WO2018040088A1 - 一种基于车把的平衡车控制机构和控制方法 - Google Patents

一种基于车把的平衡车控制机构和控制方法 Download PDF

Info

Publication number
WO2018040088A1
WO2018040088A1 PCT/CN2016/098038 CN2016098038W WO2018040088A1 WO 2018040088 A1 WO2018040088 A1 WO 2018040088A1 CN 2016098038 W CN2016098038 W CN 2016098038W WO 2018040088 A1 WO2018040088 A1 WO 2018040088A1
Authority
WO
WIPO (PCT)
Prior art keywords
hole
handlebar
pressure
balance
wheel
Prior art date
Application number
PCT/CN2016/098038
Other languages
English (en)
French (fr)
Inventor
尚艳燕
Original Assignee
尚艳燕
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 尚艳燕 filed Critical 尚艳燕
Priority to PCT/CN2016/098038 priority Critical patent/WO2018040088A1/zh
Publication of WO2018040088A1 publication Critical patent/WO2018040088A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • 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
    • B62K3/00—Bicycles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to the field of balance vehicle control, and more particularly to a balance control vehicle control mechanism and control method based on a handlebar.
  • 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 control vehicle control mechanism and control method based on a handlebar that is simple and reliable, and does not require mechanical structure control.
  • the invention discloses a balance control vehicle control mechanism based on a handlebar, a handlebar is provided, the handlebar is connected to the middle of the handlebar; the bottom of the handlebar is connected to the vehicle body; the handlebar is provided with a cylindrical rotating portion at the connection with the axle; one side of each of the rotating portions is provided
  • the vehicle pole is provided with a hole adapted to the rotating portion and the pressure plate; the hole is provided with a pair of pressure sensors corresponding to each of the pressure plates; the balance vehicle is provided with a pressure sensor for controlling A control device that balances the rotation of the wheel of the car.
  • the present invention also discloses a control method for a balance control vehicle based on a handlebar according to the present invention, comprising:
  • the balance wheel rotation is driven according to the pressure difference between the two maximum pressure values and the relative positions of the two pressure sensors.
  • 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.
  • the technology has not been mass-produced yet.
  • the technical effect of the invention is that two pairs (four) of pressure sensors are used for detecting the rotation of the handlebar in the left-right direction and the swinging motion in the front-rear direction, because the force direction of the pressure sensor is the same as the handle.
  • the direction of motion is consistent, as long as the pressure difference between the two maximum pressure values and the relative position of the two pressure sensors can drive the balance car wheel to achieve balance steering, acceleration and deceleration control, greatly reducing the device's Requirements and 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 balancer control mechanism based on a handlebar according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a handlebar according to an embodiment of the present invention.
  • Figure 3 is a front cross-sectional view showing a portion of a vehicle pole according to an embodiment of the present invention.
  • FIG. 4 is a side cross-sectional view showing a portion of a vehicle pole according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a control method of a balancer control mechanism based on a handlebar according to an embodiment of the present invention
  • FIG. 6 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
  • FIG. 7 is a schematic perspective structural view of a balance car in a folded state of a wheel according to an 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 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 11 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 12 is a cross-sectional, exploded view of Figure 10 taken along line A-A;
  • FIG. 13 is a schematic exploded view of a balance vehicle in a wheel fixing structure according to an embodiment of the present invention.
  • Figure 14 is a schematic view showing the structure of a wheel of an embodiment of the present invention.
  • the invention discloses a balance car comprising a balance car control mechanism based on a handlebar.
  • the balancer control mechanism based on the handlebar 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; wherein the handlebar is provided with a cylindrical rotating portion at the connection with the axle; a pressing plate is disposed on each side of the rotating portion; correspondingly, the vehicle bar is provided with a hole adapted to the rotating portion and the pressing plate; the hole is provided with a pair of pressure sensors corresponding to each of the pressing plates; A control device coupled to the pressure sensor for controlling the rotation of the wheel of the balance vehicle is provided.
