WO2017162125A1 - 一种基于重力重心检测的四轮平衡车 - Google Patents

一种基于重力重心检测的四轮平衡车 Download PDF

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Publication number
WO2017162125A1
WO2017162125A1 PCT/CN2017/077364 CN2017077364W WO2017162125A1 WO 2017162125 A1 WO2017162125 A1 WO 2017162125A1 CN 2017077364 W CN2017077364 W CN 2017077364W WO 2017162125 A1 WO2017162125 A1 WO 2017162125A1
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gravity
center
wheel balance
wheel
control module
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PCT/CN2017/077364
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English (en)
French (fr)
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曾逸
刘耀金
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深圳市踏路科技有限公司
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Publication of WO2017162125A1 publication Critical patent/WO2017162125A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • 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
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/12—Static balancing; Determining position of centre of gravity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/12—Static balancing; Determining position of centre of gravity
    • G01M1/122—Determining position of centre of gravity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the invention relates to the field of balance vehicles, in particular to a four-wheel balance vehicle based on gravity center of gravity 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 gravity center of gravity detection, which aims to simplify the balance design and travel and steering design of the balance vehicle.
  • a four-wheel balance vehicle based on gravity center of gravity detection comprising a vehicle body, a control module, a pedal, a power wheel module, and a gravity detecting module;
  • the control module, the pedal, the power wheel module, the gravity detecting module are mechanically disposed on the vehicle body;
  • the control module is configured to receive a gravity signal of the gravity detecting module, thereby controlling the traveling or steering of the power wheel module;
  • the power wheel module is located below the pedal, and includes four power wheels for receiving a control module power signal to drive the four-wheel balance vehicle to travel or turn;
  • the gravity detecting module is located under the pedal for detecting pedal gravity; the gravity detecting module includes four gravity sensors, and four directions under the pedal;
  • the gravity detection module detects the pedal gravity as:
  • Gravity detection module four sensors detect the gravity of the pedal in four directions and feed back to the control module;
  • the control module receives the gravity sensor four sensors to feed back the gravity of the pedal in four directions, and calculates the coordinate position of the gravity center of gravity on the detection plane; the gravity center of gravity is positive in the Y axis, and the control module controls the four-wheel balance vehicle to travel, gravity The center of gravity is positive in the X-axis, and the control module controls the four-wheel balance vehicle to turn right. The gravity center of gravity is negative in the X-axis direction, and the control module controls the four-wheel balance vehicle to turn left.
  • the control module receives four gravity sensors of the gravity module to feed back the gravity of the four directions of the pedal, and calculates a coordinate position of the gravity center of gravity on the detection plane; the gravity center of gravity is positive in the Y axis, and the control module controls the four-wheel balance vehicle.
  • the control module controls the four-wheel balance vehicle to turn right, and the gravity center of gravity is negative in the X-axis, and the control module controls the four-wheel balance vehicle to turn left;
  • the gravity detecting module detects that the pedal gravity is: setting a plane coordinate based on the pedal plane, the traveling direction of the four-wheel balance vehicle is a positive direction of the Y axis, and the Y axis of the right direction of the vertical traveling direction is The positive direction of the X axis; set the (X, Y) coordinate quadrant to the first quadrant, the (-X, Y) coordinate quadrant to the second quadrant, and the (-X, -Y) coordinate quadrant to the third quadrant, (X, - Y)
  • the coordinate quadrant is the fourth quadrant; the four gravity sensors are distributed in four quadrants, and the gravity sensors A, B, C, and D are sequentially in the four quadrant order, and the absolute values of the four gravity sensor readings are A.
  • the vector mapping of the four sensors in the four quadrants is recorded as A (A, A), B (-B, B), C (-C, -C), D (D, - D); then the center of gravity vector can be calculated by:
  • X AB-C+D
  • Y A+BCD
  • the center of gravity vector is the center of gravity vector
  • the origin of the center of gravity is taken as the center, and a radius is set on the detection plane with R as the radius, and the radius R can be set;
  • the four gravity sensors are distributed in four quadrants, and the gravity sensors A, B, C, and D are sequentially in four quadrant orders, and the absolute values of the four gravity sensor readings are A, B, and C, respectively.
