CN107823873A - Electric transporting device and its control method at least one people - Google Patents
Electric transporting device and its control method at least one people Download PDFInfo
- Publication number
- CN107823873A CN107823873A CN201710834036.3A CN201710834036A CN107823873A CN 107823873 A CN107823873 A CN 107823873A CN 201710834036 A CN201710834036 A CN 201710834036A CN 107823873 A CN107823873 A CN 107823873A
- Authority
- CN
- China
- Prior art keywords
- roller
- people
- platform
- gravity
- conveying arrangement
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/02—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle
- B62D61/04—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle with two other wheels which are coaxial
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/12—Roller skates; Skate-boards with driving mechanisms
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/01—Skateboards
- A63C17/014—Wheel arrangements
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/04—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/26—Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D51/00—Motor vehicles characterised by the driver not being seated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D51/00—Motor vehicles characterised by the driver not being seated
- B62D51/02—Motor vehicles characterised by the driver not being seated the driver standing in the vehicle
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/12—Electrically powered or heated
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/18—Measuring a physical parameter, e.g. speed, distance
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Handcart (AREA)
Abstract
The present invention relates to a kind of electric transporting device for being used to transport at least one people, it has：It is designed to accommodate the platform (10) of at least one people to be transported；Multiple roller (12a, b；14a, b), the plurality of roller (12a, b；14a, b) it is connected to turning rolls (18) below platform (10), the roller (12a, b；14a, b) at least two rollers (12a, b) electrically driven, from there through the interaction with non-driven roller (14a, b) conveying arrangement can be made to travel forward, backward move or turn；Preferably four weight sensors (16a d), its setting that is spaced apart from each other between platform (10) and turning rolls (18)；And electronic-controlled installation, the electronic-controlled installation activates roller (12a, b) driver according to weight measurement in this way, i.e. so that travel speed and direct of travel can be controlled by the center of gravity of at least one people to be transported of movement.
Description
Technical field
The present invention relates to a kind of electric transporting device at least one people, the conveying arrangement is particularly suitable for use in especially tight
The design gathered, and therefore can be transported in a space-saving manner under unused state, such as the row in motor vehicles
In the groove of spare tyre in Lee's case.
Background technology
Such conveying arrangement is commonly used for travelling several kilometers of short distance with moderate speed, and this is especially
It is intended to allow parking lot distance to destination of the traveling from motor vehicles, vice versa, simultaneously because moderate speed, also may be used
With it is appropriate when according to legal framework, travelled on pavement etc..In this case, conveying arrangement is preferably made by single people
With however, single people can carry load (for example, in shoulder haversack) on its body in addition.However, the chi according to device
It is very little, it can also actually transport more personal.
Specification is applied for comparable, the electric single transport vehicle with two wheels being simply positioned on same axletree
(be referred to as Segway people's transporter；Segway is the registration mark of Segway Co., Ltds of the U.S.) it is known.However, this
Especially have the drawback that a bit, it is necessary to manipulation device is set, due to manipulation device be adapted to the minimum dimension of size of main body without
It can be accommodated in the motor vehicle in a manner of especially saving space-efficient.
The content of the invention
, should it is an object of the invention to provide a kind of conveying arrangement and its control method of the type mentioned in the opening paragraph
Conveying arrangement can be operated intuitively and safely, while being compact.
The means for realizing specific purpose are the conveying arrangement of the feature with Patent right requirement 1 and wanted with patent right
Seek the control method of 8 feature.
The useful improvement of the present invention is the theme of dependent patent claims.
Had according to a kind of electric transporting device for transporting at least one people of the present invention：
- platform of at least one people to be transported is configured to receive,
- multiple rollers, the plurality of roller are attached to the turning rolls below platform, at least two roller quilts in the roller
Electrically drive, from there through the interaction with non-driven roller conveying arrangement can be made to travel forward, move or turn backward
It is curved,
- at least three weight sensors, at least three weight sensor are spaced apart from each other between platform and turning rolls
Set, and
- electronic-controlled installation, the electronic-controlled installation receive the signal of weight sensor and according at least to these signals
The driver of roller is activated in this way, i.e. travel speed and direct of travel are wanted by the way that movement is at least one
The center of gravity of the people of transport controls.
