WO2021109282A1 - 一种两轮高尔夫球包车导航平衡控制系统及球包车 - Google Patents

一种两轮高尔夫球包车导航平衡控制系统及球包车 Download PDF

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Publication number
WO2021109282A1
WO2021109282A1 PCT/CN2019/127438 CN2019127438W WO2021109282A1 WO 2021109282 A1 WO2021109282 A1 WO 2021109282A1 CN 2019127438 W CN2019127438 W CN 2019127438W WO 2021109282 A1 WO2021109282 A1 WO 2021109282A1
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WO
WIPO (PCT)
Prior art keywords
support frame
terrain
motor
walking
navigation
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Application number
PCT/CN2019/127438
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English (en)
French (fr)
Inventor
龚家雄
龚倩
Original Assignee
常州凯迪思特高尔夫球车科技有限公司
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Publication of WO2021109282A1 publication Critical patent/WO2021109282A1/zh

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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
    • B60L15/28—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 without contact making and breaking, e.g. using a transductor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B55/00—Bags for golf clubs; Stands for golf clubs for use on the course; Wheeled carriers specially adapted for golf bags
    • A63B55/60—Wheeled carriers specially adapted for golf bags
    • A63B55/61—Wheeled carriers specially adapted for golf bags motorised
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/12—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action
    • B60T1/14—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action directly on road
    • 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
    • B60L2200/00—Type of vehicles
    • B60L2200/22—Microcars, e.g. golf cars
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • 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
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the invention belongs to the technical field of golf carts, and in particular relates to a two-wheeled golf cart navigation balance control system and a golf cart.
  • Golf is a sport that has taken the world by storm, and it has officially become an Olympic event at the 31st Summer Olympics in 2016. The essence of golf is that it is not restricted by age, allowing people to have complete intimate contact with nature, blending into it and fully enjoying the endless fun brought by the sport.
  • Golf carts are transportation equipment used to carry golf bags. There are many types of existing golf carts, including four-wheeled golf carts that can carry people and bags, and three-wheeled golf carts dedicated to carrying bags. The above-mentioned two kinds of ball chartered carts are relatively large, and their flexibility in use is easily limited.
  • the purpose of the present invention is to provide a two-wheeled golf cart navigation and balance control system and the golf cart, so as to solve the problem of large volume and poor flexibility of the golf cart.
  • the navigation balance control system for a two-wheeled golf cart of the present invention is realized as follows:
  • a two-wheeled golf chartered car navigation balance control system including
  • Gyroscope used to sense the inclination angle and moving direction of the cart
  • the walking control module is used to drive the rotation of the wheels of the ball cart
  • the parking control module is used to retract, adjust and fix the position of the all-terrain support frame of the ball charter;
  • the control chip is used to receive signals from the gyroscope and provide control signals for the walking control module and the parking control module.
  • the walking control module includes a motor driver I connected to the control chip, and a walking motor connected to the motor driver I and used to drive the wheels of the golf cart to rotate.
  • a rotation speed sensor connected to the control chip is installed on the walking motor.
  • the parking control module includes a motor driver II connected to the control chip, and a retractor connected to the motor driver II and used to drive the all-terrain support frame to rotate.
  • the parking control module further includes a motor driver III connected to the control chip, and a locking motor connected to the motor driver III and used to fix the position of the all-terrain support frame.
  • current sensors connected to the control chip are respectively provided on the circuits where the locking motor and the receiver-discharger are located.
  • control chip is installed on the control board, and the control board is connected with a manual manipulator fixed on the cart, and wirelessly connected with a remote controller.
  • the present invention provides a ball cart, including a shell, a control panel, a running mechanism and an all-terrain support mechanism.
  • the running mechanism includes a pair of wheels mounted on both sides of the shell, and a pair of wheels connected to each wheel.
  • a walking motor, the all-terrain support mechanism includes a pair of all-terrain support frames, a retractor for controlling the rotation of the all-terrain support frame, and a locking motor for fixing the all-terrain support frame.
  • a support frame is installed in the housing, and two sets of wheels and walking motors are respectively installed on the left and right ends of the support frame.
  • the bottom of the support frame is provided with a hinge seat
  • the all-terrain support frame is installed on the hinge seat
  • the two all-terrain support frames and the hinge seat are hinged in pairs.
  • the collecting and discharging machine is installed on one side of one of the all-terrain support frames, and the output end of the collecting and discharging machine is installed with a screw, and the screw is matched with a screw sleeve installed on the other all-terrain supporting frame
  • the receiver can drive two all-terrain support frames to rotate toward or away from each other.
  • the locking motor is installed on the side of the hinge seat, and a lock nut is threadedly connected to the output shaft of the locking motor, and the lock nut can pass through the hinge seat and lock with the all-terrain support frame.