  • the present invention also discloses a control method for a balance control vehicle based on a handlebar 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.
  • the technology has not been mass-produced yet.
  • the technical effect of the invention is that two pairs (four) of pressure sensors are used for detecting the rotation of the handlebar in the left-right direction and the swinging motion in the front-rear direction, because the force direction of the pressure sensor is the same as the handle.
  • the direction of motion is consistent, as long as the pressure difference between the two maximum pressure values and the relative position of the two pressure sensors can drive the balance car wheel to achieve balance steering, acceleration and deceleration control, greatly reducing the device's Requirements and 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.
  • the balance vehicle control mechanism based on the handlebar 60 disclosed in the embodiment includes a handlebar 60, and the handlebar 60 is connected to the vehicle pole 63 in the middle; the bottom of the axle 63 is connected to the vehicle body; wherein the handlebar 60 is in the vehicle pole 63 is provided with a cylindrical rotating portion 61; a rotating plate 62 is disposed on each side of the rotating portion 61; correspondingly, the lever 63 is provided with a hole 65 adapted to the rotating portion 61 and the pressing plate 62; Each of the pressure plates 65 is provided with a pair of pressure sensors 66 for each of the pressure plates 62.
  • the balance vehicle is provided with a control device coupled to the pressure sensor 66 for controlling the rotation of the wheel of the balance vehicle.
  • the bottom of the rotating portion 61 is provided with a conical surface 68; correspondingly, the hole 65 includes a middle hole 651 for accommodating the rotating portion 61; the bottom portion of the middle hole 651 is provided with a conical hole 652 for receiving the conical surface 68, and the central portion 651 is provided with two sides for receiving A side hole of the pressure plate 62; the pressure sensor 66 is disposed in the side hole.
  • the cooperation of the conical surface 68 and the conical hole 652 allows the rotating portion 61 to rotate in the hole 65 to control the steering of the balance car. It can also swing back and forth in the hole 65 to realize the forward and reverse control of the balance car.
  • the surface of the pressure sensor 66 is covered with a rubber pad 67; the rubber pad 67 is in contact with the pressure plate 62.
  • the rubber pad 67 and the pressure plate 62 are sandwiched by the rubber pad 67, which can effectively avoid the handle shaking.
  • the pad 67 can effectively avoid the contact wear of the pressure sensor 66, and the pressure of the pressure plate 62 can be more uniformly transmitted to the pressure sensor 66, thereby improving the measurement effect.
  • the holes 65 are formed in a variety of ways.
  • the connection between the lever 63 and the handlebar 60 is provided with a connection.
  • the head 64 has a hole 65 disposed in the connector head 64.
  • the connector head 64 is symmetrically cut away, and includes a base 641 integrally formed with the vehicle lever 63; and a detachable face shell 642.
  • the hole 65 is half at the base 641 and half is in the surface.
  • 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 cooperates with the second positioning hole 22.
  • 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 transfer part is a circle
  • the support portion 54 is fixed at a position where the circular table 53 is offset from the axial center.
  • 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.
  • One end of the support arm 30 fixed to the axle 51 is provided with a notch 34; the other end is an arc portion 35; the notch 34 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 control vehicle based on a handlebar according to the present invention, comprising:
  • the balance car is controlled to decelerate.
  • the balance car speed is too fast, in inertia and instinct, the driver's hands will pull the handlebars backwards, that is, the pressure of the two pressure sensors located in the forward direction of the balance car will be greater, at this time, the balance car is decelerated to ensure driving. Safety.
  • the balance car is controlled to accelerate.
  • the driver When the driver needs to control the balance car acceleration, the driver will tend to use two-handed carts for habits and instinct, that is, the pressure of the two pressure sensors in the direction of the reverse direction of the balance car will be greater, and the balance car will be accelerated.
  • the balance car is controlled to turn in the direction of the pressure sensor 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 sensor 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.