  • D the vector mapping of the four sensors in the four quadrants is denoted as A (A, A), B (-B, B), C (-C, -C), D (D, -D);
  • the center of gravity vector can be calculated by:
  • X AB-C+D
  • Y A+BCD
  • the vector mapping of the sensors C and D in the third and fourth quadrants can be recorded as C(0, 0), D(0, 0), that is, the sensors C and D can be omitted; Calculated by:
  • the four-wheel balance car accelerates when Y>0; when the X>0, the four-wheel balance car turns right, and when X ⁇ 0, the four-wheel balance car turns left;
  • the control module controls the steering angle of the four-wheel balance vehicle to correspond to ⁇ , then Said
  • the y and x in the center are the X and Y coordinate values in the Center (X, Y); the control module controls the steering of the four-wheel balance vehicle according to the calculated ⁇ angle value.
  • the steering speed of the four-wheel balance car is a ratio corresponding to the following V:
  • ⁇ is the corresponding scale factor
  • the power wheel comprises: two driving wheels and two following wheels, the two driving wheels are located in front of the two following wheels in the direction of travel of the four-wheel balancing vehicle; the driving wheels are driven by a motor,
  • the follower wheel is a universal wheel;
  • the control module controls the driving or steering of the two driving wheels to control the traveling or steering of the four-wheel balancing vehicle; specifically, the control module controls the speeds of the two driving wheels, and the speed is consistent, and the four-wheel balancing vehicle travels, The four-wheel balance car turns when there is a difference in speed.
  • the drive wheel can be a stepper motor or a servo motor drive.
  • the four-wheel balance vehicle further includes a shock absorbing module located around the four gravity sensors of the gravity detecting module.
  • the design of the balance car adopts a four-wheel balance scheme in which two driving wheels and two follower wheels cooperate, which greatly simplifies the balance design of the balance car, and adopts the gravity detection method to identify the balance car travel and steering command, and the design is simple. It has high control precision, good stability and simple operation, and is suitable for all kinds of people.
  • Figure 1 is a schematic diagram of a four-wheel balance car based on gravity detection a
  • Figure 2 is a schematic diagram of a four-wheel balance car based on gravity detection b;
  • FIG. 3 is a schematic diagram of a gravity center of gravity calculation based on gravity detection
  • Figure 4 is a flow chart of the principle of four-wheel balance vehicle control based on gravity detection.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • a four-wheel balance vehicle based on gravity center of gravity detection includes a vehicle body 14, a control module 23, a pedal 11, a power wheel module, and a gravity detecting module.
  • the control module 23, the pedal 11, the power wheel module, and the gravity detecting module are mechanically disposed on the vehicle body 14.
  • the control module 23 is configured to receive a gravity signal of the gravity detecting module, thereby controlling the traveling or steering of the power wheel module.
  • the power wheel module is located below the pedal 11, and includes four power wheels for receiving a power signal of the control module 23 to drive the four-wheel balance vehicle to travel or turn;
  • the power wheel includes: two driving wheels (one of the The driving wheel is shown in Figure 1 and Figure 2, 12), two follower wheels (one of which is shown in Figure 1 and Figure 3), and the two driving wheels are located in the direction of travel of the four-wheeled balance car.
  • the front of the moving wheel; the driving wheel is driven by a motor, and the following wheel is a universal wheel.
  • the control module controls the driving or steering of the two driving wheels to control the traveling or steering of the four-wheel balancing vehicle; specifically, the control module controls the speeds of the two driving wheels, and the four-wheel balancing vehicle travels when the speed is consistent.
  • the four-wheel balance car is turned by the difference in speed.