  • the present invention has the following beneficial effects:
  • the two-wheeled golf cart control system provided by the present invention can realize the automatic balance and straight-line walking functions of the two-wheeled golf cart, and has a high degree of intelligence;
  • the two-wheeled golf cart provided by the present invention is small in size, flexible, and has a wider application range.
  • Fig. 1 is a schematic diagram of a navigation balance control system for a two-wheeled golf cart according to a preferred embodiment of the present invention
  • Figure 2 is a structural diagram of a golf cart according to a preferred embodiment of the present invention.
  • Fig. 3 is a structural diagram of the wheel and the inner part of the outer shell of the golf cart according to the preferred embodiment of the present invention
  • Figure 4 is an enlarged view of part A in Figure 3;
  • Figure 5 is a structural diagram of the all-ground support mechanism of the ball chartered car according to the preferred embodiment of the present invention.
  • Fig. 6 is a right side view of the all-ground support mechanism of the golf cart according to the preferred embodiment of the present invention.
  • Figure 7 is a cross-sectional view in the direction of B-B in Figure 6;
  • FIG. 8 is a structural diagram of the joint between the locking motor of the all-ground support mechanism and the all-ground support frame of the ball charter car in the preferred embodiment of the present invention.
  • Fig. 9 is a diagram of the use state of the bag cart of the preferred embodiment of the present invention.
  • housing 1 control board 2, wheels 3, walking motor 4, all-terrain support frame 5, retraction motor 6, locking motor 7, ball bag 8, support frame 9, hinge seat 10, screw 11, screw sleeve 12 , Lock nut 13, protrusion 14, fixed nut 15, pole 16, handle 17, leg 18, power box 19, yaw motor 110, swing chassis 111, guide groove 112, screw sleeve II 113, screw II 114, gyroscope 20.
  • a navigation and balance control system for a two-wheeled golf chartered car includes
  • the gyroscope 20 is used to sense the inclination angle and moving direction of the ball cart;
  • the walking control module 21 is used to drive the rotation of the wheel 3 of the ball cart;
  • the parking control module 22 is used to retract, adjust and fix the position of the all-terrain support frame 5 of the ball charter;
  • the control chip 23 is used to receive signals from the gyroscope 20 and provide control signals for the walking control module 21 and the parking control module 22.
  • the control chip 23 can be selected but not limited to a single-chip microcomputer.
  • the single-chip microcomputer is used to realize the overall control function of the entire navigation balance control system, which can be selected but not limited to STM32F103RCT6.
  • the gyroscope 20 can realize the balance of the two-wheeled ball cart and the induction of the moving direction, and ensure the balance and linearity during the movement of the ball cart. It can be selected but not limited to MPU-6050.
  • the gyroscope 20 can monitor the moving direction of the cart and whether it is tilted in real time, and transmit the moving direction signal and tilt signal to the control chip 23 to facilitate the control chip 23 to process and analyze, and issue instruction signals.
  • the walking control module 21 includes a motor driver I connected to the control chip 23, and a walking motor 4 connected to the motor driver I and used to drive the wheel 3 of the golf cart to rotate.
  • the two wheels 3 of the golf cart are divided into left and right wheels, and the walking motors 4 respectively connected to the two wheels are left and right walking motors, and each walking motor 4 is connected to a motor driver.
  • I is the left motor driver I and the right motor driver I, so that each wheel 3 can be individually controlled to realize the steering of the cart.
  • a rotation speed sensor connected to the control chip 23 is installed on the walking motor 4.
  • the speed sensor can monitor the speed and direction of rotation of the wheel 3 in real time, and transmit the signal to the control chip 23.
  • the connection between the control chip 23 and the driving control module 21 forms a closed loop system. If the value has a deviation, the control chip 23 can send a control signal to the motor driver I in time, and adjust the rotation speed or the direction of rotation of the wheel 3 by adjusting the walking motor 4.
  • the speed sensor can be selected but not limited to Hall sensors, photoelectric sensors, and encoders.
  • the model of the speed sensor is Hall-type SC22526H.
  • the parking control module 22 can be used to achieve the parking control module 21 in order to reduce the energy consumed by the balance control.
  • the parking control module 21 includes a motor driver II connected to the control chip 23, and a retractor 6 connected to the motor driver II and used to drive the all-terrain support frame 5 to rotate.
  • the control chip 23 transmits a signal to the motor driver II, and the motor driver II lowers the pair of all-terrain support frames 5, supports their lower ends on the ground, and cooperates with the wheels 3 to achieve alignment.
  • the gyroscope 20 and the walking control module 21 can be turned off at this time to reduce the power consumption.
  • the parking control module 22 also includes a motor driver III connected to the control chip 23, and a lock connected to the motor driver III and used to fix the position of the all-terrain support frame 5.
