WO2019153191A1 - Precession-assisted electric vehicle driving method - Google Patents

Abstract

A precession-assisted electric vehicle driving method, relating to the field of electric vehicles, and comprising the steps: step A: controlling at least one pair of gyroscopic members of the front half and/or the rear half of an electric vehicle to rotate about the axes thereof; step B: changing the angle of the axes of the gyroscopic members axes with the chassis of the electric vehicle or locking said angle. Step A and step B can be implemented simultaneously or separately. The present method is a precession-assisted electric vehicle driving method for reducing the kinetic energy loss of the vehicle when passing potholes or obstacles, improving the passing ability, and reducing bumping to improve the passenger riding experience.

Description

Precessional auxiliary electric vehicle driving method Technical field

The invention relates to the field of electric vehicles, and in particular to a method for driving an auxiliary electric vehicle.

Background technique

The energy consumed by electric vehicles is electric energy, which has the advantages of green, environmental protection and less pollution;

It has developed rapidly in recent years, but it has only changed the power source part of the powertrain to electric energy. Especially for electric vehicles, its handling in terms of passability has continued the treatment of traditional cars, such as:

When passing through the pit, the shock absorption method is still adopted, and the tire directly contacts the pit first, and then the shock absorber system is used to reduce the influence of the vehicle body, thereby maintaining the posture of the vehicle body;

When the obstacle is passed, the shock absorption method is still adopted, and the tire directly contacts the obstacle first, and then the shock absorber system is used to reduce the influence of the vehicle body, thereby maintaining the posture of the vehicle body;

There are some shortcomings in this way. The first is the loss of kinetic energy. When the car passes through the pit and over obstacles, it will inevitably be affected by the pits and obstacles on the tires, causing the loss of kinetic energy. At the same time, the shock absorption cannot reach 100% perfection. The driver will still feel the bumps. Secondly, the passability is not good enough, the wheels are easy to get stuck in the pit or the chassis is stuck by the obstacles, causing the car to break down.

Summary of the invention

In view of the problems existing in the prior art, an object of the present invention is to provide a precession assisted electric vehicle driving method that reduces kinetic energy loss of a vehicle when passing through a pit and over obstacles, improves passability, and reduces jolting to increase a passenger's riding experience.

In order to achieve the above object, the technical solution adopted by the present invention is:

A precession assisted electric vehicle driving method, comprising the steps of:

Step A: controlling at least one pair of gyro parts of the front half and/or the second half of the electric vehicle to rotate about their own axes;

Step B: changing the angle between the axis of the gyro itself and the chassis of the electric vehicle or locking the angle, the step B and the step A may be performed simultaneously or separately.

The gyro member has precession when rotating, and controls the angle between the gyro's own axis and the chassis. At the same time, at least one pair of gyro members in the method, the torque generated by the two gyro members cooperate with each other (by adjusting the rotation speed of the gyro member) And / or the speed of the angle change, can make the precession of the gyro produce a tendency to lift the chassis up (including but not limited to the tendency to lift the chassis up), when the gyro precession The torque can overcome the gravity of the electric vehicle, and then the direction of the torque can be controlled, and the front or rear of the vehicle can be lifted through the chassis, so that the electric vehicle can pass through the pit and the obstacle in a different way from the conventional automobile.

For example, when passing through the pit, steps A and B are performed simultaneously, or step B is performed first, the axis of the gyro is adjusted in place, and then the rotational speed of the gyro is controlled to control the magnitude of the torque, and the front of the gyro is lifted by the precession of the gyro. Or the pressure on the ground is zero, the wheel will not fall into the pit when it encounters the pit, but will pass directly from the pit. There is no tire in the prior art to enter the pit first, which causes the pit to resist the tire. Reduce the kinetic energy loss of the pit and improve the passability, so that it will not produce the vibration of the traditional car, reduce the bump and increase the passenger experience;

In the same way, when the obstacle is passed, the advancement of the gyro and the lifting of the tail are matched by the precession of the gyro (head-up action and tail-lifting action), so as to avoid direct contact between the tire and the obstacle in the driving direction, and reduce the obstacle. When the car loses its kinetic energy and improves the passability, it will not cause the vibration of the traditional car, and reduce the bumps and increase the passenger experience.

As a preferred embodiment of the present invention, the step B and the step A are performed simultaneously, and the posture of the electric vehicle can be adjusted in real time, so that the electric vehicle can adapt to more situations.

As a preferred embodiment of the present invention, when the gyro is controlled to perform the movement of steps A and B, the sum of the gyro moments generated is greater than the total vehicle weight of the electric vehicle, and the width direction of the chassis of the electric vehicle is taken as an axis. And in the top view direction, the front of the vehicle head is forward, and the one facing the left is a positive direction, and the sum of the gyro moments on the electric vehicle is a clockwise direction around the positive direction, so that the electric vehicle is lifted. Tail action.

As a preferred embodiment of the present invention, when the gyro is controlled to perform the movement of steps A and B, the sum of the gyro moments generated is greater than the total vehicle weight of the electric vehicle, and the width direction of the chassis of the electric vehicle is taken as an axis. And in the top view direction, the front of the vehicle head is forward, and the one facing the left is a positive direction, and the sum of the gyro moments on the electric vehicle is a counterclockwise direction around the positive direction, so that the electric vehicle is looked up. action;

By controlling the magnitude and direction of the gyro moment generated by the movement of one or more pairs of gyro members, the gyro moment can be controlled (size and direction), the head movement and the tail lifting action are matched, so that the electric vehicle can complete each The obstacles can even complete the pits in some special cases (when the height difference between the two sides of the pit is too large).

As a preferred embodiment of the present invention, when the gyro is controlled to perform the movement of steps A and B, the magnitude of the sum of the gyro moments is equal to the total vehicle weight of the electric vehicle, so that the wheel of the electric vehicle passes through the pit. The bottom passes along the top of the opening of the pit. This way, the pass is smoother. Under the theoretical state, the passenger can hardly feel the vibration, because there is no process of collision between the wheel and the inner wall of the pit under the theoretical state.