  • the gravity detecting module is located below the pedal 11 for detecting the gravity of the pedal 11; the gravity detecting module includes four gravity sensors (one of the gravity sensors is shown in FIG. 2), and is located on the pedal Four orientations below the board 11.
  • the gravity detecting module detects the pedal gravity as:
  • the detection plane is set, and the traveling direction of the four-wheel balance vehicle is set to the X-axis forward direction and the vertical X-axis is the Y-axis in the detection plane, and the right-turning direction of the four-wheel balance vehicle is the Y-axis forward direction.
  • the origin of the center of gravity of the detection plane is set, and the origin of the center of gravity of the detection plane is the origin of the detection plane coordinate.
  • the four sensors detect the gravity of the pedal in four directions and feed back to the control module 23.
  • the control module 23 receives the gravity sensor four sensors to feed back the gravity readings of the four directions of the pedal, and calculates the coordinate position of the gravity center of gravity on the detection plane; the gravity center of gravity is positive in the Y axis, and the control module controls the four-wheel balance vehicle to travel.
  • the gravity center of gravity is positive in the X-axis, and the control module controls the four-wheel balance vehicle to turn right.
  • the gravity center of gravity is negative in the X-axis, and the control module controls the four-wheel balance vehicle to turn left; further calculates the speed of the two driving wheels.
  • the control module controls the drive wheel to travel or steer and compares the monitored drive wheel travel or steering results with the read gravity sensor readings.
  • the gravity detecting module detects the gravity of the pedal 11 as: setting a plane coordinate based on the pedal plane, and the traveling direction of the four-wheel balance vehicle is a positive direction of the Y axis, and is vertical.
  • the Y axis in the right direction of the traveling direction is the positive direction of the X axis; the (X, Y) coordinate quadrant is set to the first quadrant, the (-X, Y) coordinate quadrant is the second quadrant, and the (-X, -Y) coordinate quadrant is In the third quadrant, the (X,-Y) coordinate quadrant is the fourth quadrant; the four gravity sensors are distributed in four quadrants, and the gravity sensors A, B, C, and D are sequentially in the four quadrant order, and the four gravityes
  • the absolute values of the sensor readings are A, B, C, and D.
  • the vector maps of the four sensors in the four quadrants are denoted as A(A, A), B(-B, B), C(-C,- C), D(D,-D); then the center of gravity vector can be calculated by:
  • X AB-C+D
  • Y A+BCD
  • a safety protection is set: when Y ⁇ 0, the power wheel module stops operating; the center of gravity center position is taken as the center, R is a radius in the detection plane to set a circumferential range, the radius R can be set, when the Center (X, Y) coordinate position is within the circumferential range, the power wheel module stops.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the difference between the second embodiment and the first embodiment is that the four gravity sensors in the first embodiment are distributed in four quadrants, and the gravity sensors A, B, C, and D are sequentially in four quadrant order, and the four gravityes are The absolute values of the sensor readings are A, B, C, and D.
  • the vector maps of the four sensors in the four quadrants are denoted as A(A, A), B(-B, B), C(-C,- C), D(D,-D); then the center of gravity vector can be calculated by:
  • X AB-C+D
  • Y A+BCD
  • the vector mapping of the gravity sensors C and D in the third and fourth quadrants can be recorded as C(0, 0), D(0, 0), that is, the sensors C and D can be omitted, so that
  • the gravity detection module only includes two gravity sensors A and B to achieve cost saving and control difficulty; the center of gravity vector can be calculated by:
  • the steering angle of the four-wheel balance vehicle in the first embodiment and the second embodiment is set as follows: setting the coordinate value of X and Y in the coordinates of Center (X, Y) and the angle of the X axis is ⁇ , and setting the control module to control four.
  • the steering angle of the wheel balancer corresponds to ⁇ , then Said
  • the y and x in the center are the X and Y coordinate values in the Center (X, Y); the control module controls the steering of the four-wheel balance vehicle according to the calculated ⁇ angle value.
  • the drive wheel can be a stepper motor or a servo motor drive for controlling the precise control of the drive wheel or steering of the drive wheel.
