适合于人体后脚掌踩踏；所述第一踏板、第二踏板在与固定踏板接触侧分别与支撑模块机械连接，或者所述第一踏板、第二踏板可通过支撑模块与固定踏板机械连接；所述第一踏板、第二踏板用于适合于人体前脚掌踩踏，所述回位模块位于第一踏板、第二踏板的一侧下方。
优选地，如果第一驱动轮与第二驱动轮速度相同则实现所述四轮平衡车行进，如果速度有差异则实现所述四轮平衡车的转向；
具体为：设定所述四轮平衡车驱动轮模块速度初始值；设定第一踏板、第二踏板的初始位置；第一踏板、第二踏板的转动位移量 分别对应第一驱动轮、第二驱动轮的线性速度；所述位移量增大则对应线性速度对应增大，反之亦然；
第一踏板、第二踏板的位移量大于初始位置，则第一驱动轮、第二驱动轮动作，反之，第一踏板、第二踏板的位移量小于初始位置，则第一驱动轮、第二驱动轮不动作。
优选地，所述第一检测装置、第二检测装置包括位移磁体、霍尔元件，所述位移磁体机械设置于第一踏板、第二踏板上，用于随着第一踏板、第二踏板以支撑模块为轴的转动而同步动作，所述霍尔元件用于检测所述位移磁体的动作位移量。
更具体地，所述位移磁体为磁棒，机械设置于支撑模块以外位置，霍尔元件检测磁棒的直线位移。
更具体地，所述位移磁体为磁饼，机械设置于支撑模块位置，可随着第一踏板、第二踏板分别以支撑模块为轴转动而呈圆周动作，霍尔元件检测磁饼的角位移。
优选地，所述第一位移检测装置、第二位移检测装置为激光位移检测装置，。
优选地，所述第一驱动轮、第二驱动轮由步进电机或伺服电机驱动。
优选地，所述第一随动轮、第二随动轮为万向轮。
【有益效果】
本发明对平衡车的设计采用两个驱动轮与两个随动轮配合的四轮平衡方案，大大简化了平衡车的平衡设计，且采用对踏板位移检 测的方式来识别平衡车行进及转向指令，设计简单，控制精度高，稳定性好，操作也更为简单，适用于各类人群。
【附图说明】
图1为基于位移检测的四轮平衡车实施方式一示意图a；
图2为基于位移检测的四轮平衡车实施方式一、二示意图b；
图3为基于位移检测的四轮平衡车实施方式二示意图a；
图4为基于位移检测的四轮平衡车位移检测模块原理示意图。
【具体实施方式】
实施方式一：
如图1、2所示，一种基于位移检测的四轮平衡车，包括车体13、控制模块27、踏板模块、支撑模块26、位移检测模块、驱动轮模块、随动轮模块、回位模块25。
所述控制模块27、驱动轮模块、随动轮模块、踏板模块、支撑模块26机械安装于车体上。
所述控制模块27用于控制所述四轮平衡车的行进及转向。
所述踏板模块包括第一踏板11、第二踏板12，延所述四轮平衡车车体行进方向并列设置；用于支撑人体脚掌踩踏及提供所述四轮平衡车的行进及转向指示动作。
所述第一踏板11、第二踏板12适合于人体整个脚掌踩踏，所述支撑模块26机械设置于第一踏板11、第二踏板下方12，第一踏板11、第二踏板12可以分别以支撑模块26为轴以跷跷板形式运动，所述回位模块25位于第一踏板11、第二踏板12的下方支撑 模块26两侧，用于第一踏板11、第二踏板12在踩踏后回位。
所述位移检测模块包括第一位移检测装置、第二位移检测装置，分别机械设置于第一踏板11、第二踏板12下方，用于检测第一踏板11、第二踏板12分别以支撑模块26为轴转动的位移量。
如图4所示，踏板模块以支撑模块26为轴转动，第一检测装置、第二检测装置可以两种方式设置：
方式一：第一检测装置、第二检测装置包括磁棒C、霍尔元件；
磁棒C设置于踏板模块一端，并在车体13上设置孔H,孔H用于磁棒C的通过,磁棒C可随踏板模块的动作而同步动作，霍尔元件设置于孔H中并用于检测磁棒C的磁通量变化，进而将磁通量变化量反馈给控制模块27，控制模块27通过计算得出踏板模块的移动位移量变化，进而控制驱动轮模块运动。
方式二：第一检测装置、第二检测装置包括磁饼C、霍尔元件；
磁饼C设置与支撑模块26上，并在车体13上设置孔H，孔H用于磁饼C动作时通过，磁饼C可随踏板模块以支撑模块26的为轴转动而同步转动，霍尔元件设置与孔H中并用于检测磁饼C的磁通量变化，进而将磁通量变化量反馈给控制模块27，控制模块27通过计算得出踏板模块的角位移量变化，进而控制驱动轮模块运动。
其中方式一及方式二中，支撑模块26位于踏板模块延所述四轮平衡车行进方向中心线靠前端位置机械设置，其示意图如图4所示。
所述驱动轮模块包括第一驱动轮21、第二驱动轮22，分别机械设 置于所述第一踏板11、第二踏板12下方，用于提供所述四轮平衡车行进及转向动力，所述第一驱动轮21、第二驱动轮22由电机驱动，优选地，第一驱动轮21、第二驱动轮22还可为伺服电机或步进电机，用于提高所述四轮平衡车的控制精度。