  • the all-terrain support frame 5 can be adjusted by the retractable machine 6 to adjust the retractable angle.
  • the angle adjustment can be completed.
  • the time control chip 23 sends a signal to the motor driver III
  • the motor driver III activates the locking motor 7 to fix the position of the all-terrain support frame 5 so that it cannot continue to rotate, thereby ensuring the stability of the ball chartered car parking.
  • the locking motor 7 As an example, when the locking motor 7 rotates to fix the all-terrain support frame 5, it cannot continue to rotate. At this time, the circuit of the locking motor 7 will increase rapidly, and the control chip 23 will receive the signal of the current increase. , The rotation of the locking motor 7 is stopped.
  • the function of the current sensor can be realized by, but not limited to, a sampling resistor and an operational amplifier.
  • the rotation positioning mode of the receiver 6 and the locking motor 7 is not limited to the monitoring of the current sensor, and a mechanical limit structure can also be used to limit the position and rotation position.
  • control chip 23 is installed on the control board 2, and the control board 2 is connected with a manual operator 24 fixed on the bag cart, and is wirelessly connected with a remote controller 25.
  • the manual manipulator 24 can directly operate the ball cart on the cart, while the remote controller 25 can remotely control the cart, and the control board 2 is equipped with an antenna module wirelessly connected to the remote controller 25.
  • the action modes of the cart include, but are not limited to, forward, backward, left, right, and stop, as well as acceleration and deceleration.
  • a GPS module 28 connected to the control chip 23 is installed on the control board 2 to provide the control chip 23 with terrain information.
  • control system further includes a power module for supplying power to the control chip 23, the gyroscope 20, the control board 2 and the GPS module 28, and the power module 26 is provided with a USB interface 27 for charging the power module 26.
  • this embodiment also provides a ball cart, including a housing 1, a control board 2, a running mechanism, and an all-terrain support mechanism.
  • the running mechanism includes a vehicle mounted on both sides of the housing.
  • the all-terrain support mechanism includes a pair of all-terrain support frames 5, and a receiver 6 and a motor for controlling the rotation of the all-terrain support frame 5
  • a locking motor 7 for fixing the all-terrain support frame 5.
  • the first function of the shell 1 is to place the ball bag 8, and the other is to protect the internal structure.
  • the control board 2, the walking motor 4, the discharge motor 6 and the locking motor 7 are all installed in the shell. Inside.
  • the housing 1 can be an integral structure, or a structure that is assembled up and down.
  • a power box 19 for supplying power to the entire golf cart is provided in the housing 1.
  • a support frame 9 is installed in the housing 1, and two sets of wheels 3 and walking motors 4 are respectively installed on the left and right ends of the support frame 9.
  • the support frame 9 has a cross structure, which can not only fix the position of the wheel 3 but also fix the walking motor 4.
  • the bottom of the support frame 9 is provided with a hinge seat 10, and the all-terrain support frame 5 It is installed on the hinged base 10, and the two all-terrain support frames 5 and the hinged base 10 are hinged in pairs.
  • One of the two all-terrain support frames 5 is arranged forward and the other is arranged backward. When parking the vehicle, it can cooperate with the two wheels 3 to achieve four-point support, so as to ensure the stability of the ball chartered car parking.
  • the retractor 6 In order to provide power for the rotation of the all-terrain support frame 5, the retractor 6 is installed on one side of one of the all-terrain support frames 5, and the output end of the retractor 6 is installed with a screw 11, the screw 11 Cooperating with a screw sleeve 12 installed on another all-terrain support frame 5, the retractor 6 can drive the two all-terrain support frames 5 to rotate toward or away from each other.
  • the two all-terrain support frames 5 are in a retracted state, that is, they are in a horizontal state, and cannot touch the ground.
  • the retractor 6 rotates, driving the screw 11 to rotate, and the screw 11 and the screw 11 With the threaded fit of the sleeve 12, the two all-terrain support frames 5 are rotated toward each other to be lowered, and the hinged connection between the two all-terrain support frames 5 and the hinge base 10 is combined.
  • the motor is locked 7 If you continue to rotate, you can use the hinged connection between the all-terrain support frame 5 and the hinge base 10 to adjust the other all-terrain support frame 5 so that it is also in contact with the ground, so that the bottom ends of the two all-terrain support frames 5 are in contact with the wheels 3
  • the bottom surface is on the same plane to ensure the balance of the ball chartered car when parking.
  • the all-terrain support frame 5 and the articulated base 10 are in an articulated movable state, when the cart is in a balanced state, the all-terrain support frame 5 needs to be fixed to ensure the stability of the cart, so the locking motor 7 is installed on the hinge A lock nut 13 is threadedly connected to the side of the seat 10 and the output shaft of the locking motor 7. The lock nut 13 can pass through the hinge seat 10 and lock with the all-terrain support frame 5.