According to a preferred embodiment of the present invention, when the obstacle is excessive, the head-up operation is performed first, and when the front of the electric vehicle is lifted up and is vacant, the tail-lifting operation is performed, and the electric vehicle is subjected to a stagnation operation, and the stagnation operation can be adapted to A variety of situations, including over pits or obstacles.

As a preferred embodiment of the present invention, when the length of the required obstacle is less than the wheelbase of the front and rear axles of the electric vehicle, the electric vehicle performs a stagnation action, passes over the obstacle, passes the obstacle more quickly, and passes the obstacle. The process electric vehicle does not require an obstacle to support, and is suitable for the case where the length of the obstacle is smaller than the wheelbase of the front and rear axles of the electric vehicle.

As a preferred embodiment of the present invention, when the length of the required obstacle is greater than the wheelbase of the front and rear axles of the electric vehicle, the head-up operation is performed first, the electric vehicle continues to travel, and the current wheel moves to the obstacle. When the edge is above, the head lifting action stops the front end, the front wheel supports the upper surface of the obstacle, and then the tail lifting action is performed, the front wheel continues to travel on the upper surface of the obstacle, and when the rear wheel moves to the When the obstacle is above the rear edge, the stopping tail lifting action is that the tail is dropped, the rear wheel is supported to the upper surface of the obstacle, and then the electric vehicle drives over the obstacle, and the length of the obstacle is greater than the front and rear axles of the electric vehicle. In the case of wheelbase, it is more dangerous to complete the jump directly in this case. With this preferred scheme, the obstacle itself can be supported in part of the time course, so that it can pass through the obstacle. Smooth, increasing the passenger experience.

As a preferred embodiment of the present invention, when the current wheel is driven out from the front edge of the obstacle, by controlling the movement of the gyro, controlling the magnitude and direction of the sum of the gyro moments, controlling the falling speed of the front end, when the rear wheel is from the When the front edge of the obstacle is driven out, by controlling the movement of the gyro, controlling the magnitude and direction of the sum of the gyro moments, controlling the falling speed of the tail, the length of the obstacle is greater than the wheelbase of the front and rear axles of the electric vehicle. In the case, when the obstacle is relatively high, if the weight of the electric vehicle itself is completely relied on, the front end of the vehicle is lowered rapidly, and the landing is biased toward violence, which is liable to damage to the electric vehicle or the injury of the passenger, or even the tilting of the electric vehicle.

The application also discloses a precessional auxiliary electric vehicle, which comprises:

Chassis

a wheel on which the wheel is mounted;

The gyro member, the front half portion and the rear half portion of the chassis are each mounted with at least one pair of the gyro members, the gyro member being rotatable about its own axis, and an angle between the own axis of the gyro member and the chassis is adjustable.

By setting the gyro member, the gyro member is precessive when rotated, and by controlling the angle between the gyro's own axis and the chassis, the precession of the gyro can cause the chassis to be lifted upward, and the gyro The precession generated torque can overcome the gravity of the electric vehicle, and the front or rear of the vehicle can be lifted through the chassis, so that the electric vehicle can pass through the pit and the obstacle in a different way from the conventional automobile.

For example, when passing through a pit, the front end of the gyro is lifted or the pressure on the ground is zero. When the wheel encounters the pit, it does not fall into the pit, but passes directly from the pit, and there is no existing The tires in the technology first enter the pit, causing the pit to generate resistance to the tire, reducing the kinetic energy loss of the pit and improving the passability, so that the vibration of the conventional automobile is not generated, and the bumping is reduced to increase the passenger experience;

In the same way, when the obstacle is passed, the advancement of the gyro and the lifting of the tail are matched by the precession of the gyro, so as to avoid direct contact between the tire and the obstacle in the traveling direction, and reduce the kinetic energy loss of the vehicle when the obstacle is overcome, and improve the passage. Sex, so it will not produce the same vibration as a traditional car, reducing the bumps and increasing the passenger experience.

As a preferred embodiment of the present invention, the same pair of gyro members are located above or below the chassis at the same time, and the opposite gyro members rotate in opposite directions in the plan view angle of the chassis, so that the gyro is precessive. The torque is more easily combined into a torque that resists the gravity of the chassis, and the energy utilization is better.

As a preferred embodiment of the present invention, the self-axis of the same gyro member is symmetrical with respect to the plane of symmetry in the longitudinal direction of the chassis, and the torque generated by the precession of the gyro member is more controllable, and the plurality of gyro members are cooperatively operated. The difficulty also makes the driving state of the electric car more controllable.

As a preferred embodiment of the present invention, the gyro members of the same pair are symmetrically disposed about the axis of symmetry in the longitudinal direction of the chassis, and the torque generated by the precession of the gyro members is more controllable, and the plurality of gyro members are cooperatively operated. The difficulty also makes the driving state of the electric car more controllable.

As a preferred embodiment of the present invention, the gyro members of the same pair are two identical rotating bodies, and the torque generated by the precession of the gyro members is more controllable, and the difficulty of working together of the plurality of gyro members is reduced. It also makes the driving state of the electric car more controllable.

As a preferred embodiment of the present invention, the gyro members of the front half portion and the rear half of the chassis are all the same rotating body, and the torque generated by the precession of all the gyro members on the chassis is more controllable, and the plurality of torques are reduced. The difficulty of working together with the gyro parts also makes the driving state of the electric vehicle more controllable.

As a preferred solution of the present invention, the rotation speed of the gyro member about its own axis is adjustable, and the precession of the gyro member is adjusted by the rotation speed of the gyro member and the angle between the gyro member's own axis and the chassis, so that the gyro member is precessed. The torque generated by sex is easier to control and is easy to handle in a variety of road conditions.