  • the four-wheel balance vehicle further includes a shock absorbing module located around the four gravity sensors of the gravity detecting module.

Abstract

一种基于重力重心检测的四轮平衡车，包括车体（14）、控制模块（23）、踏板（11）、动力轮模块、重力检测模块；控制模块（23）、踏板（11）、动力轮模块、重力检测模块机械设置与车体上（14）；控制模块（23）用于接收重力检测模块重力信号，进而控制动力轮模块行进或转向；动力轮模块位于踏板（11）的下方，包括四个动力轮（12，13），用于接收控制模块（23）动力信号，驱动四轮平衡车行进或转向；重力检测模块位于踏板（11）下方，用于检测踏板（11）重力；重力检测模块包括四个重力传感器（21），位于踏板（11）下方的四个方位。该四轮平衡车设计简单，控制精度高，稳定性好，操作简单，适用于各类人群。

Description

一种基于重力重心检测的四轮平衡车 【技术领域】
本发明涉及平衡车领域，特别涉及一种基于重力重心检测的四轮平衡车。
【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重力重心检测的四轮平衡车，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：
一种基于重力重心检测的四轮平衡车，包括车体、控制模块、踏板、动力轮模块、重力检测模块；
所述控制模块、踏板、动力轮模块、重力检测模块机械设置与车体上；
所述控制模块用于接收重力检测模块重力信号，进而控制动力轮模块行进或转向；
所述动力轮模块位于踏板的下方，包括四个动力轮，用于接收控制模块动力信号，驱动所述四轮平衡车行进或转向；
所述重力检测模块位于踏板下方，用于检测踏板重力；所述重力检测模块包括四个重力传感器，位于踏板下方的四个方位；
所述重力检测模块针对踏板重力检测为：
设定检测平面，在检测平面设定所述四轮平衡车行进方向为X轴正向，垂直X轴为Y轴，所述四轮平衡车右转方向为Y轴正向；
设定检测平面重心位置原点，所述检测平面重心位置原点为所述检测平面 坐标原点；
重力检测模块四个传感器检测踏板四个方向重力并反馈给控制模块；
控制模块接收重力模块四个传感器反馈所述踏板四个方向的重力，并计算出重力重心在检测平面的坐标位置；重力重心在Y轴正向则控制模块控制所述四轮平衡车行进，重力重心在X轴正向则控制模块控制所述四轮平衡车右转，重力重心在X轴负向则控制模块控制所述四轮平衡车左转。
优选地，控制模块接收重力模块四个传感器反馈所述踏板四个方向的重力，并计算出重力重心在检测平面的坐标位置；重力重心在Y轴正向则控制模块控制所述四轮平衡车行进，重力重心在X轴正向则控制模块控制所述四轮平衡车右转，重力重心在X轴负向则控制模块控制所述四轮平衡车左转；
具体为：所述重力检测模块针对踏板重力检测为：以踏板平面为基础设定一个平面坐标，以所述四轮平衡车行进方向为Y轴正方向，以垂直行进方向右侧方向Y轴为X轴正方向；设定(X,Y)坐标象限为第一象限，(-X,Y)坐标象限为第二象限，(-X,-Y)坐标象限为第三象限，(X,-Y)坐标象限为第四象限；四个重力传感器分布在四个象限中，依四个象限顺序依次为重力传感器A、B、C、D，所述四个重力传感器读数的绝对值依次为A、B、C、D,所述四个传感器在四个象限的向量映射记为A(A，A)，B(-B，B)，C(-C，-C)，D(D，-D)；则重心向量可通过计算得到：
Center(X,Y)＝((A-B-C+D),(A+B-C-D))