所述随动轮模块包括第一随动轮23、第二随动轮24，第一随动轮23、第二随动轮24具体为万向轮，分别机械设置于所述第一踏板11、第二踏板下方12；并延所述四轮平衡车行进方向分别机械设置于所述第一驱动轮21、第二驱动轮22后方；用于跟随驱动轮运动，对所述四轮平衡车起平衡作用。
所述回位模块25设置于第一踏板11、第二踏板12的下方，用于第一踏板11、第二踏板12在踩踏运动后回复原位，所述回位模块25可为弹簧。
所述四轮平衡车运动过程为：踏板模块检测到有操作人员在车体上，并踩踏第一踏板11及第二踏板12，第一踏板11、第二踏板12根据操作人员的踩踏动作不同分别以支撑模块26为轴运动，第一检测装置及第二检测装置分别检测到第一踏板11及第二踏板12的运动位移量，并反馈给控制模块27，控制模块27根据设置分别控制第一驱动轮21及第二驱动轮22的行进及转向。
具体控制方式为：设定所述四轮平衡车驱动轮模块速度初始值；设定第一踏板11、第二踏板12的初始位置；第一踏板11、第二踏板12的转动位移量分别对应第一驱动轮、第二驱动轮的线性速度；所述位移量增大则对应线性速度对应增大，反之亦然。
第一踏板11、第二踏板12的位移量大于初始位置，则第一驱动轮21、第二驱动轮22动作，反之，第一踏板11、第二踏板12的位移量小于初始位置，则第一驱动轮21、第二驱动22轮不动作。
如果第一驱动轮21与第二驱动22轮速度相同则实现所述四轮平衡车行进，如果速度有差异则实现所述四轮平衡车的转向。
回位模块25则在第一踏板11、第二踏板12经踩踏后回复原位，其中回位模块25为弹簧。
实施方式二：
如图2、3所示，实施方式二与实施方式一的区别仅在于：所述踏板模块还包括固定踏板33，所述固定踏板33位于踏板模块延所述四轮平衡车行进方向平面后端设置(具体如图3所示)，用于适合于人体后脚掌踩踏；所述第一踏板31、第二踏板32在与固定踏板33接触侧分别与支撑模块在车体上机械连接；或者所述第一踏板31、第二踏板32可通过支撑模块与固定踏板机械连接，支撑模块的形式一可为合页；支撑模块的形式二可为与固定踏板一体设计的转轴，第一踏板31、第二踏板32可直接卡合在所述转轴上；所述第一踏板31、第二踏板32用于适合于人体前脚掌踩踏，所述回位模块位于第一踏板31、第二踏板32的一侧下方，用于第一踏板31、第二踏板32在经踩踏后回复原位。
实施方式一中所述第一检测装置、第二检测装置包括磁棒C、霍尔元件；磁棒C设置于踏板模块一端，并在车体13上设置孔H,孔H用于磁棒C的通过,磁棒C可随踏板模块的动作而同步动作， 霍尔元件设置于孔H中并用于检测磁棒C的磁通量变化，进而将磁通量变化量反馈给控制模块27，控制模块27通过计算得出踏板模块的移动位移量变化，进而控制驱动轮模块运动；该方式同样适合于在实施方式二中。
实施方式一中所述第一检测装置、第二检测装置包括磁饼C、霍尔元件；磁饼C设置与支撑模块26上，并在车体13上设置孔H，孔H用于磁饼C动作时通过，磁饼C可随踏板模块以支撑模块26的为轴转动而同步转动，霍尔元件设置与孔H中并用于检测磁饼C的磁通量变化，进而将磁通量变化量反馈给控制模块27，控制模块27通过计算得出踏板模块的角位移量变化，进而控制驱动轮模块运动；该方式同样适用于实施方式二中。
实施方式一、二中所述检测模块为通过霍尔元件检测踏板模块的位移量，其他的针对踏板模块的位移量检测方式如激光测距方式检测位移等方式均包括在本发明专利方案中。
以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施方式只局限于这些说明。对于本发明所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下做出若干等同替代或明显变形，而且性能或用途相同，都应视为本发明由所提交的权利要求书确定的专利保护范围。

Claims (10)

  1. 一种基于位移检测的四轮平衡车，其特征在于：包括车体、控制模块、踏板模块、支撑模块、位移检测模块、驱动轮模块、随动轮模块、回位模块；
    所述控制模块、驱动轮模块、随动轮模块、踏板模块、支撑模块、回位模块机械设置于车体上；
    所述控制模块用于控制所述四轮平衡车的行进及转向；
    所述踏板模块包括第一踏板、第二踏板，延所述四轮平衡车车体行进方向并列设置；用于支撑人体脚掌踩踏及提供所述四轮平衡车的行进及转向指示动作；
    所述支撑模块与第一踏板、第二踏板机械连接，第一踏板、第二踏板分别以支撑模块为轴转动；
