WO2018039915A1 - Mécanisme de commande de véhicule à équilibrage, véhicule à équilibrage et procédé de commande - Google Patents

Mécanisme de commande de véhicule à équilibrage, véhicule à équilibrage et procédé de commande Download PDF

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Publication number
WO2018039915A1
WO2018039915A1 PCT/CN2016/097332 CN2016097332W WO2018039915A1 WO 2018039915 A1 WO2018039915 A1 WO 2018039915A1 CN 2016097332 W CN2016097332 W CN 2016097332W WO 2018039915 A1 WO2018039915 A1 WO 2018039915A1
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WIPO (PCT)
Prior art keywords
balance
pressure
vehicle
hole
wheel
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Application number
PCT/CN2016/097332
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English (en)
Chinese (zh)
Inventor
尚艳燕
Original Assignee
尚艳燕
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Publication date
Application filed by 尚艳燕 filed Critical 尚艳燕
Priority to PCT/CN2016/097332 priority Critical patent/WO2018039915A1/fr
Publication of WO2018039915A1 publication Critical patent/WO2018039915A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K15/00—Collapsible or foldable cycles

Definitions

  • the invention relates to the field of balance vehicle control, and more particularly to a balance vehicle control mechanism, a balance vehicle and a control method.
  • Electric balance car also called balance car, thinking car
  • its operation principle is mainly based on a basic principle called “dynamic stability", using the gyroscope and acceleration sensor inside the car body to detect the posture of the car body. Change, using the servo control system, accurately drive the motor to adjust accordingly to maintain the balance of the system.
  • the traditional balance car needs to rely on the driver's control to maintain the balance of the vehicle during driving. Since the vehicle itself cannot maintain balance, once the driver loses balance during driving, it is extremely easy to cause danger, and even in serious cases, it may cause traffic accidents.
  • Patent document CN 102774453 B discloses a smart balance car system on May 20, 2015. It controls the balancing car writing by placing sensors on both ends of the handlebar. However, this method has extremely high requirements on the accuracy of the sensor and the software algorithm, and basically has no practical possibility.
  • the technical problem to be solved by the present invention is to provide a balance vehicle control mechanism, a balance vehicle and a control method which are simple and reliable, and do not require mechanical structure control.
  • the invention discloses a balance vehicle control mechanism, including a handlebar, The handlebar is connected to the vehicle pole in the middle; the bottom of the handlebar is connected to the vehicle body; the outer walls of the two ends of the handlebar are respectively provided with a pressure sensing device movable in the forward and backward directions of the balance car; the pressure sensing devices are respectively set At the top position of the handlebar, the balancer is provided with a controller coupled to the pressure sensing device for driving the movement of the balance wheel.
  • the present invention discloses a balance vehicle comprising the balance vehicle control mechanism of the present invention.
  • the present invention also discloses a control method for a balance vehicle control mechanism according to the present invention, comprising:
  • the balance wheel is driven to rotate according to the pressure difference between the two maximum pressure values and the direction of the two pressure values.
  • the inventors have found that the prior art sensors are disposed at both ends of the handlebar, perpendicular to the grip direction of the driver, which requires the hand grip to conduct pressure, so the pressure transmitted to the sensor is more severely attenuated, and the entire hand is transmitted.
  • the comprehensive pressure of grip strength, to determine the actual intention of the driver requires a complex algorithm, the decomposition of the comprehensive grip force calculation, the algorithm is very complicated. For the above reasons, the technology has not been mass-produced yet.
  • the technical effect of the invention is: using a pressure sensing device located at the top of the pole, each pressure sensing device can move in two directions along the forward and backward directions of the balance car;
  • the grip force in the front and rear directions of the hand because the pressure sensing device is disposed on the outer wall of the handle, and is in direct contact with the hand, the sensing direction is also the same as the direction of the grip force, so that the pressure difference according to the maximum two pressure values and the corresponding pressure value
  • the direction can drive the balance car wheel rotation, realize the balance car steering, acceleration and deceleration control, which greatly reduces the requirements of the device and the algorithm requirements.
  • the technical solution of the invention is simple and reliable, and the implementation cost is low.
  • FIG. 1 is a schematic structural view of a balance vehicle control mechanism according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of a balance car according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a control method of a balance vehicle control mechanism according to an embodiment of the present invention.
  • FIG. 4 is a schematic plan view showing the structure of a balance car in a folded state of a wheel according to an embodiment of the present invention
  • Figure 5 is a perspective view showing the three-dimensional structure of the balance car in the folded state of the wheel according to the embodiment of the present invention.
  • Figure 6 is a plan view showing the planar structure of the balance car in the middle of the wheel according to the embodiment of the present invention.
  • Figure 7 is a perspective view showing the three-dimensional structure of the balance car in the middle of the wheel according to the embodiment of the present invention.