其中，X＝A-B-C+D，Y＝A+B-C-D；当Y>0时所述四轮平衡车加速；当X>0时所述四轮平衡车右转，X<0时所述四轮平衡车左转；
优选地，所述重心向量：
Center(X,Y)＝((A-B-C+D),(A+B-C-D))
其中，X＝A-B-C+D，Y＝A+B-C-D；
当Center(X,Y)坐标位于所述第三、第四象限时，即Y<0时，所述四轮平衡车刹车，动力轮模块停止转动。
更具体地，以所述重心位置原点为圆心，以R为半径在检测平面设定一个圆周范围，半径R可设置；
当Center(X,Y)坐标位于所述圆周范围内时，所述四轮平衡车刹车，动力轮模块停止转动；
优选地，所述四个重力传感器分布在四个象限中，依四个象限顺序依次为重力传感器A、B、C、D，所述四个重力传感器读数的绝对值依次为A、B、C、D,所述四个传感器在四个象限的向量映射记为A(A，A)，B(-B，B)，C(-C，-C)，D(D，-D)；则重心向量可通过计算得到：
Center(X,Y)＝((A-B-C+D),(A+B-C-D))
其中，X＝A-B-C+D，Y＝A+B-C-D；当Y>0时所述四轮平衡车加速；当X>0时所述四轮平衡车右转，X<0时所述四轮平衡车左转；
具体为：所述传感器C、D在第三、第四象限中的向量映射可记为C(0、0)，D(0、0)，即可以省略掉传感器C、D；则重心向量可通过计算得到：
Center(X,Y)＝((A-B),(A+B))
其中，X＝A-B，Y＝A+B；当Y>0时所述四轮平衡车加速；当X>0时所述四轮平衡车右转，X<0时所述四轮平衡车左转。
优选地，当Y>0时所述四轮平衡车加速；当X>0时所述四轮平衡车右转，X<0时所述四轮平衡车左转；
具体为：设定Center(X,Y)坐标中X、Y的坐标值与X轴的夹角为θ，设定控制模块控制四轮平衡车的转向角度与θ对应，则
Figure PCTCN2017077364-appb-000001
所述
Figure PCTCN2017077364-appb-000002
中的y、x为Center(X,Y)中的X、Y坐标值；控制模块根据计算得到的θ角度值控制所述四轮平衡车转向。
更具体地，所述四轮平衡车的行进速度V为设定为比例对应Y轴坐标绝对值的速度，即V＝αY,α为对应的比例系数；
所述四轮平衡车的转向速度为比例对应如下V的速度:
Figure PCTCN2017077364-appb-000003
α为对应的比例系数。
优选地，所述动力轮包括：两个驱动轮、两个随动轮，两个驱动轮在延所述四轮平衡车行进方向上位于两个随动轮的前方；所述驱动轮由电机驱动，所述随动轮为万向轮；
所述控制模块控制两个驱动轮行进或转向，进而控制所述四轮平衡车行进或转向；具体为控制模块控制两个驱动轮的速度，所述速度一致则四轮平衡车行进，所述速度有差异则所述四轮平衡车转向。
更具体地，所述驱动轮可为步进电机或伺服电机驱动。
优选地，所述四轮平衡车还包括减震模块，位于重力检测模块四个重力传感器周围。
【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，且采用重力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为基于重力检测的四轮平衡车示意图a；
图2为基于重力检测的四轮平衡车示意图b；
图3为基于重力检测的四轮平衡车重力重心计算原理示意图；
图4为基于重力检测的四轮平衡车控制原理流程图。
【具体实施方式】
实施方式一：
如图1、2所示，一种基于重力重心检测的四轮平衡车，包括车体14、控制模块23、踏板11、动力轮模块、重力检测模块。
所述控制模块23、踏板11、动力轮模块、重力检测模块机械设置与车体14上。
所述控制模块23用于接收重力检测模块重力信号，进而控制动力轮模块行进或转向。