  • the locking nut 13 is provided with a protrusion 14 with plane teeth on the side facing the hinge seat 10, and the protrusion 14 can pass through the side wall of the hinge seat 10, and the top end of the all-terrain support frame 5 faces the protrusion.
  • the side surface of 14 is also provided with plane teeth.
  • the locking motor 7 rotates to drive the lock nut 14 to move toward the hinge base 10.
  • the protrusion 14 passes through the through hole on the side wall of the hinge base 10 and engages with the all-terrain support frame 5 through the plane teeth. Therefore, the all-terrain support frame 5 is fixed and cannot continue to rotate.
  • an upright rod 16 is installed on the rear side of the housing 1, and the upright rod 16 is provided with a foldable handle 17 and feet 18.
  • the pole 16 can support the side of the bag 8 and can facilitate the fixing of the upper end of the bag 8, while the handle 17 is set to facilitate manual pushing of the bag cart, and the feet 18 can conveniently support the bag cart to ensure its standing stability Sex.
  • the handle 17 and the feet 18 can be directly folded to fit the pole 16 when not in use.
  • the cart When the two-wheeled cart is in use, after the bag 8 is fixed on the housing 1, the cart is energized and uses the cooperation of the gyroscope 20 and the control chip 23 to control the walking motor, adjust the balance, and maintain a balanced state Afterwards, the all-terrain support frame 5 is stowed, and then the ball cart can be moved forward, backward, or turn according to the instruction.
  • the control chip 23 will give the walking motor 4 a backward signal through the motor driver I to perform an instantaneous reverse movement, and the ball bag 8 will face under the action of this reverse movement. Tilt forward.
  • the gyroscope 20 can detect the tilt angle of the center of gravity of the ball bag 8 and transmit it to the control chip 23.
  • the control chip 23 can control the walking motor 4 to drive the wheels 3 forward according to the signal.
  • the angle at which the center of gravity of the bag 8 is inclined is related to the forward speed of the bag cart. The greater the angle of inclination, the greater the speed of the bag cart moving.