The platform can be preferably presented as it is round-shaped, and with its circumferential edges relative to direct of travel at
In about -90 ° and about+90 ° by driving roller, and in about 0 ° and in about 180 ° of non-driven roller.
Non-driven roller is preferably presented as omnirange roller or full side wheel.In the case of the roller, wheel
Running surface is made up of roller, and the rotary shaft of the roller extends laterally relative to the rotation axis of main wheel, and this allows side vertically
Friction to mobile wheel is relatively low.
Although the present invention can also substantially be implemented with three weight sensors, due to designing technique,
Four weight sensors are preferably set up, these weight sensors are symmetrically attached with about 90 ° of angle interval, that is,
Say that, substantially in the apex of virtual squares, virtual squares are inserted into the circular between the platform of device and turning rolls
In profile, wherein platform and turning rolls preferably only by weight sensor it is mechanically to each other be connected with each other.However, this connection
It is not necessarily suspension system that is rigid, but can also having other.
In addition, in a preferred embodiment, control device can be designed to count by the signal of weight sensor
The current center of gravity of at least one people to be transported is calculated, and in the case where detecting gravity motion, it is determined that driving roller is set
The rotating speed of fixed point simultaneously correspondingly activates driving roller in this way, i.e. so that this of center of gravity is moved through conveying arrangement
Move to offset, result is to prevent at least one people from being dropped from platform.
Control device can be preferably designed to instruct at least one people to be transported static before traveling occurs
When center of gravity, according to the movement of center of gravity during the center of gravity detection traveling when static.
In addition, control device can have PID (PID) control unit, the PID control unit uses center of gravity
Two-dimentional deviation come determine drive roller set point rotating speed.
A kind of to be used to control the method for being used to transport the electric transporting device of at least one people, the conveying arrangement has：
- platform of at least one people to be transported is configured to receive,
- multiple rollers, the plurality of roller are attached at least two roller quilts of the turning rolls below platform, wherein roller
Electrically drive,
- at least three weight sensors, at least three weight sensor are spaced apart from each other between platform and turning rolls
Set,
In the range of this method, there is provided following steps：
A) before traveling starts, weight when instructing at least one people to be transported static by the signal of weight sensor
The heart, and
B) driver of roller is activated in this way according at least to the signal of weight sensor, i.e. allow to
By relative to it is static when the center of gravity of gravity motion at least one people to be transported control travel speed and direct of travel.
Brief description of the drawings
The present invention is explained in greater detail by embodiment below with reference to accompanying drawing, wherein：
Fig. 1 shows the schematic, bottom view of the conveying device with driving and non-driven roller according to the present invention；With
Fig. 2 shows the schematic, bottom view of the platform with weight sensor.
Embodiment
It is clear that there is circular shape according to the conveying arrangement of the present invention from figure, circular shape tool
There is preferred diameter (such as 70cm), so as to the standing room of the presence people to be transported on platform 10.As described further below,
Because the device inherently ensures that the people to be transported keeps its balance, and the device can be substantially by not activating operator
Control element and driven, further support people, the manipulation device especially with operator's control element is not essential, because
This device can be compact and flat design, and therefore can be accommodated in vehicle, such as the groove of spare tyre
In, wherein the battery (not shown) for the electro-motor of supply conveying arrangement is if appropriate, can then use in storage location
In self-aligning contact (not shown) charged by vehicle electrical system.
As shown in figure 1, a preferred embodiment of conveying arrangement has four rolling 12a, b and 14a, b, two of which rolling
Wheel 12a, b are driven independently of one another by electro-motor.With speed changer required drive motor and its electric supply installation (battery,
Power electronics, the controller based on microprocessor) it is not shown.By roller 12a and 12b individually actuating, the device with
Identical direction and the actuating of identical rotating speed, can be by mobile forward or backward (in figure up or down).Given opposite direction
Actuating or when being activated with different rotating speeds, can be around its central point as Ka Tepile around curve driving or the device
Endless-track vehicle equally rotates.Non-driven roller 14a, b support the device, and are rendered as omnirange roller, omnirange rolling
Wheel also allows to be orientated transverse shifting relative to it.Or such as can also use turn to roller.
Roller 12a, b and 14a, b are arranged on turning rolls 18, and the turning rolls 18 is also shown as circle in this embodiment
Plate is but it is also possible to be carrier structure or frame structure.According to Fig. 2, about with the symmetrically arranged total of four weight in 90 ° of angle intervals
Between turning rolls 18 and platform 10, the people to be transported preferably stands in the platform by quantity sensor or load cell 16a-d
On 10.