Landscapes

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

Abstract

一种基于车把（60）的平衡车控制机构和控制方法。基于车把（60）的平衡车控制机构包括车把（60），车把（60）中间连接车杆（63）；车杆（63）底部连接车体（10）；车把（60）在与车杆（63）连接处设有圆柱形的转动部（61）；转动部（61）两侧各设有一个压板（62）；相应的，车杆（63）设有与转动部（61）和压板（62）适配的孔洞（65）；孔洞（65）对应每个压板（62）各设有一对压力传感器（66）；平衡车内设有与压力传感器（66）耦合、用于控制平衡车的车轮转动的控制装置。

Description

一种基于车把的平衡车控制机构和控制方法 【技术领域】
本发明涉及平衡车控制领域，更具体的说，涉及一种基于车把的平衡车控制机构和控制方法。
【背景技术】
电动平衡车，又叫平衡车、思维车，其运作原理主要是建立在一种被称为“动态稳定”的基本原理上，利用车体内部的陀螺仪和加速度传感器，来检测车体姿态的变化，利用伺服控制系统，精确地驱动电机进行相应的调整，以保持系统的平衡。
现有的电动平衡车一般有两种，一种是车体上具有一个操作杆，使用者站在电动平衡车的脚踏平台上对操作杆进行操作，从而前进、后退及停止，这样的控制也称“手控”。另一种是车体由两部分组成，左部分和右部分之间通过转动机构实现相互转动，从而实现“脚控”。
传统平衡车在行驶过程中完全需要依靠驾驶者的控制来保持车辆平衡，由于车辆自身不能维持平衡，行驶过程中一旦驾驶者失去平衡，就极为容易造成危险，严重时甚至会引起交通事故。
专利文献CN 102774453 B于2015年5月20日公开了一种智能平衡车系统。其通过在车把两端设置传感器来控制平衡车车撰写。但该方式对传感器的精度要求及软件算法要求极高，基本不具备实用的可能。
【发明内容】
本发明所要解决的技术问题是提供一种简单可靠、无须机械结构控制的基于车把的平衡车控制机构和控制方法。
本发明的目的是通过以下技术方案来实现的：
根据本发明的一个方面，本发明公开一种基于车把的平衡车控制机构，包 括车把，所述车把中间连接车杆；所述车杆底部连接车体；所述车把在与车杆连接处设有圆柱形的转动部；所述转动部两侧各设有一个压板；相应的，所述车杆设有与转动部和压板适配的孔洞；所述孔洞对应每个压板各设有一对压力传感器；所述平衡车内设有与压力传感器耦合、用于控制平衡车的车轮转动的控制装置。
根据本发明的另一个方面，本发明还公开一种基于本发明所述的基于车把的平衡车控制机构的控制方法，包括：
读取两对压力传感器的压力值；
获取最大的两个压力值及其对应的压力传感器；
根据最大的两个压力值的压差，以及对应两个压力传感器的相对位置驱动平衡车车轮转动。
发明人研究发现，现有技术的传感器设置在车把两端，与驾驶员的握力方向垂直，其需要手握件传导压力，因此传导到传感器的压力衰减比较严重，且传导过去的是整个手握力的综合压力，要判断出驾驶员的实际意图需要复杂的算法，对综合的握力进行分解计算，算法非常复杂。综合上述原因，该技术至今没有得到量产应用。与现有技术相比，本发明的技术效果是：采用两对(四个)压力传感器，分别用于检测车把左右方向的转动及前后方向的摆动动作，由于压力传感器的受力方向跟把手的运动方向保持一致，只要根据最大的两个压力值的压差，以及对应两个压力传感器的相对位置就可以驱动平衡车车轮转动，实现平衡车转向、加速和减速控制，大幅降低了器件的要求及算法要求。本发明技术方案简单可靠，实施成本低廉。