  • Speed up There are two ways to adjust. The first is to slow down the speed of the walking motor 4.
  • the ball bag 8 will increase the forward tilt angle under the action of inertia, and the gyroscope 20 will monitor in real time and reach the setting. After a certain angle, the walking motor 4 will also accelerate under the action of the control chip 23 to increase the rotation speed to reach the set speed; the second way is that the control chip 23 gives the walking motor 4 an instantaneous backward signal, at this time the ball bag 8 It will also increase the angle of forward tilt under the action of inertia, which will eventually accelerate the walking motor 4 as well.
  • the speed should be adjusted in the same way as described above to keep it within the set speed range.
  • the backward way of the bag cart is the same as the forward way, and the adjustment direction of the center of gravity of the bag 8 is opposite to the forward process.
  • the ball charter When the ball charter needs to be parked, it is first adjusted to a balanced state, and then the all-terrain support frame 5 is put down, and the position of the all-terrain support frame 5 is locked, and then the driving part of each motor is powered off.

Abstract

本发明涉及一种两轮高尔夫球包车导航平衡控制系统及球包车，包括用于感应球包车的倾斜角度和移动方向的陀螺仪、用于驱动球包车车轮的旋转的行走控制模块、用于收放、调整并固定球包车全地形支撑架的位置的驻车控制模块，以及用于接收陀螺仪的信号，并为行走控制模块和驻车控制模块提供控制信号的控制芯片。本发明公开的控制系统能够实现两轮球包车的自动平衡以及导航功能，智能化程度高，而且球包车整体体积小，灵活性好，适用范围更广。

Description

一种两轮高尔夫球包车导航平衡控制系统及球包车 技术领域
本发明属于高尔夫球包车技术领域，具体涉及一种两轮高尔夫球包车导航平衡控制系统及球包车。
 背景技术
高尔夫运动时一项风靡全球的运动，在2016年第31届夏季奥运会上已正式成为奥运比赛项目。高尔夫运动的精髓是不受年龄限制，让人大自然完全亲密接触，融入其中并充分享受该运动带来的无穷乐趣。
 技术问题
高尔夫球包车是用于承载球包的运输设备，现有的球包车种类众多，有既可以载人又可以载包的四轮球包车，也有专用于载包的三轮球包车。上述这两种球包车体积较大，使用时灵活度容易受限制。
 技术解决方案
本发明的目的是提供一种两轮高尔夫球包车导航平衡控制系统及球包车，以解决高尔夫球包车体积大、灵活性差的问题。
本发明的一种两轮高尔夫球包车导航平衡控制系统是这样实现的：
一种两轮高尔夫球包车导航平衡控制系统，包括
陀螺仪，用于感应球包车的倾斜角度和移动方向；
行走控制模块，用于驱动球包车车轮的旋转；
驻车控制模块，用于收放、调整并固定球包车全地形支撑架的位置；
控制芯片，用于接收陀螺仪的信号，并为行走控制模块和驻车控制模块提供控制信号。
进一步的，所述行走控制模块包括与控制芯片相连的电机驱动器Ⅰ，以及与所述电机驱动器Ⅰ相连且用于带动球包车车轮转动的行走电机。
进一步的，所述行走电机上安装有与控制芯片相连的转速传感器。
进一步的，所述驻车控制模块包括与控制芯片相连的电机驱动器Ⅱ，以及与所述电机驱动器Ⅱ相连且用于带动全地形支撑架旋转的收放电机。
进一步的，所述驻车控制模块还包括与控制芯片相连的电机驱动器Ⅲ，以及与所述电机驱动器Ⅲ相连且用于固定全地形支撑架位置的锁定电机。
进一步的，所述锁定电机和收放电机的所在电路上分别设置有与所述控制芯片相连的电流传感器。
进一步的，所述控制芯片安装在控制板上，且所述控制板连接有固定在球包车上手动操作器，并无线连接有遥控器。