Weight sensor 16a-d is the power pick-up that can convert gravitational force to electric signal (such as passing through deformeter).Cause
For the weight for the people to be transported, it is applied to these weight sensors so will generally load --- in turning rolls 18 and platform 10
Between originally be not present mechanically connect --- the weight that sensor 16a-d generally measures the people to be transported (includes the weight of platform
Amount).For following vehicle movement dynamics Controlling, it is important that absolute measured value is smaller than relative scale, therefore sensor
Calibration relative requirement it is not high.
Vehicle movement dynamics Controlling depending on center of gravity is fundamentally based on four weight sensor 16a-d measurement
Value.For controlling the vehicle movement dynamics Controlling formed by longitudinal dynamics control and horizontal dynamic, sensor 16a-d's
Measured value must be converted into the set point rotating speed of two electro-motors by the control unit with controller.Each self-powered of these motors
Dynamic roller 12a or 12b.
As shown in Fig. 2 weight sensor 16a-d measured value is recorded.For example, the totality of 77kg station people on platform
Weight divides between vector (being represented by the thick line of the central spot of sensor placement).Therefore, respective center of gravity, referring at this
Dotted arrow 18 in example, can by all vectors and determine, the diagram not to scale (NTS) in wherein Fig. 2.
The concept of vehicle movement dynamics Controlling is based on the fact that：The people to stand on platform 10 wants in the people
Its weight is moved up with the side moved together with vehicle.Produced by means of the control that is moved through of vehicle in this direction to compensate
Driver imbalance.Therefore, controller makes the people be back to the position of balance, and prevents it from being dropped from platform 10.
Technical embodiment uses weight sensor 16a-d measured value as input signal.As described above, by the survey
Magnitude calculation is located at the center of gravity of the people on the weight sensor 16a-d.
Test measured value to show, the personal center of gravity stood when the people on platform has in resting position or normal posture.
Therefore, it is very favorable to instruct this normal posture to control system and perform correction calculating when stroke starts.It is no
Then, vehicle will move people disposed thereon to be posture for the non-instinct for everybody, and this posture will be highly disadvantageous
Ground influences driver comfort.Normal posture based on the correction is controlled.The control uses the two of the center of gravity of human pilot
Deviation is tieed up, is used as calculating PID (proportional-integral-differential) controls of the rotating speed of roller 12a and 12b two drive motors
The input of device.
The initial teaching process of center of gravity is preferably held automatically when being set foot under platform 10 remains static people when static
OK.The conclusion in this study stage and operation therefore prepare that signal can be issued the user with by acoustic signal.
During operation, the signal of weight sensor must be filtered correspondingly and smoothly, so as to due to dynamic effect (such as
Due to the inhomogeneities in ground) and eliminate SARS offset.
Claims (8)
1. a kind of electric transporting device for being used to transport at least one people, has：
- platform (10), the platform (10) are configured to receive at least one people to be transported,
- multiple roller (12a, b；14a, b), the multiple roller (12a, b；14a, b) it is attached to below the platform (10)
Turning rolls (18), described roller (12a, b；14a, b) at least two rollers (12a, b) electrically driven, thus lead to
Crossing can make the conveying arrangement travel forward, move or turn backward with the interaction of non-driven roller (14a, b),
- at least three weight sensors (16a-d), at least three weight sensor (16a-d) in the platform (10) and
Be spaced apart from each other setting between the turning rolls (18), and
- electronic-controlled installation, the electronic-controlled installation receive the signal of the weight sensor (16a-d) and according at least to
These signals activate the roller (12a, b) driver in this way, i.e. so that travel speed and direct of travel can be with
Controlled by the center of gravity of movement at least one people to be transported.
2. conveying arrangement according to claim 1,
Characterized in that,
The platform be rendered as it is round-shaped, and with its circumferential edges relative to the direct of travel be in about-
90 ° and about+90 ° by driving roller (12a, b), and in about 0 ° and in about 180 ° of non-driven roller
(14a、b)。
3. conveying arrangement according to claim 1 or 2,
Characterized in that,
The non-driven roller (14a, b) is rendered as omnirange roller.