【附图说明】
图1是本发明实施例基于车把的平衡车控制机构结构示意图；
图2是本发明实施例车把结构示意图；
图3是本发明实施例车杆部分的正面剖面示意图；
图4是本发明实施例车杆部分的侧面剖面示意图；
图5是本发明实施例基于车把的平衡车控制机构的控制方法示意图；
图6是本发明实施例平衡车在车轮折叠状态的平面结构示意图；
图7是本发明实施例平衡车在车轮折叠状态的立体结构示意图；
图8是本发明实施例平衡车在车轮中间状态的平面结构示意图；
图9是本发明实施例平衡车在车轮中间状态的立体结构示意图；
图10是本发明实施例平衡车在车轮中间状态的平面结构示意图；
图11是本发明实施例平衡车在车轮中间状态的立体结构示意图；
图12是图10沿A-A的剖面分解示意图；
图13是本发明实施例平衡车在车轮固定结构分解示意图；
图14是本发明实施例车轮结构示意图。
其中：10、车体；11、定位柱；12、销体；121、连接柱；122、固定柱；123、第一环面；124、弹簧；20、弧形凹槽；21、第一定位孔；22、第二定位孔；30、支撑臂；31、通孔；311、第一孔洞；312、第二孔洞；313、第二环面；33、固定孔；34、缺口；35、弧形部；36、转轴；40、限位部；50、轮体；51、轮轴；52、轴体；53、圆台；54、支撑部；60、车把；61、转动部；62、压板；63、车杆；64、连接头；641、基座；642、面壳；643、封皮；65、孔洞；651、中洞；652、锥洞；653、侧洞；66、压力传感器；67、胶垫；68、圆锥面。
【具体实施方式】
本发明公开一种平衡车，所述平衡车包括基于车把的平衡车控制机构。基于车把的平衡车控制机构包括车把，所述车把中间连接车杆；所述车杆底部连接车体；其中，所述车把在与车杆连接处设有圆柱形的转动部；所述转动部两侧各设有一个压板；相应的，所述车杆设有与转动部和压板适配的孔洞；所述孔洞对应每个压板各设有一对压力传感器；所述平衡车内设有与压力传感器耦合、用于控制平衡车的车轮转动的控制装置。
根据本发明的另一个方面，本发明还公开一种基于本发明所述的基于车把的平衡车控制机构的控制方法，包括：
读取两对压力传感器的压力值；
获取最大的两个压力值及其对应的压力传感器；
根据最大的两个压力值的压差，以及两个压力值的方向驱动平衡车车轮转动。
发明人研究发现，现有技术的传感器设置在车把两端，与驾驶员的握力方向垂直，其需要手握件传导压力，因此传导到传感器的压力衰减比较严重，且传导过去的是整个手握力的综合压力，要判断出驾驶员的实际意图需要复杂的算法，对综合的握力进行分解计算，算法非常复杂。综合上述原因，该技术至今没有得到量产应用。与现有技术相比，本发明的技术效果是：采用两对(四个)压力传感器，分别用于检测车把左右方向的转动及前后方向的摆动动作，由于压力传感器的受力方向跟把手的运动方向保持一致，只要根据最大的两个压力值的压差，以及对应两个压力传感器的相对位置就可以驱动平衡车车轮转动，实现平衡车转向、加速和减速控制，大幅降低了器件的要求及算法要求。本发明技术方案简单可靠，实施成本低廉。
在本发明的描述中，需要理解的是，术语“中心”、“横向”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。另外，术语“包括”及其任何变形，意图在于覆盖不排他的包含。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安 装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