所述动力轮模块位于踏板11的下方，包括四个动力轮，用于接收控制模块23动力信号，驱动所述四轮平衡车行进或转向；所述动力轮包括：两个驱动轮(其中一个驱动轮如图1、2所示12)、两个随动轮(其中一个随动轮如图1、3所示13)，两个驱动轮在延所述四轮平衡车行进方向上位于两个随动轮的前方；所述驱动轮由电机驱动，所述随动轮为万向轮。
所述控制模块控制两个驱动轮行进或转向，进而控制所述四轮平衡车行进或转向；具体为控制模块控制两个驱动轮的速度，所述速度一致则所述四轮平衡车行进，所述速度有差异则所述四轮平衡车转向。
所述重力检测模块位于踏板11下方，用于检测踏板11重力；所述重力检测模块包括四个重力传感器(重力传感器其中之一如图2所示21)，位于踏 板11下方的四个方位。
如图4所示，所述重力检测模块针对踏板重力检测为：
设定检测平面，在检测平面设定所述四轮平衡车行进方向为X轴正向，垂直X轴为Y轴，所述四轮平衡车右转方向为Y轴正向。
设定检测平面重心位置原点，所述检测平面重心位置原点为所述检测平面坐标原点。
重力检测模块四个传感器检测踏板四个方向重力并反馈给控制模块23。
控制模块23接收重力模块四个传感器反馈所述踏板四个方向的重力读数，并计算出重力重心在检测平面的坐标位置；重力重心在Y轴正向则控制模块控制所述四轮平衡车行进，重力重心在X轴正向则控制模块控制所述四轮平衡车右转，重力重心在X轴负向则控制模块控制所述四轮平衡车左转；进一步计算出两个驱动轮的速度值；控制模块控制驱动轮行进或转向，并将监控到的驱动轮行进或转向结果与读取到的重力传感器读数进行反馈对比。
如图3所示具体实现方法为：所述重力检测模块针对踏板11重力检测为：以踏板平面为基础设定一个平面坐标，以所述四轮平衡车行进方向为Y轴正方向，以垂直行进方向右侧方向Y轴为X轴正方向；设定(X,Y)坐标象限为第一象限，(-X,Y)坐标象限为第二象限，(-X,-Y)坐标象限为第三象限，(X,-Y)坐标象限为第四象限；四个重力传感器分布在四个象限中，依四个象限顺序依次为重力传感器A、B、C、D，所述四个重力传感器读数的绝对值依次为A、B、C、D,所述四个传感器在四个象限的向量映射记为A(A，A)，B(-B，B)，C(-C，-C)，D(D，-D)；则重心向量可通过计算得到：
Center(X,Y)＝((A-B-C+D),(A+B-C-D))
其中，X＝A-B-C+D，Y＝A+B-C-D；当Y>0时所述四轮平衡车加速；当X>0时所述四轮平衡车右转，X<0时所述四轮平衡车左转。
作为一个安全限制，防止操作人员踩踏控制所述四轮平衡车时车辆翻倒，设定一个安全保护：当Y<0时所述动力轮模块停止动作；以所述重心位置原点为圆心，以R为半径在检测平面设定一个圆周范围，半径R可设置，当Center(X,Y)坐标位置位于所述圆周范围内时，所述动力轮模块停止动作。
实施方式二：
实施方式二与实施方式一的区别在于:实施方式一中所述四个重力传感器分布在四个象限中，依四个象限顺序依次为重力传感器A、B、C、D，所述四个重力传感器读数的绝对值依次为A、B、C、D,所述四个传感器在四个象限的向量映射记为A(A，A)，B(-B，B)，C(-C，-C)，D(D，-D)；则重心向量可通过计算得到：
Center(X,Y)＝((A-B-C+D),(A+B-C-D))
其中，X＝A-B-C+D，Y＝A+B-C-D；当Y>0时所述四轮平衡车加速；当X>0时所述四轮平衡车右转，X<0时所述四轮平衡车左转。
具体为：所述重力传感器C、D在第三、第四象限中的向量映射可记为C(0、0)，D(0、0)，即可以省略掉传感器C、D，这样所述重力检测模块只包括两个重力传感器A、B,达到节约成本和降低控制难度的目的；则重心向量可通过计算得到：
Center(X,Y)＝((A-B),(A+B))