4. conveying arrangement according to any one of claim 1 to 3,
Characterized in that,
The conveying arrangement has four weight sensors (16a-d), and four weight sensors (16a-d) are in the platform
(10) it is attached between the turning rolls (18) with about 90 ° of angle interval, wherein the platform (10) and the roller
Frame (18) is only mechanically interconnected by the weight sensor (16a-d).
5. conveying arrangement according to any one of claim 1 to 4,
Characterized in that,
The control device is designed to transport by least one described in the weight sensor (16a-d) signal of change
People current center of gravity, and in the case where detecting the gravity motion, determine the setting of the driving roller (12a, b)
Put rotating speed and correspondingly activate the driving roller (12a, b) in this way, i.e. so that passing through the conveying arrangement
The movement of center of gravity described in the balancing out motions, therefore prevent at least one people from being dropped from the platform (10).
6. conveying arrangement according to any one of claim 1 to 5,
Characterized in that,
The control device is designed to the weight for instructing at least one people to be transported when static before traveling occurs
The heart, according to it is described static when center of gravity come detect traveling during the center of gravity movement.
7. conveying arrangement according to any one of claim 1 to 6,
Characterized in that,
The control device has PID control unit, and the PID control unit is using the two-dimentional deviation of the center of gravity to determine
State the set point rotating speed of driving roller (12a, b).
8. a kind of be used to control the method for being used to transport the electric transporting device of at least one people, especially such as preceding claims
Any one of conveying arrangement, wherein the conveying arrangement has：
- platform (10), the platform (10) are configured to receive at least one people to be transported,
- multiple roller (12a, b；14a, b), the multiple roller (12a, b；14a, b) it is attached to below the platform (10)
Turning rolls (18), wherein at least two rollers (12a, b) in the roller are electrically driven,
- at least three weight sensors (16a-d), at least three weight sensor (16a-d) in the platform (10) and
Be spaced apart from each other setting between the turning rolls (18),
Wherein methods described comprises the steps of：
A) before traveling starts, at least one people to be transported is instructed to exist by the signal of the weight sensor (16a-d)
Center of gravity when static, and
B) roller (12a, b) is activated in this way according at least to the signal of the weight sensor (16a-d)
Driver, i.e. allow to by the center of gravity relative at least one people to be transported of gravity motion when static come
Control travel speed and direct of travel.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016217804 | 2016-09-16 | ||
| DE102016217804.0 | 2016-09-16 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107823873A true CN107823873A (en) | 2018-03-23 |
Family
ID=61302600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710834036.3A Pending CN107823873A (en) | 2016-09-16 | 2017-09-15 | Electric transporting device and its control method at least one people |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107823873A (en) |
| DE (1) | DE102017216355B4 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102019205300B4 (en) * | 2019-04-12 | 2021-03-18 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Moving people with a standing vehicle |
| DE102019212389B4 (en) * | 2019-08-19 | 2022-03-17 | Friedrich-Alexander Universität Erlangen-Nürnberg | Method of operating a pair of skates |
| FR3101603A1 (en) * | 2019-10-08 | 2021-04-09 | Claude Ragot | High maneuverability vehicle for city trips |
| CN111634333A (en) * | 2020-06-15 | 2020-09-08 | 清华大学 | Electric vehicle chassis suitable for automatic driving and electric control system and vehicle with electric vehicle chassis |
| DE102022103359A1 (en) | 2022-02-14 | 2023-08-17 | Autoliv Development Ab | Vehicle and method for determining vehicle occupancy |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29502855U1 (en) | 1995-02-21 | 1995-04-13 | Frank, Jürgen, 22457 Hamburg | Round game and sports roller board |
| ITMI20100195A1 (en) | 2010-02-10 | 2011-08-11 | Milano Politecnico | TRANSPORT VEHICLE |
| JP5470507B1 (en) | 2013-01-23 | 2014-04-16 | 国亮 佐藤 | Single-seat mobile device |
-
2017
- 2017-09-14 DE DE102017216355.0A patent/DE102017216355B4/en active Active
- 2017-09-15 CN CN201710834036.3A patent/CN107823873A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| DE102017216355B4 (en) | 2023-02-09 |
| DE102017216355A1 (en) | 2018-03-22 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180323 |
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| WD01 | Invention patent application deemed withdrawn after publication |