这里所使用的术语仅仅是为了描述具体实施例而不意图限制示例性实施例。除非上下文明确地另有所指，否则这里所使用的单数形式“一个”、“一项”还意图包括复数。还应当理解的是，这里所使用的术语“包括”和/或“包含”规定所陈述的特征、整数、步骤、操作、单元和/或组件的存在，而不排除存在或添加一个或更多其他特征、整数、步骤、操作、单元、组件和/或其组合。
下面结合附图1-14和较佳的实施例对本发明作进一步说明。
本实施方式公开的基于车把60的平衡车控制机构包括车把60，所述车把60中间连接车杆63；所述车杆63底部连接车体；其中，所述车把60在于车杆63连接处设有圆柱形的转动部61；所述转动部61两侧各设有一个压板62；相应的，所述车杆63设有与转动部61和压板62适配的孔洞65；所述孔洞65对应每个压板62各设有一对压力传感器66；所述平衡车内设有与压力传感器66耦合、用于控制平衡车的车轮转动的控制装置。
转动部61底部设有圆锥面68；相应的，所述孔洞65包括容纳转动部61的中洞651；中洞651底部设有容纳圆锥面68的锥洞652，中洞651两侧设有容纳压板62的侧洞；所述压力传感器66设置在侧洞中。圆锥面68和锥洞652的配合，让转动部61既可以在孔洞65中旋转，控制平衡车转向；也可以在孔洞65中前后摆动，实现平衡车前进、后退控制。
所述压力传感器66表面覆盖有胶垫67；所述胶垫67与所述压板62接触。利用胶垫67与压板62进行接触定位，即可压板62前后两面都被胶垫67夹持，可有效避免把手晃动。再者，胶垫67能有效避免压力传感器66的触头磨损，让压板62的压力能更均匀传导到压力传感器66，提高测量效果。
孔洞65有多种形成方式。本实施例中，车杆63与车把60连接处设有连接 头64，孔洞65设置在连接头64内，连接头64对称剖开，包括与车杆63一体成型的基座641；以及可拆卸的面壳642，孔洞65一半在基座641，一半在面壳642，两者合起来形成完整的孔洞65。面壳642的固定方式也有多种，如螺丝固定等，本实施例采用封皮643包裹的方式固定。
本实施还方式还公开了一种平衡车车轮固定结构，所述平衡车包括车体10，所述车体10底部设有支撑臂30，所述支撑臂30一端与车体10底部可转动固定，另一端与车轮可转动固定；所述支撑臂30上设有通孔31，通孔31内设有可沿着通孔31运动的销体12，所述车体10底部还设有与销体12配合的第一定位孔21和第二定位孔22，所述支撑臂30旋转到展开状态时，所述销体12跟第一定位孔21配合；所述支撑臂30旋转到收缩状态时，所述销体12跟第二定位孔22配合。
销体12包括连接柱121，与连接柱121端部连接的固定柱122；所述固定柱122的横截面宽度大于连接柱121的横截面宽度；所述固定柱122与连接柱121连接处形成第一环面123；相应的，所述通孔31包括与连接柱121适配的第一孔洞311，与固定柱122适配的第二孔洞312；所述第一孔洞311和第二孔洞312连接处形成第二环面313；所述连接柱121上套接有弹簧124；所述弹簧124两端分别通过第一环面123和第二环面313定位。由于弹簧124的存在，销体12会一直抵住本体底部的平面，一旦旋转到第一定位孔21或第二定位孔22的位置，销体12在弹簧124弹力作用下自动嵌入到第一定位孔21或第二定位孔22内，无须人工干预即可实现自动定位。