As a preferred embodiment of the present invention, the angle between the axis of the gyro and the chassis can be maintained at an angle, and the gyro can be separately controlled by locking the angle between the gyro's own axis and the chassis. The speed of the gyro makes the influence of the gyro on the chassis more stable, the overall attitude adjustment of the electric vehicle is smoother, and the occupant ride experience is better.

As a preferred embodiment of the present invention, the chassis is provided with a precession motor, and the gyro is driven to rotate by the precessing motor, and the gyro is provided with a battery pack for supplying the precessing motor, and the structure Better, reducing the space required to install the battery pack, and increasing the moment of inertia of the gyro.

As a preferred embodiment of the present invention, the precessing motor is provided with a precessing rotating shaft for paying the precessing motor, the gyroscope is mounted on the precessing rotating shaft and the axis of the precessing rotating shaft and the axis of the gyro coincide with each other. The precessing motor is rotatably connected to the chassis, and has a better structure and saves space.

As a preferred embodiment of the present invention, the chassis is provided with a lug, and the precessing motor is hinged to the lug by a hinge rod fixedly connected to the outer surface of the precessing motor, which has better structure and saves space, and avoids The gyro component interferes with the chassis.

As a preferred embodiment of the present invention, the hinge rod is mounted with a precession gear coaxial with the hinge rod, and the ear mount is mounted with a precession drive for driving the precession gear to rotate or restrict the rotation of the precession gear. The device makes the rotation of the hinge rod, that is, the adjustment of the angle between the gyro's own axis and the chassis more accurate and stable, and also facilitates fixing to an angle.

As a preferred embodiment of the present invention, the hinge rod is provided with an encoder for monitoring the rotation angle of the hinge rod, the chassis is provided with a control unit, the control unit and the precession drive device, the encoder and the precession motor The connection control unit controls the precession driving device through the feedback of the encoder to make the rotation of the hinge rod, that is, the adjustment of the angle between the gyro's own axis and the chassis more accurate and stable.

As a preferred embodiment of the present invention, the chassis is provided with a plurality of sensors for identifying road conditions, and the sensors are connected to the control unit to facilitate control of the precession drive, the encoder and the precession motor by the control unit. Adjust to accommodate real-time traffic conditions.

As a preferred embodiment of the present invention, the axis of the hinge rod and the axis of symmetry in the longitudinal direction of the chassis are parallel, and the moment generated by the precession of all the gyro members on the chassis is more controllable, and the plurality of gyro members are cooperatively operated. The difficulty also makes the driving state of the electric car more controllable.

The beneficial effects of the invention are:

The gyro member has precession when rotating, and controls the angle between the gyro's own axis and the chassis. At the same time, at least one pair of gyro members in the method, the torque generated by the two gyro members cooperate with each other (by adjusting the rotation speed of the gyro member) And / or the speed of the angle change, can make the precession of the gyro to produce a tendency to lift the chassis up (including but not limited to the tendency to lift the chassis up), when the gyro precession The torque can overcome the gravity of the electric vehicle, and then the direction of the torque can be controlled, and the front or rear of the vehicle can be lifted through the chassis, so that the electric vehicle can pass through the pit and the obstacle in a different way from the conventional automobile.

For example, when passing through the pit, steps A and B are performed simultaneously, or step B is performed first, the axis of the gyro is adjusted in place, and then the rotational speed of the gyro is controlled to control the magnitude of the torque, and the front of the gyro is lifted by the precession of the gyro. Or the pressure on the ground is zero, the wheel will not fall into the pit when it encounters the pit, but will pass directly from the pit. There is no tire in the prior art to enter the pit first, which causes the pit to resist the tire. Reduce the kinetic energy loss of the pit and improve the passability, so that it will not produce the vibration of the traditional car, reduce the bump and increase the passenger experience;

In the same way, when the obstacle is passed, the advancement of the gyro and the lifting of the tail are matched by the precession of the gyro (head-up action and tail-lifting action), so as to avoid direct contact between the tire and the obstacle in the driving direction, and reduce the obstacle. When the car loses its kinetic energy and improves the passability, it will not cause the vibration of the traditional car, and reduce the bumps and increase the passenger experience.

DRAWINGS

1 is a schematic structural view of an electric vehicle according to Embodiment 1 of the present invention;

Figure 2 is a first isometric view of the unmounted gyro of the electric vehicle according to Embodiment 1 of the present invention;

Figure 3 is a second isometric view of the gyro of the electric vehicle according to Embodiment 1 of the present invention;

Figure 4 is a bottom plan view of an electric vehicle according to Embodiment 1 of the present invention;

Figure 5 is a schematic structural view of a gyro of an electric vehicle according to Embodiment 1 of the present invention;

Figure 6 is a plan view of an electric vehicle according to Embodiment 1 of the present invention;

Figure 7 is a schematic view showing a through-pit of an electric vehicle according to Embodiment 1 of the present invention;

8 is a schematic view showing an obstacle of an oversized small size of an electric vehicle according to Embodiment 1 of the present invention;

9 is a schematic view showing an excessive obstacle of an electric vehicle according to Embodiment 1 of the present invention;

Figure 10 is a force analysis diagram of an electric vehicle according to Embodiment 1 of the present invention;