其中，X＝A-B，Y＝A+B；当Y>0时所述四轮平衡车加速；当X>0时所述四轮平衡车右转，X<0时所述四轮平衡车左转。
实施方式一与实施方式二中所述四轮平衡车转向角度设置为：设定Center(X,Y)坐标中X、Y的坐标值与X轴的夹角为θ，设定控制模块控制四轮平衡车的转向角度与θ对应，则
Figure PCTCN2017077364-appb-000004
所述
Figure PCTCN2017077364-appb-000005
中的y、x为Center(X,Y)中的X、Y坐标值；控制模块根据计算得到的θ角度值控制所述四轮平衡车转向。
实施方式一与实施方式二中所述四轮平衡车行进及转向速度设定为：所述四轮平衡车的行进速度V为设定为比例对应Y轴坐标绝对值的速度，即V＝αY,α为对应的比例系数；所述四轮平衡车的转向速度为比例对应如V的速度:
Figure PCTCN2017077364-appb-000006
α为对应的比例系数。
优选地，所述驱动轮可为步进电机或伺服电机驱动，用于控制模块对驱动轮行进或转向的精确控制。
优选地，所述四轮平衡车还包括减震模块，位于重力检测模块四个重力传感器周围。
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. 一种基于重力重心检测的四轮平衡车，其特征在于：包括车体、控制模块、踏板、动力轮模块、重力检测模块；
    所述控制模块、踏板、动力轮模块、重力检测模块机械设置与车体上；
    所述控制模块用于接收重力检测模块重力信号，进而控制动力轮模块行进或转向；
    所述动力轮模块位于踏板的下方，包括四个动力轮，用于接收控制模块动力信号，驱动所述四轮平衡车行进或转向；
    所述重力检测模块位于踏板下方，用于检测踏板重力；所述重力检测模块包括四个重力传感器，位于踏板下方的四个方位；
    所述重力检测模块针对踏板重力检测为：
    设定检测平面，在检测平面设定所述四轮平衡车行进方向为X轴正向，垂直X轴为Y轴，所述四轮平衡车右转方向为Y轴正向；
    设定检测平面重心位置原点，所述检测平面重心位置原点为所述检测平面坐标原点；
    重力检测模块四个传感器检测踏板四个方向重力并反馈给控制模块；
    控制模块接收重力模块四个传感器反馈所述踏板四个方向的重力，并计算出重力重心在检测平面的坐标位置；重力重心在Y轴正向则控制模块控制所述四轮平衡车行进，重力重心在X轴正向则控制模块控制所述四轮平衡车右转，重力重心在X轴负向则控制模块控制所述四轮平衡车左转。
  2. 如权利要求1所述基于重力重心检测的四轮平衡车，其特征在于：所述控制模块接收重力模块四个传感器反馈所述踏板四个方向的重力，并计算出重力重心在检测平面的坐标位置；重力重心在Y轴正向则控制模块控制所述四轮平衡车行进，重力重心在X轴正向则控制模块控制所述四轮平衡车右转，重力重心在X轴负向则控制模块控制所述四轮平衡车左转；
    具体为：所述重力检测模块针对踏板重力检测为：以踏板平面为基础设定一个平面坐标，以所述四轮平衡车行进方向为Y轴正方向，以垂直行进方向右侧方向Y轴为X轴正方向；设定(X,Y)坐标象限为第一象限，(-X,Y)坐标象限为第二象限，(-X,-Y)坐标象限为第三象限，(X,-Y)坐标象限为第四象限；四个重力传感器分布在四个象限中，依四个象限顺序依次为重力传感器A、B、C、D，所述四个重力传感器读数的绝对值依次为A、B、C、D,所述四个传感器在四个象限的向量映射记为A(A，A)，B(-B，B)，C(-C，-C)，D(D，-D)；则重心向量可通过计算得到：
    Center(X,Y)＝((A-B-C+D),(A+B-C-D))
    其中，X＝A-B-C+D，Y＝A+B-C-D；当Y>0时所述四轮平衡车加速；当X>0时所述四轮平衡车右转，X<0时所述四轮平衡车左转。