车轮包括轮体50和轮轴51部件；所述轮轴51部件包括轴体52，所述轴体52一端穿入轮体50，另一端设有转接部；所述转接部与轴体52相反的一面设有与连接件活动连接的支撑部54；支撑部54与所述支撑臂30可转动固定。一般来说，轮轴51都是比较细的，不容易实现可转动的固定结构，通过转接部可以增加转轴36部分的接触面积，一方面容易跟连接件固定，另一方面在轮子展开状态与车体10侧面接触定位，在车轮运行的时候提高稳定性。转接部为一圆 台53；所述支撑部54固定在圆台53偏离轴心的位置。支撑部54偏离轴心，在平衡车运行状态时，由于重力和人体压力的左右，支撑部54会自然运行到最低点，形成稳态定位结构，此时，支撑部54上方的圆盘部分有更多的面积与车体10侧面接触，这样车轮在垂直方向有圆盘定位，水平位置有底部的连接件支撑，双面支撑可以有效分散车轮的承重，更稳固耐用。
所述车体10底部设有弧形凹槽20，所述第一定位孔21和第二定位孔22分别设置在弧形凹槽20的两端。弧形凹槽20对销体12有导引作用，即限定了整个支撑臂30的旋转范围，避免转动范围过大造成车轮跟其他部件磕碰。
车体10底部还设有弧形的限位部40；车轮在折叠状态下，内侧面与限位部40的顶部接触定位。支撑臂30与轮轴51固定的一端设有缺口34；另一端为弧形部35；所述缺口34内设有转轴36；所述支撑部54嵌入缺口34内与转轴36套接。由于缺口34的避让结构，使得整个转动结构都比较小，有利于缩减平衡车体10积。限位部40面向支撑臂30的侧面为内弧面，在支撑臂30弧形部35转动的时候刚好可以避让。
限位部40顶部中间部位位置最高，用于跟车轮的内侧面接触定位；中间部位两侧为延伸到车体10底部的斜面。车轮折叠后通过斜面过渡，转动到限位部40顶部中间部位绷紧，通过绷紧的应力实现折叠后的车轮定位，无须复杂的卡扣结构，实施方式简单，且固定牢靠，不怕滑动造成脱落。
支撑臂30与车轮相对的一端设有固定孔33；所述车体10底部设有与固定孔33适配的定位柱11；所述支撑臂30通过固定孔33与定位柱11的配合实现与车体10底部可转动固定。定位柱11可以采用螺杆来实现。
根据本发明的另一个方面，本实施方式还公开一种基于本发明所述的基于车把的平衡车控制机构的控制方法，包括：
S11、读取两对压力传感器的压力值；
S12、获取最大的两个压力值及其对应的压力传感器；
S13、根据最大的两个压力值的压差，以及两个压力值的方向驱动平衡车车轮转动。
根据绝对值最大的两个压力值的压差，以及对应压力值的方向驱动平衡车车轮转动的方法大致有以下三种情况。
如果对应压力值同向，且均位于平衡车前进方向，控制平衡车减速。当平衡车速度过快，处于惯性和本能，驾驶员的双手会往后拉车把，即位于平衡车前进方向的两个压力传感器的压力会较大，此时控制平衡车减速，以确保驾驶安全。
如果对应压力值同向，且均位于平衡车后退方向，控制平衡车加速。当驾驶员需要控制平衡车加速时，出于习惯和本能，驾驶员会倾向于用双手推车把，即位于平衡车后退方向的两个压力传感器的压力会较大，此时控制平衡车加速。
如果对应压力值反向，控制平衡车往压力值为平衡车前进方向的压力传感器所在方向转向，并根据压差控制转向的角度。具体来说，右侧前进方向的压力大于反向压力；左侧前进方向的压力小于反向压力；此时，选择的两个最大压力值分别为右侧前进方向的压力值和左侧后退方向的压力值，此时，压力值为平衡车前进方向的压力传感器所在方向为右侧，此时控制平衡车右转；反之，控制平衡车左转。
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，还可以做出若干简单推演或替换，都应当视为属于本发明的保护范围。