Marked in the figure: 1-chassis, 2-control unit, 3-left rear gyro rotor, 3-1-gyro rotor top cover, 3-2-gyro rotor body, 3-3- battery pack, 4-left rear gyro rotation Precession motor, 5-left rear precession gear, 6-left rear wheel, 7-left rear precession motor gear, 8-left rear precession motor, 9-right rear gyro rotor, 10-right rear gyro rotation precession motor, 11 - Right rear precession gear, 12-right rear precession motor gear, 13-right rear precession motor, 14-right rear wheel, 15-right rear encoder, 16-right rear precession sensing gear, 17-right front gyro rotor, 18 - Right front gyro rotation precession motor, 19-right forward moving gear, 20-right forward moving motor gear, 21-right forward moving motor, 22-right front encoder, 23-right front wheel, 24-right forward motion sensing gear , 25- left front gyro rotor, 26-left front gyro rotation precession motor, 27-left forward moving gear, 28-left forward moving motor gear, 29-left forward moving motor, 30-left rear encoder, 31-left rear precession Sensing gear, 32-left front encoder, 33-left front wheel, 34-left rear coding gear, 35-right rear coding gear, 36-right front coding gear, 351-left front coding gear, 37-right front obstacle Object recognition sensor, 38-left front obstacle recognition sensor, 39-left front wheel drive motor, 40-vehicle road condition recognition sensor I, 41-right front wheel drive motor, 42-vehicle road condition recognition sensor II, 43-vehicle Road condition recognition sensor III, 44 - right rear wheel drive motor, 45 - vehicle condition recognition sensor IV, 46 - left rear wheel drive motor.

Detailed ways

The present invention will be further described in detail below with reference to the embodiments and specific embodiments. However, the scope of the above-mentioned subject matter of the present invention should not be construed as being limited to the following embodiments, and the technology realized based on the summary of the present invention is within the scope of the present invention.

Example 1

A precession assisted electric vehicle driving method, comprising the steps of:

Step A: controlling at least one pair of gyro parts of the front half and/or the second half of the electric vehicle to rotate about their own axes;

Step B: changing the angle between the axis of the gyro itself and the chassis of the electric vehicle or locking the angle, the step B and the step A can be performed simultaneously.

When the gyro is controlled to perform the movement of steps A and B, the sum of the gyro moments generated is greater than the total vehicle weight of the electric vehicle, and the width direction of the chassis of the electric vehicle is taken as the axis, and the front end is taken in the plan view. The front side is forward, and the one facing the left is a positive direction, and the sum of the gyro moments on the electric vehicle is a clockwise direction around the positive direction, thereby causing the electric vehicle to perform a tail-lifting action;

When the gyro is controlled to perform the movement of steps A and B, the sum of the gyro moments generated is greater than the total vehicle weight of the electric vehicle, and the width direction of the chassis of the electric vehicle is taken as the axis, and the front end is taken in the plan view. The front side is forward, and the one facing the left is a positive direction, and the sum of the gyro moments on the electric vehicle is a counterclockwise direction around the positive direction, thereby causing the electric vehicle to perform a head-up operation.

The specific principles are as follows:

As shown in Fig. 6, the gyro automobile is composed of a chassis 1, 4 wheels, 4 gyro devices, and an electronic control system (i.e., control unit 2). As shown in Fig. 6, 10, the coordinate system is established. The positive direction of the X axis is the front of the electric vehicle, and the Z axis is perpendicular to the plane of the chassis 1, pointing to the upper side of the chassis 1.

As shown in Fig. 6 (Fig. 6 is a plan view, the following directions are all directed to the direction of the viewing angle), and the left front gyro rotor 25 and the right rear gyro rotor 9 are rotated counterclockwise around the rotation axis, and counterclockwise around the X axis. Precession, the right front gyro rotor 17 and the left rear gyro rotor 3 rotate clockwise around the rotation axis, and advance clockwise around the X axis. All the gyro rotors have the same angular velocity of rotation, and the magnitude of the precession angular velocity is the same, and the generated moment and In the clockwise direction around the Y axis (here, the positive direction of the Y axis, that is, the positive direction described above, that is, the "the width direction of the chassis of the electric vehicle is the axis, and the one toward the left in the plan view direction is positive" in the claims. Direction"), when the sum of the gyro moments is greater than the heavy torque of the whole vehicle, the electric vehicle can be lifted, that is, the two rear wheels can leave the ground; if the rotation direction of all the gyro rotors is controlled to be the same as the foregoing, The moving direction is opposite to the aforementioned precessing direction, and the generated torque is counterclockwise around the Y axis. When the sum of the gyro moments is greater than the heavy moment of the whole vehicle, the electric vehicle can be raised, that is, two fronts. You can leave the ground. When only two wheels are on the ground, they can be turned by the steering mode of the two-wheel balance car.

The left front gyro and the right rear gyro (here, the left front gyro rotor 25 and the right rear gyro rotor 9) rotate counterclockwise about their rotation axis (from the angle of FIG. 6), and advance in the counterclockwise direction around the X axis; the right front gyro and the left rear The gyro (here, the right front gyro rotor 17 and the left rear gyro rotor 3) rotates clockwise around its rotation axis and advances clockwise around the X axis. The rotation speeds of the four gyros are the same, and the precession angular velocity is the same. The two gyros are opposite to the rotation directions of the other two gyros, and the purpose is to make the sum of the angular momentum of the whole vehicle approximately 0; the precession directions of the two gyros are opposite to the precession directions of the other two gyros, and the purpose thereof It is to make the composite vector of the gyro moment on the Y axis to control the head or tail of the gyro car.

The torque analysis is as follows:

6 and 10, FIG. 10 shows the angular velocity and precession control of the front two gyros (corresponding to the left front gyro rotor 25 and the right front gyro rotor 17).

Ω _lf is the precession angular velocity of the left front gyro, and the size is set to 0.8 rad/s, and the direction is as shown in FIG. 10;

ω _lf is the angular velocity of the left front gyro of the gyro, and the size is set to 1884 rad/s (about 18000 r/min), and the direction is as shown in FIG. 10;

Ω _rf is the precession angular velocity of the right front gyro, and the size is set to 0.8 rad/s, and the direction is as shown in FIG. 10;

ω _rf is the rotation angular velocity of the right front gyro of the gyro, and the size is set to 1884 rad/s (about 18000 r/min), and the direction is as shown in FIG. 10;

Similarly, the data of the left rear gyro and the right rear gyro are also set accordingly (the four gyros have the same angular velocity of rotation and the same angular velocity of the precession), but the directions are all set as shown in FIG.