  • Figure 8 is a plan view showing the planar structure of the balance car in the middle of the wheel according to the embodiment of the present invention.
  • Figure 9 is a perspective view showing the three-dimensional structure of the balance car in the middle of the wheel according to the embodiment of the present invention.
  • Figure 10 is a cross-sectional, exploded view of Figure 8 taken along line A-A;
  • FIG. 11 is a schematic exploded view of a balance vehicle in a wheel fixing structure according to an embodiment of the present invention.
  • Figure 12 is a schematic view showing the structure of a wheel of an embodiment of the present invention.
  • the invention discloses a balance vehicle, which comprises a balance vehicle control mechanism.
  • the balance control mechanism includes a handlebar, the handlebar is connected to the vehicle pole in the middle; the bottom of the handlebar is connected to the vehicle body; and the outer walls of the two handlebars of the handlebar are respectively provided with a pressure sensing device capable of moving in the forward and backward directions of the balance vehicle.
  • the pressure sensing devices are respectively disposed at a top position of the handlebar, and the balance vehicle is provided with a controller coupled to the pressure sensing device for driving the movement of the balance wheel.
  • the present invention also discloses a control method for a balance vehicle control mechanism according to the present invention, comprising:
  • the balance wheel is driven to rotate according to the pressure difference between the two maximum pressure values and the direction of the two pressure values.
  • the inventors have found that the prior art sensors are disposed at both ends of the handlebar, perpendicular to the grip direction of the driver, which requires the hand grip to conduct pressure, so the pressure transmitted to the sensor is more severely attenuated, and the entire hand is transmitted.
  • the comprehensive pressure of grip strength, to determine the actual intention of the driver requires a complex algorithm, the decomposition of the comprehensive grip force calculation, the algorithm is very complicated. For the above reasons, the technology has not been mass-produced yet.
  • the technical effect of the invention is: using a pressure sensing device located at the top of the pole, each pressure sensing device can move in two directions along the forward and backward directions of the balance car;
  • the grip force in the front and rear directions of the hand because the pressure sensing device is disposed on the outer wall of the handle, and is in direct contact with the hand, the sensing direction is also the same as the direction of the grip force, so that the pressure difference according to the maximum two pressure values and the corresponding pressure value
  • the direction can drive the balance car wheel rotation, realize the balance car steering, acceleration and deceleration control, which greatly reduces the requirements of the device and the algorithm requirements.
  • the technical solution of the invention is simple and reliable, and the implementation cost is low.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining “first” and “second” may include one or more of the features either explicitly or implicitly.
  • a plurality means two or more unless otherwise stated.
  • the term “comprises” and its variations are intended to cover a non-exclusive inclusion.
  • connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • Connected, or integrally connected can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • the specific meaning of the above terms in the present invention can be understood in a specific case by those skilled in the art.
  • the present invention discloses a balance control mechanism including a handlebar 60, the handlebar 60 is connected to the vehicle pole 61 in the middle; the bottom of the axle 61 is connected to the vehicle body;
  • the outer wall is respectively provided with a pressure sensing device movable in the forward and backward directions of the balance car; the pressure sensing devices are respectively disposed at the top position of the handlebar 60, and the balance car is provided with a coupling with the pressure sensing device for driving A controller that balances the movement of the wheel of the car.
  • the pressure sensing device includes a protrusion 63, a pressure sensor 64 that is in contact with the protrusion 63; and a recess 65 for receiving the protrusion 63 in the handle, the groove 65 and the forward and backward directions of the balance car.
  • a pressure sensor 64 is disposed on each of the two side walls.
  • the bottom of the groove 65 is provided with a sliding slot 62 that cooperates with the protrusion 63.
  • the protrusion 63 can be translated in the sliding slot 62.
  • the grip force is transmitted to the pressure sensor 64 by the contact of the bump 63 with the hand.
  • the pressure sensing device can have other structural forms, and details are not described herein again.
  • the embodiment also discloses a balance vehicle wheel fixing structure.
  • the balance vehicle includes a vehicle body 10.
  • the bottom of the vehicle body 10 is provided with a support arm 30, and one end of the support arm 30 is rotatably fixed to the bottom of the vehicle body 10.
  • the other end is rotatably fixed to the wheel;
  • the support arm 30 is provided with a through hole 31, and the through hole 31 is provided with a pin body 12 movable along the through hole 31, and the bottom of the body 10 is further provided with a pin
  • the first positioning hole 21 and the second positioning hole 22 of the body 12 are engaged.
  • the support arm 30 is rotated to the unfolded state
  • the pin body 12 is engaged with the first positioning hole 21; when the support arm 30 is rotated to the contracted state
  • the pin body 12 and the second positioning hole 22 Cooperate.
  • the pin body 12 includes a connecting post 121, and a fixing post 122 connected to the end of the connecting post 121; the cross-sectional width of the fixing post 122 is larger than the cross-sectional width of the connecting post 121; the connecting post 122 forms a joint with the connecting post 121.