Claims (10)

  1. 一种基于车把的平衡车控制机构，包括车把，所述车把中间连接车杆；所述车杆底部连接车体；其中，所述车把在与车杆连接处设有圆柱形的转动部；所述转动部两侧各设有一个压板；相应的，所述车杆设有与转动部和压板适配的孔洞；所述孔洞对应每个压板各设有一对压力传感器；所述平衡车内设有与压力传感器耦合、用于控制平衡车的车轮转动的控制装置。
  2. 根据权利要求1所述的基于车把的平衡车控制机构，其中，所述转动部底部设有圆锥面；相应的，所述孔洞包括容纳转动部的中洞；中洞底部设有容纳圆锥面的锥洞，中洞两侧设有容纳压板的侧洞；所述压力传感器设置在侧洞中。
  3. 根据权利要求1所述的基于车把的平衡车控制机构，其中，所述压力传感器表面覆盖有胶垫；所述胶垫与所述压板接触。
  4. 根据权利要求1所述的基于车把的平衡车控制机构，其中，所述车体底部设有支撑臂，所述支撑臂一端与车体底部可转动固定，另一端与车轮可转动固定；所述支撑臂上设有通孔，通孔内设有可沿着通孔运动的销体，所述车体底部还设有与销体配合的第一定位孔和第二定位孔，所述支撑臂旋转到展开状态时，所述销体跟第一定位孔配合；所述支撑臂旋转到收缩状态时，所述销体跟第二定位孔配合。
  5. 根据权利要求4所述的基于车把的平衡车控制机构，其中，所述销体包括连接柱，与连接柱端部连接的固定柱；所述固定柱的横截面宽度大于连接柱的横截面宽度；所述固定柱与连接柱连接处形成第一环面；相应的，所述通孔包括与连接柱适配的第一孔洞，与固定柱适配的第二孔洞；所述第一孔洞和第二孔洞连接处形成第二环面；所述连接柱上套接有弹簧；所述弹簧两端分别通过第一环面和第二环面定位；
    所述车轮包括轮体和轮轴部件；所述轮轴部件包括轴体，所述轴体一端穿 入轮体，另一端设有转接部；所述转接部与轴体相反的一面设有与连接件活动连接的支撑部；支撑部与所述支撑臂可转动固定；所述转接部为一圆台；所述支撑部固定在圆台偏离轴心的位置；
    所述支撑臂与轮轴固定的一端设有缺口；另一端为弧形部；所述缺口内设有转轴；所述支撑部嵌入缺口内与转轴套接。
  6. 根据权利要求4所述的基于车把的平衡车控制机构，其中，所述车体底部设有弧形凹槽，所述第一定位孔和第二定位孔分别设置在弧形凹槽的两端；所述车体底部还设有弧形的限位部；车轮在折叠状态下，内侧面与限位部的顶部接触定位；所述限位部顶部中间部位位置最高，用于跟车轮的内侧面接触定位；中间部位两侧为延伸到车体底部的斜面；所述支撑臂与车轮相对的一端设有固定孔；所述车体底部设有与固定孔适配的定位柱；所述支撑臂通过固定孔与定位柱的配合实现与车体底部可转动固定。
  7. 一种基于权利要求1所述的平衡车控制机构的控制方法，包括：
    读取两对压力传感器的压力值；
    获取最大的两个压力值及其对应的压力传感器；
    根据最大的两个压力值的压差，以及对应两个压力传感器的相对位置驱动平衡车车轮转动。
  8. 根据权利要求7所述的控制方法，其中，所述根据最大的两个压力值的压差，以及对应两个压力传感器的相对位置驱动平衡车车轮转动的方法包括：
    如果对应两个压力传感器的相对位置同向，且均位于平衡车前进方向，控制平衡车减速。
  9. 根据权利要求7所述的控制方法，其中，所述根据最大的两个压力值的压差，以及对应两个压力传感器的相对位置驱动平衡车车轮转动的方法包括：
    如果对应两个压力传感器的相对位置同向，且均位于平衡车后退方向，控制平衡车加速。
  10. 根据权利要求7所述的控制方法，其中，所述根据最大的两个压力值的 压差，以及对应两个压力传感器的相对位置驱动平衡车车轮转动的方法包括：
    如果对应两个压力传感器的相对位置反向，控制平衡车往压力值对应平衡车前进方向的压力传感器所在方向转向，并根据压差控制转向的角度。
PCT/CN2016/098038 2016-09-05 2016-09-05 一种基于车把的平衡车控制机构和控制方法 WO2018040088A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/098038 WO2018040088A1 (zh) 2016-09-05 2016-09-05 一种基于车把的平衡车控制机构和控制方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/098038 WO2018040088A1 (zh) 2016-09-05 2016-09-05 一种基于车把的平衡车控制机构和控制方法