θ is the angle between the gyro rotation axis and the Z axis;

The quality of the frame is m _f = 470kg;

The mass of each wheel is m _w = 9kg;

The mass of each gyro device is m _gyro = 40kg;

The moment of inertia of the gyro around its axis of rotation is J _zz =1kg·m ² ;

The wheelbase between the front and rear wheels is L=1.5m;

The moment of inertia of the whole vehicle around the Y axis is J=150kg·m ² ;

The angular acceleration of the whole vehicle under the action of the total torque is β;

Gravity acceleration g=9.8m/s ² ;

The angle between the frame of the gyro car and the ground (the angle is the pitch angle of the gyro when only the front wheel touches the ground or only the rear wheel touches the ground).

When the rotation direction and the precession direction of the four gyros are as shown in Fig. 6, the total gyro moment of the gyro car is about

T _gyro =(4J _zz ω×Ω)cos θ(1)

Set the center of gravity of the whole car at the center of the front and rear wheelbases, then the heavy torque received by the whole vehicle is

(a) Set the four wheels of the gyro automobile to land at the initial moment, then ψ = 0; θ = 0, that is, the rotation axis of the gyro is vertical, and the rotation direction and precession direction of all the gyros are as shown in Fig. 6. Show

Substituting the value into (3), you can get

β=6.84rad/s ² (4)

Then the whole vehicle will lift the rear end with an angular acceleration of 6.84 rad/s ² , that is, two rear wheels are off the ground (left rear wheel 6 and right rear wheel 14), that is, the tail-lifting action, the aforementioned "electric vehicle" The resulting turning tendency is a clockwise direction around the positive direction, ie corresponding to an angular acceleration of 6.84 rad/s ² here.

(b) Set the four wheels of the gyro automobile to land at the initial moment, then ψ = 0; θ = 0, that is, the rotation axis of the gyro is vertical, and the rotation direction of all the gyros is as shown in Figure 6. The direction of motion is opposite to that shown in Figure 6,

Substituting the value into (5), you can get

β=-6.84rad/s ² (6)

Then the whole vehicle will lift the front end with an angular acceleration of -6.84 rad/s ² , that is, the two front wheels are off the ground, that is, the head-up motion, that is, the angular acceleration here is opposite to the above-mentioned 6.84 rad/s ² , one is smooth In the hour hand direction, one is counterclockwise.

Secondly, specifically, when the gyro is controlled to perform the movement of steps A and B, the sum of the gyro moments generated is equal to the vehicle heavy moment of the electric vehicle, so that the bottom of the wheel is along the pit when the electric vehicle passes through the pit. Pass the top of the opening; that is:

As shown in FIG. 7, when the electric vehicle of the embodiment passes through the pit, the length of the pit is smaller than the wheelbase of the front and rear wheels of the electric vehicle; when the vehicle road condition recognition sensor I40 recognizes that there is a pit, the precession direction of the gyro rotor is controlled, so that The generated torque is balanced with the heavy torque of the electric vehicle to prevent the head of the electric vehicle from falling into the pit; when the vehicle bottom condition recognition sensor II42 recognizes the front edge of the pit (the front side is the front in FIG. 7), the control of the gyro rotor is not The precession is generated, and the vehicle head can fall to the ground under the action of the heavy torque; when the vehicle bottom road condition recognition sensor III43 recognizes the rear edge of the pit, the precession direction of the gyro rotor is controlled (by the gyro rotor's own axis and the chassis 1) The angle of the gyro rotor and the speed of the gyro rotor are determined to balance the torque with the heavy torque of the electric vehicle to prevent the tail of the electric vehicle from falling into the pit; when the vehicle bottom condition recognition sensor IV45 recognizes the front edge of the pit, The control gyro rotor no longer generates precession, and under the action of heavy torque, the tail can fall to the ground; thus, the electric vehicle of the present invention can smoothly pass over the wheelbase of the front and rear wheels. pit.

Secondly, when the obstacle is over, the head-up operation is first performed, and when the front of the electric vehicle is lifted and the vehicle is vacant, the tail-lifting operation is performed, and the electric vehicle is subjected to the stagnation operation, and the length of the obstacle required is less than When the front and rear axles of the electric vehicle have a wheelbase, the electric vehicle performs a stagnation operation and passes over an obstacle;

which is:

As shown in FIG. 8, when the electric vehicle of the present embodiment has a small obstacle (the length of the obstacle is smaller than the wheelbase of the front and rear axles of the electric vehicle), when the left front obstacle recognition sensor 38 and the right front obstacle recognition sensor 37 recognize the front obstacle When the control unit 2 is calculated, if it can be crossed, the sensor sensing condition (measurement data) is recognized according to the four vehicle road conditions, and the rotational speed and the precession angular velocity of the gyro rotor are controlled in real time (the precession angular velocity is determined by the gyro rotor's own axis and the chassis 1) The change speed of the angle is determined to realize the lifting head of the electric vehicle, lifting the tail (when the electric vehicle is stagnate), and maintaining the balance between the rotation speed of the gyro rotor and the precession angular velocity in the air, falling the nose and falling the tail. All obstacle crossing actions are completed, and thus, the electric vehicle of the present invention can pass over an obstacle whose height is within the index range and whose length is smaller than the wheelbase of the front and rear wheels.