  • the connecting portion forms a second annular surface 313; the connecting post 121 is sleeved with a spring 124; the two ends of the spring 124 are respectively positioned by the first annular surface 123 and the second annular surface 313. Due to the presence of the spring 124, the pin body 12 will always abut against the plane of the bottom of the body. Once rotated to the position of the first positioning hole 21 or the second positioning hole 22, the pin body 12 is automatically embedded into the first positioning by the spring 124 elastic force. In the hole 21 or the second positioning hole 22, automatic positioning can be realized without manual intervention.
  • the wheel includes a wheel body 50 and an axle 51 component; the axle 51 component includes a shaft body 52 having one end penetrating the wheel body 50 and the other end being provided with an adapter portion; the adapter portion is opposite to the axle body 52
  • One side is provided with a support portion 54 movably connected to the connecting member; the support portion 54 is rotatably fixed to the support arm 30.
  • the axles 51 are relatively thin, and it is not easy to realize a rotatable fixing structure.
  • the contact portion can increase the contact area of the rotating shaft 36. On the one hand, it is easy to fix with the connecting member, and on the other hand, the wheel is deployed.
  • the side of the vehicle body 10 is in contact with and positioned to improve stability when the wheel is running.
  • the adapter portion is a circular table 53; the support portion 54 is fixed at a position where the circular table 53 is offset from the axis.
  • the support portion 54 is offset from the axis.
  • the support portion 54 naturally runs to the lowest point due to gravity and human body pressure, forming a steady-state positioning structure.
  • the disc portion above the support portion 54 has More area is in contact with the side of the vehicle body 10, so that the wheel has a disc in the vertical direction, and the horizontal position has a bottom connecting member.
  • the double-sided support can effectively disperse the weight of the wheel and is more stable and durable.
  • the bottom of the vehicle body 10 is provided with an arcuate groove 20, and the first positioning hole 21 and the second positioning hole 22 are respectively disposed at two ends of the arcuate groove 20.
  • the curved groove 20 guides the pin body 12, that is, defines the range of rotation of the entire support arm 30, and avoids excessive rotation of the wheel to cause the wheel to collide with other components.
  • the bottom of the vehicle body 10 is further provided with an arc-shaped limiting portion 40; when the wheel is in a folded state, the inner side surface is in contact with the top of the limiting portion 40.
  • the end of the support arm 30 fixed to the axle 51 is provided with a notch 34; the other end is an arc
  • the shaft portion 35 is provided with a rotating shaft 36; the supporting portion 54 is embedded in the notch 34 and sleeved with the rotating shaft 36. Due to the avoidance structure of the notch 34, the entire rotating structure is relatively small, which is advantageous for reducing the balance of the vehicle body 10.
  • the side of the limiting portion 40 facing the support arm 30 is an inner curved surface, which can be avoided when the curved portion 35 of the support arm 30 rotates.
  • the top portion of the limiting portion 40 has the highest position for contacting the inner side surface of the wheel; the two sides of the intermediate portion are inclined surfaces extending to the bottom of the vehicle body 10. After the wheel is folded, the wheel is rotated through the inclined surface, and is rotated to the middle of the top portion of the limiting portion 40 to be tightened, and the folded wheel is positioned by the tensioned stress, without complicated buckle structure, the implementation is simple, and the fixing is firm, and the sliding is not afraid of sliding. .
  • the fixing arm 30 is provided with a fixing hole 33 at one end of the supporting arm 30; the bottom of the vehicle body 10 is provided with a positioning post 11 adapted to the fixing hole 33; the supporting arm 30 is realized by the cooperation of the fixing hole 33 and the positioning post 11 The bottom of the vehicle body 10 is rotatably fixed.
  • the positioning post 11 can be realized with a screw.
  • the embodiment further discloses a control method for a balance vehicle control mechanism according to the present invention, comprising:
  • the balance car is controlled to decelerate.
  • the driver's hands will pull the handlebars backwards, that is, the pressure of the two pressure sensing devices located in the forward direction of the balance car will be larger. At this time, the balance car is decelerated to ensure Driving safely.
  • the balance car is controlled to accelerate.
  • the driver needs to control the speed of the balance car, the driver will tend to use both hands for the habit and instinct. That is, the pressure of the two pressure sensing devices located in the backward direction of the balance car is large, and the balance car is accelerated at this time.
  • the balance car is controlled to turn in the direction of the pressure sensing device whose pressure value is in the forward direction of the balance car, and the steering angle is controlled according to the pressure difference.
  • the pressure in the forward direction of the right direction is greater than the reverse pressure; the pressure in the forward direction of the left side is less than the reverse pressure; at this time, the two selected maximum pressure values are respectively the pressure value in the right forward direction and the left backward direction.
  • the pressure value, at this time, the pressure value is the direction of the pressure sensing device in the direction of the balance car is the right side, at this time the control balance car turns right; otherwise, the balance car is controlled to turn left.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