    所述位移检测模块包括第一位移检测装置、第二位移检测装置，分别机械设置于第一踏板、第二踏板周边，用于检测第一踏板、第二踏板分别以支撑模块为轴转动的位移量；
    所述驱动轮模块包括第一驱动轮、第二驱动轮，分别机械设置于所述第一踏板、第二踏板下方，用于提供所述四轮平衡车行进及转向动力，所述第一驱动轮、第二驱动轮由电机驱动；
    所述随动轮模块包括第一随动轮、第二随动轮，分别机械设置于所述第一踏板、第二踏板下方；并延所述四轮平衡车行进方向分别机械设置于所述第一驱动轮、第二驱动轮后方；用于跟随驱动轮运动，对所述四轮平衡车起平衡作用；
    所述回位模块设置于第一踏板、第二踏板的下方，用于第一踏板、第二踏板在踩踏运动后回复原位；
    所述四轮平衡车运动过程为：踏板模块检测到有操作人员在车体上，并踩踏第一踏板及第二踏板，第一踏板、第二踏板根据操作人员的踩踏动作不同分别以支撑模块为轴运动，第一检测装置及第二检测装置分别检测到第一踏板及第二踏板的运动位移量，并反馈给控制模块，控制模块根据设置分别控制第一驱动轮及第二驱动轮的行进及转向；
    如果第一驱动轮与第二驱动轮速度相同则实现所述四轮平衡车行进，如果速度有差异则实现所述四轮平衡车的转向；
    回位模块则在第一踏板、第二踏板经踩踏后回复原位。
  2. 如权利要求1所述基于位移检测的四轮平衡车，其特征在于：所述第一踏板、第二踏板适合于人体整个脚掌踩踏，所述支撑模块机械设置于第一踏板、第二踏板下方，第一踏板、第二踏板可以分别以支撑模块为 轴以跷跷板形式运动，所述回位模块位于第一踏板、第二踏板的至少一侧下方。
  3. 如权利要求3所述基于位移检测的四轮平衡车，其特征在于：所述支撑模块位于第一踏板、第二踏板延所述四轮平衡车行进方向中心线靠前端位置机械设置。
  4. 如权利要求1所述基于位移检测的四轮平衡车，其特征在于：所述踏板模块还包括固定踏板，所述固定踏板位于踏板模块延所述四轮平衡车行进方向平面后端设置，用于适合于人体后脚掌踩踏；所述第一踏板、第二踏板在与固定踏板接触侧分别与支撑模块机械连接，或者所述第一踏板、第二踏板可通过支撑模块与固定踏板机械连接；所述第一踏板、第二踏板用于适合于人体前脚掌踩踏，所述回位模块位于第一踏板、第二踏板的一侧下方。
  5. 如权利要求1或2或4所述基于位移检测的四轮平衡车，其特征在于：如果第一驱动轮与第二驱动轮速度相同则实现所述四轮平衡车行进，如果速度有差异则实现所述四轮平衡车的转向；
    具体为：设定所述四轮平衡车驱动轮模块速度初始值；设定第一踏板、第二踏板的初始位置；第一踏板、第二踏板的转动位移量分别对应第一驱动轮、第二驱动轮的线性速度；所述位移量增大则对应线性速度对应 增大，反之亦然；
    第一踏板、第二踏板的位移量大于初始位置，则第一驱动轮、第二驱动轮动作，反之，第一踏板、第二踏板的位移量小于初始位置，则第一驱动轮、第二驱动轮不动作。
  6. 如权利要求1或2或4所述基于位移检测的四轮平衡车，其特征在于：所述第一检测装置、第二检测装置包括位移磁体、霍尔元件，所述位移磁体机械设置于第一踏板、第二踏板上，用于随着第一踏板、第二踏板以支撑模块为轴的转动而同步动作，所述霍尔元件用于检测所述位移磁体的动作位移量。
  7. 如权利要求6所述基于位移检测的四轮平衡车，其特征在于：所述位移磁体为磁棒，机械设置于支撑模块以外位置，霍尔元件检测磁棒的直线位移。
  8. 如权利要求6所述基于位移检测的四轮平衡车，其特征在于：所述位移磁体为磁饼，机械设置于支撑模块位置，可随着第一踏板、第二踏板分别以支撑模块为轴转动而呈圆周动作，霍尔元件检测磁饼的角位移。
  9. 如权利要求1或2或4所述基于位于检测的四轮平衡车，其特征在于：所述第一位移检测装置、第二位移检测装置为激光位移检测装置。
  10. 如权利要求1或2或4所述基于位于检测的四轮平 衡车，其特征在于：所述第一随动轮、第二随动轮为万向轮。
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CN105329387A (zh) * 2015-12-01 2016-02-17 杭州骑客智能科技有限公司 电动平衡车
CN105652881A (zh) * 2016-03-21 2016-06-08 深圳市踏路科技有限公司 一种基于位移检测的四轮平衡车

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