Secondly, when the length of the required obstacle is greater than the wheelbase of the front and rear axles of the electric vehicle, the head-up operation is performed first, the electric vehicle continues to travel, and when the current wheel moves over the rear edge of the obstacle, the vehicle stops. The head lifting action causes the front end to fall, the front wheel supports the upper surface of the obstacle, and then the tail lifting action is performed, the front wheel continues to travel on the upper surface of the obstacle, and when the rear wheel moves to the obstacle When the edge is above the edge, the tail-lifting action is that the tail is dropped, the rear wheel is supported to the upper surface of the obstacle, and then the electric vehicle drives over the obstacle, and when the current wheel is driven out from the front edge of the obstacle, by controlling the The movement of the gyro member controls the magnitude and direction of the sum of the gyro moments, controls the falling speed of the front end, and controls the sum of the gyro moments by controlling the movement of the gyro when the rear wheel is driven out from the front edge of the obstacle. Size and direction to control the speed at which the tail falls;

which is:

When the electric vehicle of the present embodiment has a large obstacle (the length of the obstacle is larger than the front and rear wheel axle distances of the electric vehicle), when the left front obstacle recognition sensor 38 and the right front obstacle recognition sensor 37 recognize the front obstacle, the control unit 2 After calculation, if it can be crossed, first raise the head to the predetermined height, when the vehicle bottom condition recognition sensor II42 recognizes the rear edge of the obstacle, drop the front of the vehicle, change the precession direction of all the gyro rotors, lift the tail to the obstacle The height of the object; proceeding forward (by inertia and the driving force of the two front wheels, the two front wheels described here, the left front wheel 33 and the right front wheel 23), when the vehicle bottom road condition recognition sensor IV45 recognizes the obstacle At the rear edge, the tail is dropped; when the vehicle bottom road condition recognition sensor III43 recognizes the front edge of the obstacle, the vehicle head is slowly dropped (by controlling the rotational speed of the gyro rotor and the precession angular velocity, and combining the weight of the electric vehicle) Torque, so that the front of the car slowly falls; continue to move forward, when the vehicle bottom road condition recognition sensor IV45 recognizes the front edge of the obstacle, slowly drop the tail (through control The rotational speed of the gyro rotor and the precessional angular velocity, combined with the heavy moment of the electric vehicle, cause the tail to fall slowly. Thus, the electric vehicle of the present invention can pass over an obstacle whose height is within the index range and whose length is greater than the wheelbase of the front and rear wheels. As for the large obstacles and small obstacles, it can be judged by manual or other external equipment, and the mode in which the electric vehicles correspond to the two cases can be set in the control unit of the electric vehicle.

As shown in FIGS. 1, 2, 3, 4 and 6, the present embodiment also discloses a precessional auxiliary electric vehicle (in the embodiment of the present application, the driving method part and the electric vehicle structure part are common), which includes :

The chassis 1 (the right side of the chassis 1 is in front of the chassis 1 and the left side is the rear of the chassis 1), and the embodiment may also include a device for a conventional automobile such as a frame mounted on the chassis 1;

a wheel on which the wheel is mounted. In this embodiment, the wheel includes a left front wheel 33, a right front wheel 23, a left rear wheel 6, and a right rear wheel 14, respectively, which are independently driven by the chassis 1. The motor is driven, and the left front wheel 33, the right front wheel 23, the left rear wheel 6 and the right rear wheel 14 correspond to the left front wheel drive motor 39, the right front wheel drive motor 41, the left rear wheel drive motor 46, and the right rear wheel drive motor, respectively. 44;

a gyro member, at least a pair of the gyro members are mounted on the front half portion and the rear half portion of the chassis 1. The gyro member is rotatable about its own axis, and the rotation speed of the gyro member about its own axis is adjustable. The angle between the own axis and the chassis 1 is adjustable, and the angle between the axis of the gyro and the chassis 1 can be maintained at an angle.

Specifically, the same pair of gyro members are simultaneously located above the chassis 1, and the same gyro members rotate in opposite directions in the plan view angle of the chassis 1 (as shown in FIG. 6), and the pair of gyro members are related to the chassis 1 The axis of symmetry in the longitudinal direction is symmetrically arranged and the axes of the gyroscopes of the same pair are symmetrical about the plane of symmetry in the longitudinal direction of the chassis 1.

Specifically, the gyro members of the front half and the rear half of the chassis 1 are all the same rotating body, and the chassis 1 is provided with a precessing motor, and the gyro is driven and rotated by the precessing motor. A battery pack 3-3 for supplying the precession motor is disposed in the gyro, and as shown in FIG. 5, the gyro is a gyro rotor, which is a flat cylindrical shape, and includes a gyro rotor main body 3-2 and A gyro rotor upper cover 3-1 disposed on the gyro rotor main body 3-2, an inner circumference array of the gyro rotor main body 3-2 is mounted with a battery pack 3-3, and the battery pack 3-3 includes a plurality of concentric annular battery arrays Maximizing the space in the gyro rotor main body 3-2, increasing the battery capacity, and extending the gyro rotor's endurance time. The precessing motor is provided with a precessing rotating shaft for paying the precessing motor, and the gyro is mounted on the The axis of the precessing shaft and the axis of the precessing shaft coincide with the axis of the gyro, and the battery unit 3-3 is connected to the precessing motor to transmit electric energy through the rotating shaft and the precessing motor.

Specifically, the chassis 1 is provided with a lug, and the precessing motor is hinged to the lug by a hinge rod fixedly connected to an outer surface of the precessing motor, the axis of the hinge rod and the length direction of the chassis 1 The axis of symmetry is parallel, and the hinge rod is mounted with a precession gear coaxial with the hinge rod, and the ear seat is mounted with a precession driving device for driving the precession gear to rotate or restrict the rotation of the precession gear. The hinge rod is provided with an encoder for monitoring the rotation angle of the hinge rod, and the chassis is provided with a control unit 2, which is connected to the precession drive, the encoder and the precession motor.