L'invention concerne un mécanisme de commande de véhicule à équilibrage, un véhicule à équilibrage et un procédé de commande. Le mécanisme de commande du véhicule à équilibrage comporte un guidon (60), dans lequel la partie centrale du guidon (60) est reliée à une colonne de direction de véhicule (61), la partie inférieure de la colonne de direction de véhicule (61) est reliée à un corps de véhicule, des parois extérieures de deux extrémités du guidon (60) comportent respectivement un capteur de pression (64) en mesure de se déplacer dans des directions avant et arrière du véhicule à équilibrage, les capteurs de pression (64) sont agencés respectivement sur les positions d'extrémité supérieure du guidon (60), et un dispositif de commande couplé aux capteurs de pression (64) et utilisé pour entraîner les roues du véhicule à équilibrage à des fins de déplacement est mis en œuvre dans le véhicule à équilibrage.
PCT/CN2016/097332 2016-08-30 2016-08-30 Mécanisme de commande de véhicule à équilibrage, véhicule à équilibrage et procédé de commande WO2018039915A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/097332 WO2018039915A1 (fr) 2016-08-30 2016-08-30 Mécanisme de commande de véhicule à équilibrage, véhicule à équilibrage et procédé de commande

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/097332 WO2018039915A1 (fr) 2016-08-30 2016-08-30 Mécanisme de commande de véhicule à équilibrage, véhicule à équilibrage et procédé de commande

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WO2018039915A1 true WO2018039915A1 (fr) 2018-03-08

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PCT/CN2016/097332 WO2018039915A1 (fr) 2016-08-30 2016-08-30 Mécanisme de commande de véhicule à équilibrage, véhicule à équilibrage et procédé de commande

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202242794U (zh) * 2011-10-21 2012-05-30 中国兵器工业集团第五三研究所 可折叠车轮
CN102774453A (zh) * 2012-07-04 2012-11-14 上海跑酷机器人科技有限公司 智能平衡车系统
US20130032423A1 (en) * 2011-08-02 2013-02-07 Shane Chen Two-wheeled self-balancing motorized personal vehicle with tilting wheels
CN104149918A (zh) * 2013-05-14 2014-11-19 久鼎金属实业股份有限公司 具有车手把感应装置的电动载具
CN105129005A (zh) * 2015-08-03 2015-12-09 吴岳 一种两轮平衡车
CN106428340A (zh) * 2016-08-30 2017-02-22 尚艳燕 一种平衡车控制机构、平衡车与控制方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130032423A1 (en) * 2011-08-02 2013-02-07 Shane Chen Two-wheeled self-balancing motorized personal vehicle with tilting wheels
CN202242794U (zh) * 2011-10-21 2012-05-30 中国兵器工业集团第五三研究所 可折叠车轮
CN102774453A (zh) * 2012-07-04 2012-11-14 上海跑酷机器人科技有限公司 智能平衡车系统
CN104149918A (zh) * 2013-05-14 2014-11-19 久鼎金属实业股份有限公司 具有车手把感应装置的电动载具
CN105129005A (zh) * 2015-08-03 2015-12-09 吴岳 一种两轮平衡车
CN106428340A (zh) * 2016-08-30 2017-02-22 尚艳燕 一种平衡车控制机构、平衡车与控制方法

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