其次，本发明化提供了一种球包车，包括外壳、控制板、行走机构和全地形支撑机构，所述行走机构包括安装在外壳两侧的一对车轮，以及与分别与每个车轮相连的行走电机，所述全地形支撑机构包括一对全地形支撑架，以及用于控制全地形支撑架旋转的收放电机和用于固定全地形支撑架的锁定电机。
进一步的，所述外壳内安装有支撑架，两组车轮和行走电机分别安装在支撑架的左右两端。
进一步的，所述支撑架的底部设置有铰接座，所述全地形支撑架安装在铰接座上，且两个全地形支撑架以及铰接座三者两两铰接。
进一步的，所述收放电机安装在其中一个全地形支撑架的一侧，且所述收放电机的输出端安装有螺杆，所述螺杆与安装在另一个全地形支撑架上的螺套配合连接，所述收放电机能够带动两个全地形支撑架相向或相背旋转。
进一步的，所述锁定电机安装在铰接座的侧面，且所述锁定电机的输出轴上螺纹连接有锁紧螺母，所述锁紧螺母能够穿过所述铰接座与全地形支撑架锁合。
 有益效果
采用了上述技术方案后，本发明具有的有益效果为：
（1）本发明提供的两轮高尔夫球包车控制系统，能够实现两轮球包车的自动平衡以及直线行走功能，智能化程度高；
（2）本发明提供的两轮高尔夫球包车体积小，灵活性好，适用范围更广。
 附图说明
下面结合附图和实施例对本发明进一步说明。
图1是本发明优选实施例的两轮高尔夫球包车导航平衡控制系统的原理图；
图2是本发明优选实施例的球包车的结构图；
图3是本发明优选实施例的球包车的车轮和外壳内部分的结构图；
图4是图3中A部分的放大图；
图5是本发明优选实施例的球包车的全地面支撑机构的结构图；
图6是本发明优选实施例的球包车的全地面支撑机构的右视图；
图7是图6中B-B方向的剖面图；
图8是本发明优选实施例的球包车的全地面支撑机构锁定电机和全地面支撑架配合处的结构图；
图9是本发明优选实施例的球包车的使用状态图；
图中：外壳1，控制板2，车轮3，行走电机4，全地形支撑架5，收放电机6，锁定电机7，球包8，支撑架9，铰接座10，螺杆11，螺套12，锁紧螺母13，凸起14，固定螺母15，立杆16，把手17，支脚18，电源箱19，偏摆电机110，摆动底盘111，导向槽112，螺套Ⅱ113，螺杆Ⅱ114，陀螺仪20，行走控制模块21，驻车控制模块22，控制芯片23，手动操作器24，遥控器25，电源模块26，USB接口27，GPS模块28。
 本发明的最佳实施方式
如图1所示，一种两轮高尔夫球包车导航平衡控制系统，包括
陀螺仪20，用于感应球包车的倾斜角度和移动方向；
行走控制模块21，用于驱动球包车车轮3的旋转；
驻车控制模块22，用于收放、调整并固定球包车全地形支撑架5的位置；
控制芯片23，用于接收陀螺仪20的信号，并为行走控制模块21和驻车控制模块22提供控制信号。
控制芯片23可以选用但不仅限于单片机。
单片机用于实现对整个导航平衡控制系统的总控制功能，其可以选用但不仅限于STM32F103RCT6。
陀螺仪20可以实现两轮球包车的平衡和移动方向的感应作用，保证球包车移动过程中的平衡和直线性，其可以选用但不仅限于MPU-6050。
陀螺仪20可以实时监测球包车的移动方向以及是否倾斜，并将移动方向信号以及倾斜信号传递给控制芯片23，便于控制芯片23进行处理分析，发出指令信号。
为了实现球包车的行走控制，所述行走控制模块21包括与控制芯片23相连的电机驱动器Ⅰ，以及与所述电机驱动器Ⅰ相连且用于带动球包车车轮3转动的行走电机4。
具体的，球包车的两个车轮3分为左车轮和右车轮，而分别与两个车轮连接的行走电机4则为左行走电机和右行走电机，并且每个行走电机4分别连接一个电机驱动器Ⅰ，即为左电机驱动器Ⅰ和右电机驱动器Ⅰ，以便于对每个车轮3单独控制，从而实现球包车的转向。
为了能够实时监测车轮3的转速并及时进行调整，所述行走电机4上安装有与控制芯片23相连的转速传感器。
转速传感器可以实时监测车轮3的转速以及转动方向，并将该信号传输至控制芯片23，与控制芯片23与行车控制模块21的连接形成一个闭环系统，若车轮3的转速或转动方向与设定值产生偏差，控制芯片23可及时向电机驱动器Ⅰ发送控制信号，通过对行走电机4对车轮3的转速或转动方向进行调整。
转速传感器可以选用但不仅限于霍尔传感器、光电感应器、编码器。在本实施例中，转速传感器的型号为霍尔式的SC22526H。
在球包车在移动时，通过陀螺仪20和行走控制模块21的配合实现对球包车平衡的控制，而在驻车时，为了减少平衡控制所消耗的能量，可以采用驻车控制模块22来实现停车时的平衡，所述驻车控制模块21包括与控制芯片23相连的电机驱动器Ⅱ，以及与所述电机驱动器Ⅱ相连且用于带动全地形支撑架5旋转的收放电机6。
在停车时，球包车在保持平衡的状态下，控制芯片23传递信号给电机驱动器Ⅱ，电机驱动器Ⅱ则将一对全地形支撑架5放下，将其下端支撑在地面，与车轮3配合实现对球包车的支撑，此时即可将陀螺仪20与行走控制模块21这一部分关闭即可，减少电量的消耗。
为了保证驻车时球包车的平稳性，所述驻车控制模块22还包括与控制芯片23相连的电机驱动器Ⅲ，以及与所述电机驱动器Ⅲ相连且用于固定全地形支撑架5位置的锁定电机7。
锁定电机7启动之前，全地形支撑架5可以通过收放电机6来进行收放角度的调整，当两个全地形支撑架5底部和车轮3底部处于同一平面时，角度调整即可完成，此时控制芯片23发送信号给电机驱动器Ⅲ，电机驱动器Ⅲ则启动锁定电机7，将全地形支撑架5的位置固定，使其无法继续转动，从而保证球包车驻车的稳定性。