  3. 如权利要求2所述基于重力重心检测的四轮平衡车，其特征在于：所述四个重力传感器分布在四个象限中，依四个象限顺序依次为重力传感器A、B、C、D，所述四个重力传感器读数的绝对值依次为A、B、C、D,所述四个传感器在四个象限的向量映射记为A(A，A)，B(-B，B)，C(-C，-C)，D(D，-D)；则重心向量可通过计算得到：
    Center(X,Y)＝((A-B-C+D),(A+B-C-D))
    其中，X＝A-B-C+D，Y＝A+B-C-D；当Y>0时所述四轮平衡车加速；当X>0时所述四轮平衡车右转，X<0时所述四轮平衡车左转；
    具体为：所述传感器C、D在第三、第四象限中的向量映射可记为C(0、0)，D(0、0)，即可以省略掉传感器C、D；则重心向量可通过计算得到：
    Center(X,Y)＝((A-B),(A+B))
    其中，X＝A-B，Y＝A+B；当Y>0时所述四轮平衡车加速；当X>0时所述四轮平衡车右转，X<0时所述四轮平衡车左转。
  4. 如权利要求2所述基于重力重心检测的四轮平衡车，其特征在于：所述重心向量；
    Center(X,Y)＝((A-B-C+D),(A+B-C-D))
    其中，X＝A-B-C+D，Y＝A+B-C-D；
    当Center(X,Y)坐标位于所述第三、第四象限时，即Y<0时，所述四轮平衡车刹车，动力轮模块停止转动。
  5. 如权利要求2或3或4所述基于重力重心检测的四轮平衡车，其特征在于：以所述重心位置原点为圆心，以R为半径在检测平面设定一个圆周范围，半径R可设置；
    当Center(X,Y)坐标位于所述圆周范围内时，所述四轮平衡车刹车，动力轮模块停止转动。
  6. 如权利要求2或3或4所述基于重力重心检测的四轮平衡车，其特征在于：当Y>0时所述四轮平衡车加速；当X>0时所述四轮平衡车右转，X<0时所述四轮平衡车左转；
    具体为：设定Center(X,Y)坐标中X、Y的坐标值与X轴的夹角为θ，设定控制模块控制四轮平衡车的转向角度与θ对应，则
    Figure PCTCN2017077364-appb-100001
    所述
    Figure PCTCN2017077364-appb-100002
    中的y、x为Center(X,Y)中的X、Y坐标值；控制模块根据计算得到的θ角度值控制所述四轮平衡车转向。
  7. 如权利要求2或3或4所述基于重力重心检测的四轮平衡车，其特征在于：所述四轮平衡车的行进速度V为设定为比例对应Y轴坐标绝对值的速度，即V＝αY,α为对应的比例系数；
    所述四轮平衡车的转向速度为比例对应如下V的速度:
    Figure PCTCN2017077364-appb-100003
    α为对应的比例系数。
  8. 如权利要求1或2或3所述基于重力重心检测的四轮平衡车，其特征在于：所述动力轮包括：两个驱动轮、两个随动轮，两个驱动轮在延所述四轮平衡车行进方向上位于两个随动轮的前方；所述驱动轮由电机驱动，所述随动轮为万向轮；
    所述控制模块控制两个驱动轮行进或转向，进而控制所述四轮 平衡车行进或转向；具体为控制模块控制两个驱动轮的速度，所述速度一致则所述四轮平衡车行进，所述速度有差异则所述四轮平衡车转向。
  9. 如权利要求8所述基于重力重心检测的四轮平衡车，其特征在于：所述驱动轮可为步进电机或伺服电机驱动。
  10. 如权利要求1或2或3所述基于重力重心检测的四轮平衡车，其特征在于：所述四轮平衡车还包括减震模块，位于重力检测模块四个重力传感器周围。
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