In this embodiment, the gyro rotor includes a left front gyro rotor 25, a right front gyro rotor 17, a left rear gyro rotor 3, and a right rear gyro rotor 9, respectively, and the corresponding precessing motor is a left front gyro rotation precession motor 26, The right front gyro rotation precession motor 18, the left rear gyro rotation precession motor 4 and the right rear gyro rotation precession motor 10, the precession gear corresponding to the left front gyro rotor 25 is the left forward moving gear 27, and the left forward moving gear 27 corresponds to the advance The driving device is a left forward moving motor 29, the left forward moving motor 29 is mounted on the ear seat, and the left forward moving motor 29 is provided with a left forward moving motor gear 28 controlled by the left forward moving motor 29, and the left forward moving motor gear 28 and the left forward moving gear 27 mesh, at the same time, the left front gyro rotor 25 corresponding to the hinge rod is provided with a left forward moving sensing gear coaxially rotating with the hinge rod, the corresponding encoder is the left front encoder 32, the left front encoder 32 is installed On the ear seat, the left front encoder 32 is mounted with a left front coding gear 351, the left forward motion sensing gear and the left front coding gear 351 are engaged, and the left front gyro rotor 25 is rotated to drive the left forward motion sensing. The gear rotates to drive the left front encoder gear 351 to rotate, and the left front encoder 32 monitors the angle between the left axis of the left front gyro rotor 25 and the chassis 1 by the rotation of the left front encoder gear 351, and feeds back to the control unit 2, and the control unit 2 controls the left forward movement. When the motor 29 is operated, the left forward moving motor gear 28 is driven to rotate by the left forward moving motor 29, thereby driving the left forward moving gear 27 to rotate, thereby rotating the left front gyro rotor 25 by its own axis (ie, the left front gyro rotor 25 swings its own axis, The angle between the chassis 1 and the chassis 1 is changed, thereby adjusting the angle between the axis of the left front gyro rotor 25 and the chassis 1. The left front gyro rotation precession motor 26 drives the left front gyro rotor 25 to rotate about its own axis, and the control unit 2 controls the left front gyro rotation. The precession motor 26 controls the rotation speed of the left front gyro rotor 25.

The precession gear corresponding to the left rear gyro rotor 3 is the left rear precession gear 5, the precession drive device corresponding to the left rear precession gear 5 is the left rear precession motor 8, and the left rear precession motor 8 is mounted on the ear seat, and the left rear precession motor 8 is provided with a left rear precessing motor gear 7 controlled by the left rear precessing motor 8, and the left rear precessing motor gear 7 and the left rear precessing gear 5 are meshed, and at the same time, the left rear gyro rotor 3 is provided with an articulated lever on the hinged rod The left rear precession sensing gear 31 is coaxially rotated, the corresponding encoder is the left rear encoder 30, the left rear encoder 30 is mounted on the ear mount, and the left rear encoder 30 is mounted with the left rear encoding gear 34, left rearward The movable sensing gear 31 and the left rear encoding gear 34 mesh, and the left rear gyro rotor 3 rotates to drive the left rear precession sensing gear 31 to rotate, thereby driving the left rear encoding gear 34 to rotate, and the left rear encoder 30 passes through the left rear encoding gear 34. Rotating and monitoring the angle between the axis of the left rear gyro rotor 3 and the chassis 1, and feeding back to the control unit 2, the control unit 2 controls the operation of the left rear precessing motor 8, and the left rear precessing motor gear 7 is driven to rotate by the left rear precessing motor 8 Drive left The precessing gear 5 rotates, thereby rotating the left axis of the left rear gyro rotor 3, thereby adjusting the angle between the axis of the left rear gyro rotor 3 and the chassis 1, and the left rear gyro rotation precessing motor 4 drives the left rear gyro rotor 3 Rotating about its own axis, the control unit 2 controls the left rear gyro to rotate the precession motor 4 to control the rotation speed of the left rear gyro rotor 3.

The precession gear corresponding to the right front gyro rotor 17 is the right forward moving gear 19, the precession driving device corresponding to the right forward moving gear 19 is the right forward moving motor 21, the right forward moving motor 21 is mounted on the ear seat, and the right forward moving motor 21 The right forward moving motor gear 20 controlled by the right forward moving motor 21 is disposed, and the right forward moving motor gear 20 and the right forward moving gear 19 are meshed, and the hinged rod corresponding to the right front gyro rotor 17 is disposed coaxially with the hinged rod. Rotating right forward motion sensing gear 24, corresponding encoder is right front encoder 22, right front encoder 22 is mounted on the ear mount, right front encoder 22 is mounted with right front coding gear 36, right forward motion sensing gear 24 and The right front coding gear 36 is engaged, the right front gyro rotor 17 rotates to drive the right forward motion sensing gear 24 to rotate, thereby driving the right front coding gear 36 to rotate, and the right front encoder 22 monitors the own axis and the chassis of the right front gyro rotor 17 by the rotation of the right front coding gear 36. The angle of 1 is fed back to the control unit 2, the control unit 2 controls the operation of the right forward moving motor 21, and the right forward moving motor gear 20 is driven to rotate by the right forward moving motor 21. Thereby, the right forward moving gear 19 is rotated, thereby rotating the axis of the right front gyro rotor 17, thereby adjusting the angle between the own axis of the right front gyro rotor 17 and the chassis 1, and the right front gyro rotation precessing motor 18 drives the right front gyro rotor 17 to rotate. The self-axis is rotated, and the control unit 2 controls the right front gyro rotation precession motor 18 to control the rotation speed of the right front gyro rotor 17.