为了便于监测锁定电机7和收放电机6的运动状态，所述锁定电机7和收放电机6的所在电路上分别设置有与所述控制芯片23相连的电流传感器。
以锁定电机7为例，当锁定电机7转动将全地形支撑架5固定后，则无法继续旋转，此时锁定电机7所在电路的电路会迅速增加，控制芯片23接收到电流增大的信号后，则停止锁定电机7的旋转。
电流传感器的功能可以采用但不仅限于采样电阻配合运放来实现。
对于收放电机6和锁定电机7的转动定位方式不仅限于电流传感器的监测，也可以采用机械的限位结构进行位置转动位置的限定。
为了实现球包车的两种使用方式，所述控制芯片23安装在控制板2上，且所述控制板2连接有固定在球包车上手动操作器24，并无线连接有遥控器25。
手动操作器24可以在直接在球包车上对球包车进行操作，而遥控器25则可以对球包车进行远程遥控，而控制板2上安装有与遥控器25无线连接的天线模块。
具体的，球包车的动作方式包括但不仅限于前进、后退、左转、右转和停止，以及加速和减速。
优选的，为了能够根据地面的状况来调整球包车的移动状态，控制板2上安装有与控制芯片23相连的GPS模块28，为控制芯片23提供地况信息。
优选的，控制系统还包括用于对控制芯片23、陀螺仪20、控制板2和GPS模块28供电的电源模块，且电源模块26上设置有用于对电源模块26充电的USB接口接口27。
请参阅图2-9，在上述基础上，本实施例还提供了一种球包车，包括外壳1、控制板2、行走机构和全地形支撑机构，所述行走机构包括安装在外壳两侧的一对车轮3，以及与分别与每个车轮3相连的行走电机4，所述全地形支撑机构包括一对全地形支撑架5，以及用于控制全地形支撑架5旋转的收放电机6和用于固定全地形支撑架5的锁定电机7。
外壳1的第一个作用是用于放置球包8，另一个则是对其内部的结构起到保护作用，其中控制板2、行走电机4、收放电机6和锁定电机7均安装在外壳内。
外壳1可以为一体结构，也可以采用上下拼装的结构。
用于对整个球包车供电的电源箱19设置在外壳1内。
为了实现对整个球包车的支撑作用，所述外壳1内安装有支撑架9，两组车轮3和行走电机4分别安装在支撑架9的左右两端。
具体的，支撑架9为十字结构，不仅能够对车轮3的位置进行固定，并且可以对行走电机4进行固定。
驻车时，为了便于根据地面的倾斜度调整两个全地形支撑架5的角度，从而保证球包车的平衡性，所述支撑架9的底部设置有铰接座10，所述全地形支撑架5安装在铰接座10上，且两个全地形支撑架5以及铰接座10三者两两铰接。
两个全地形支撑架5一个朝前设置，另一个朝后设置，在进行驻车时，可以与两个车轮3配合实现四点支撑，从而保证球包车驻车的稳定性。
为了对全地形支撑架5的旋转提供动力，所述收放电机6安装在其中一个全地形支撑架5的一侧，且所述收放电机6的输出端安装有螺杆11，所述螺杆11与安装在另一个全地形支撑架5上的螺套12配合连接，所述收放电机6能够带动两个全地形支撑架5相向或相背旋转。
驻车前，两个全地形支撑架5处于收起状态，即处于趋于水平的状态，与地面无法接触，在驻车时，收放电机6旋转，带动螺杆11旋转，通过螺杆11与螺套12的螺纹配合，两个全地形支撑架5相向旋转，进行放下，并且结合两个全地形支撑架5与铰接座10的铰接，当其中一个全地形支撑架5先接触地面时，锁定电机7继续转动，则可以利用全地形支撑架5与铰接座10的铰接调整另一个全地形支撑架5，使其也与地面接触，从而使两个全地形支撑架5的底端与车轮3的底面处于同一平面上，保证球包车驻车时的平衡性。
由于全地形支撑架5与铰接座10处铰接的活动状态，当球包车处于平衡状态后，需要将全地形支撑架5固定来保证球包车站立的稳定性，因此所述锁定电机7安装在铰接座10的侧面，且所述锁定电机7的输出轴上螺纹连接有锁紧螺母13，所述锁紧螺母13能够穿过所述铰接座10与全地形支撑架5锁合。
具体的，锁紧螺母13朝向所述铰接座10的侧面设置有表面带有平面齿的凸起14，凸起14能够穿过铰接座10的侧壁，全地形支撑架5的顶端朝向凸起14的侧面同样设置有平面齿，锁定电机7旋转，带动锁紧螺母14朝向铰接座10移动，凸起14穿过铰接座10侧壁上的通孔与全地形支撑架5通过平面齿啮合，从而将全地形支撑架5进行固定，无法继续旋转。
优选的，所述外壳1的后侧安装有立杆16，且所述立杆16设置有可折叠的把手17和支脚18。
立杆16可以对球包8的侧面进行支撑，并且能够方便球包8的上端进行固定，而把手17的设置可以方便手动推动球包车，支脚18则可以方便支撑球包车，保证其站立的稳定性。
把手17和支脚18在不使用时可以直接折叠至与立杆16贴合。
两轮球包车在使用时，在将球包8固定在外壳1上后，球包车通电，并利用陀螺仪20和控制芯片23的配合，并对行走电机进行控制，进行平衡调整，保持平衡状态后再将其全地形支撑架5收起，然后根据指令球包车即可进行前进、后退或转弯等移动。
以球包车前进为例，其中在初始状态，控制芯片23会通过电机驱动器Ⅰ给行走电机4一个后退的信号，进行瞬时的反向移动，而球包8会在这个反向移动的作用下朝向前倾斜，此时陀螺仪20即可监测到球包8重心倾斜的角度，从而传递给控制芯片23，控制芯片23即可根据该信号控制行走电机4带动车轮3前进。其中，球包8重心倾斜的角度与球包车前进的速度相关，倾斜角度越大，球包车移动的速度也越大。