Publications (1)

Publication Number Publication Date
WO2018040088A1 true WO2018040088A1 (zh) 2018-03-08

Family

ID=61299710

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/098038 WO2018040088A1 (zh) 2016-09-05 2016-09-05 一种基于车把的平衡车控制机构和控制方法

Country Status (1)

Country Link
WO (1) WO2018040088A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115140225A (zh) * 2022-06-28 2022-10-04 江苏双双高新科技有限公司 一种带有测速制动保护的电动平衡车

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20110027125A (ko) * 2009-09-09 2011-03-16 권성필 이륜형 자동 균형 전기자동차
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
CN105416464A (zh) * 2015-12-01 2016-03-23 杭州骑客智能科技有限公司 电动平衡车
CN106275174A (zh) * 2016-09-05 2017-01-04 尚艳燕 一种基于车把的平衡车控制机构和控制方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20110027125A (ko) * 2009-09-09 2011-03-16 권성필 이륜형 자동 균형 전기자동차
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
CN105416464A (zh) * 2015-12-01 2016-03-23 杭州骑客智能科技有限公司 电动平衡车
CN106275174A (zh) * 2016-09-05 2017-01-04 尚艳燕 一种基于车把的平衡车控制机构和控制方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115140225A (zh) * 2022-06-28 2022-10-04 江苏双双高新科技有限公司 一种带有测速制动保护的电动平衡车
CN115140225B (zh) * 2022-06-28 2023-08-01 江苏双双高新科技有限公司 一种带有测速制动保护的电动平衡车

Similar Documents

Publication Publication Date Title
US9499228B2 (en) Self-balancing vehicle frame
WO2017054764A1 (zh) 人机互动体感车
CN208576676U (zh) 自平衡两轮车辆
CN100545029C (zh) 可折叠轻质量平衡行走单轮电动车
CN204527457U (zh) 一种自平衡双轮车
KR20180082481A (ko) 주륜 및 원위 보조 바퀴를 구비한 셀프 밸런싱 보드
US20150096820A1 (en) Fully self-balanced hands-free portable vehicle
CN102795282B (zh) 自平衡两轮车转向驱动装置
CN105346643B (zh) 电动平衡车
CN104494750A (zh) 一种自平衡双轮车
CN105346651B (zh) 电动平衡车
CN103600795A (zh) 基于圆盘光栅的自平衡两轮车
CN105416485B (zh) 电动平衡车
CN104494749A (zh) 一种电动自平衡式双轮车
US7537228B2 (en) Monocycle
WO2018040088A1 (zh) 一种基于车把的平衡车控制机构和控制方法
CN102795290B (zh) 用于轻便车辆的转向装置
EP2698309B1 (en) Tricycle providing two riding modes
CN104527878B (zh) 一种自平衡电动双轮车
CN204527462U (zh) 一种电动自平衡式双轮车
WO2018039911A1 (zh) 一种平衡车控制机构、控制方法和平衡车
WO2018039910A1 (zh) 平衡车控制机构、平衡车和控制方法
WO2018040089A1 (zh) 一种基于车杆的平衡车控制机构和控制方法
WO2018039915A1 (zh) 一种平衡车控制机构、平衡车与控制方法
CN107776784B (zh) 一种平衡车控制机构、平衡车和控制方法

Legal Events

Date Code Title Description
WA Withdrawal of international application
NENP Non-entry into the national phase

Ref country code: DE