The precession gear corresponding to the right rear gyro rotor 9 is the right rear precession gear 11, the precession drive device corresponding to the right rear precession gear 11 is the right rear precession motor 13, the right rear precession motor 13 is mounted on the ear seat, and the right rear precession motor 13 is provided with a right rear precessing motor gear 12 controlled by the right rear precessing motor 13, and the right rear precessing motor gear 12 and the right rear precessing gear 11 are meshed, and at the same time, the right rear gyro rotor 9 is provided with an articulated rod on the hinge rod The right rear precession sensing gear 16 coaxially rotated, the corresponding encoder is a right rear encoder 15, the right rear encoder 15 is mounted on the ear seat, and the right rear encoder 15 is mounted with a right rear coding gear 35, right rearward The right sensing gear 16 and the right rear encoding gear 35 mesh, the right rear gyro rotor 9 rotates to drive the right rear precession sensing gear 16 to rotate, thereby driving the right rear encoding gear 35 to rotate, and the right rear encoder 15 passes through the right rear encoding gear 35. Rotating the angle between the own axis of the right rear gyro rotor 9 and the chassis 1 is fed back to the control unit 2, the control unit 2 controls the operation of the right rear precessing motor 13, and the right rear precessing motor gear 12 is driven to rotate by the right rear precessing motor 13 The right rear precessing gear 11 is rotated to rotate the right axis of the right rear gyro rotor 9, thereby adjusting the angle between the own axis of the right rear gyro rotor 9 and the chassis 1, and the right rear gyro rotation precessing motor 10 drives the right rear gyro The rotor 9 rotates about its own axis, and the control unit 2 controls the right rear gyro to rotate the precession motor 10 to control the rotation speed of the right rear gyro rotor 9.

Further, the chassis is provided with a plurality of sensors for identifying road conditions, and the sensors are connected to the control unit 2. The sensors for identifying road conditions in the embodiment include a vehicle road condition recognition sensor I40 and a vehicle road condition recognition sensor. II42, vehicle condition recognition sensor III43 and vehicle condition recognition sensor IV45, bottom condition recognition sensor I is installed at the front end of chassis 1, vehicle condition recognition sensor IV45 is installed at the rear end of chassis 1, vehicle condition recognition sensor II42 and vehicle The bottom road condition recognition sensor III43 is installed under the chassis 1, and the vehicle bottom road condition recognition sensor I40, the vehicle bottom road condition recognition sensor II42, the vehicle bottom road condition recognition sensor III43 and the vehicle bottom road condition recognition sensor IV45 are all disposed on the symmetry plane of the longitudinal direction of the chassis 1. The vehicle bottom road condition recognition sensor II42 is located in the front half of the chassis 1, and the vehicle bottom road condition recognition sensor III43 is located in the rear half of the chassis 1. The front end of the chassis 1 is also symmetrically provided with a left front obstacle recognition sensor 38 and a right front obstacle recognition sensor 37, which are respectively located in the chassis. The left and right sides of the symmetry plane of the length direction of 1.

Claims (10)

1. A precession assisted electric vehicle driving method, comprising the steps of:

   Step A: controlling at least one pair of gyro parts of the front half and/or the second half of the electric vehicle to rotate about their own axes;

   Step B: changing the angle between the axis of the gyro itself and the chassis of the electric vehicle or locking the angle, the step B and the step A may be performed simultaneously or separately.
2. A method of driving an auxiliary electric vehicle according to claim 1, wherein said step B and said step A are performed simultaneously.
3. The method of driving an auxiliary electric vehicle according to claim 2, wherein when the gyro is controlled to perform the movement of steps A and B, the sum of the gyro moments generated is greater than that of the electric vehicle. The heavy moment is the axis of the width direction of the chassis of the electric vehicle, and the front side of the electric vehicle is oriented forward, and the one facing the left is the positive direction, and the sum of the gyro moments on the electric vehicle is about the positive direction. The clockwise direction of the direction causes the electric vehicle to perform a tail-lifting action.
4. The driving method of the precessing auxiliary electric vehicle according to claim 3, wherein when the gyro is controlled to perform the movement of steps A and B, the sum of the gyro moments generated is larger than that of the electric vehicle. The heavy moment is the axis of the width direction of the chassis of the electric vehicle, and the front side of the electric vehicle is oriented forward, and the one facing the left is the positive direction, and the sum of the gyro moments on the electric vehicle is about the positive direction. The counterclockwise direction of the direction causes the electric vehicle to perform a head-up motion.
5. The driving method of the precessing electric vehicle according to claim 2, wherein when the gyro is controlled to perform the movement of steps A and B, the sum of the gyro moments is equal to the entire vehicle of the electric vehicle. The heavy moment causes the bottom of the wheel to pass along the top of the opening of the pit when the electric vehicle passes through the pit.
6. The method of driving an auxiliary electric vehicle according to claim 4, wherein when the obstacle is over, the head-up operation is performed first, and when the front of the electric vehicle is lifted and is vacant, the tail-lifting operation is performed. , the electric vehicle completes the air movement.
7. The method of driving an auxiliary electric vehicle according to claim 6, wherein when the length of the required obstacle is less than the wheelbase of the front and rear axles of the electric vehicle, the electric vehicle is idling Action, cross the obstacle.
8. The method of driving an auxiliary electric vehicle according to claim 4, wherein when the length of the required obstacle is greater than the wheelbase of the front and rear axles of the electric vehicle, the lifting operation is performed first, the electric When the vehicle continues to drive, when the current wheel moves over the rear edge of the obstacle, the head lifting action is stopped to cause the front end to fall, the front wheel supports the upper surface of the obstacle, and then the tail lifting action is performed, and the front wheel continues to The obstacle travels on the upper surface. When the rear wheel moves over the rear edge of the obstacle, the stopping tail lifting action is that the tail of the vehicle falls, the rear wheel supports the upper surface of the obstacle, and then the electric vehicle drives over the obstacle. .
9. The method of driving an auxiliary electric vehicle according to claim 8, wherein when the current wheel is driven out from the front edge of the obstacle, the sum of the gyro moments is controlled by controlling the movement of the gyro The size and direction control the head drop speed. When the rear wheel exits from the front edge of the obstacle, the size and direction of the sum of the gyro moments are controlled by controlling the movement of the gyro to control the tail drop speed.
10. A precessional auxiliary electric vehicle comprising:

    Chassis

    a wheel on which the wheel is mounted;

    It is characterized by:

    The gyro member, the front half portion and the rear half portion of the chassis are each mounted with at least one pair of the gyro members, the gyro member being rotatable about its own axis, and an angle between the own axis of the gyro member and the chassis is adjustable.

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