而在球包车前进过程中如果需要调整其前进速度，可以分为两种情况：
（1）加快速度：可以采用两种方式进行调整，第一种是减慢行走电机4的转速，球包8会在惯性的作用下增加向前倾斜的角度，陀螺仪20实时监测，到达设定角度后，行走电机4也会在控制芯片23的作用下加速，提高转速到达设定速度；第二种方式，是控制芯片23再给行走电机4一个后退的瞬时信号，此时球包8同样会在惯性的作用下增加向前倾斜的角度，最终同样会使行走电机4加速。
（2）减慢速度：则可以给行走电机4一个瞬时的前进加速信号，则球包8会在惯性的作用下向后调整倾斜角度，最后实现行走电机4减速的效果。
当球包车在前进过程中，若其速度超出设定的范围，则同样按照上述方式进行速度的调整，使其保持在设定的速度范围内。
球包车后退的方式与前进方式相同，球包8的重心调整方向与前进过程相反。
球包车在需要驻车时，首先调整至平衡状态，然后放下全地形支撑架5，并将全地形支撑架5位置锁定，继而各个电机的驱动部分断电。
以上述依据本发明的理想实施例为启示，通过上述的说明内容，相关工作人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定其技术性范围。

Claims (10)

  1. 一种两轮高尔夫球包车导航平衡控制系统，其特征在于，包括
    陀螺仪（20），用于感应球包车的倾斜角度和移动方向；
    行走控制模块（21），用于驱动球包车车轮（3）的旋转；
    驻车控制模块（22），用于收放、调整并固定球包车全地形支撑架（5）的位置；
    控制芯片（23），用于接收陀螺仪（20）的信号，并为行走控制模块（21）和驻车控制模块（22）提供控制信号。
  2. 根据权利要求1所述的两轮高尔夫球包车导航平衡控制系统，其特征在于，所述行走控制模块（21）包括与控制芯片（23）相连的电机驱动器Ⅰ，以及与所述电机驱动器Ⅰ相连且用于带动球包车车轮（3）转动的行走电机（4）。
  3. 根据权利要求1所述的两轮高尔夫球包车导航平衡控制系统，其特征在于，所述行走电机（4）上安装有与控制芯片（23）相连的转速传感器。
  4. 根据权利要求1所述的两轮高尔夫球包车导航平衡控制系统，其特征在于，所述驻车控制模块（22）包括与控制芯片（23）相连的电机驱动器Ⅱ，以及与所述电机驱动器Ⅱ相连且用于带动全地形支撑架（5）旋转的收放电机（6）。
  5. 根据权利要求4所述的两轮高尔夫球包车导航平衡控制系统，其特征在于，所述驻车控制模块（22）还包括与控制芯片（23）相连的电机驱动器Ⅲ，以及与所述电机驱动器Ⅲ相连且用于固定全地形支撑架（5）位置的锁定电机（7）。
  6. 根据权利要求5所述的两轮高尔夫球包车导航平衡控制系统，其特征在于，所述锁定电机（7）和收放电机（6）的所在电路上分别设置有与所述控制芯片（23）相连的电流传感器。
  7. 根据权利要求1所述的两轮高尔夫球包车导航平衡控制系统，其特征在于，所述控制芯片（23）安装在控制板（2）上，且所述控制板（2）连接有固定在球包车上手动操作器（24），并无线连接有遥控器（25）。
  8. 一种含有如权利要求1所述的两轮高尔夫球包车导航平衡控制系统的球包车，其特征在于，包括外壳（1）、控制板（2）、行走机构和全地形支撑机构，所述行走机构包括安装在外壳（1）两侧的一对车轮（3），以及与分别与每个车轮（3）相连的行走电机（4），所述全地形支撑机构包括一对全地形支撑架（5），以及用于控制全地形支撑架（5）旋转的收放电机（6）和用于固定全地形支撑架（5）的锁定电机（7）。
  9. 根据权利要求8所述的球包车，其特征在于，所述外壳（1）内安装有支撑架（9），两组车轮（3）和行走电机（4）分别安装在支撑架（9）的左右两端。
  10. 根据权利要求9所述的球包车，其特征在于，所述支撑架（9）的底部设置有铰接座（10），所述全地形支撑架（5）安装在铰接座（10）上，且两个全地形支撑架（5）以及铰接座（10）三者两两铰接。
    11. 根据权利要求10所述的球包车，其特征在于，所述收放电机（6）安装在其中一个全地形支撑架（5）的一侧，且所述收放电机（6）的输出端安装有螺杆（11），所述螺杆（11）与安装在另一个全地形支撑架（5）上的螺套（12）配合连接，所述收放电机（6）能够带动两个全地形支撑架（5）相向或相背旋转。
    12. 根据权利要求11所述的球包车，其特征在于，所述锁定电机（7）安装在铰接座（10）的侧面，且所述锁定电机（7）的输出轴上螺纹连接有锁紧螺母（13），所述锁紧螺母（13）能够穿过所述铰接座（10）与全地形支撑架（5）锁合。
PCT/CN2019/127438 2019-12-03 2019-12-23 一种两轮高尔夫球包车导航平衡控制系统及球包车 WO2021109282A1 (zh)

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CN113856173A (zh) * 2021-09-03 2021-12-31 安吉豪鼎机电有限公司 一种高尔夫球跟随车

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