CN114802567B - Driving control method and main control circuit of intelligent somatosensory electric vehicle - Google Patents
Driving control method and main control circuit of intelligent somatosensory electric vehicle Download PDFInfo
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- CN114802567B CN114802567B CN202210393666.2A CN202210393666A CN114802567B CN 114802567 B CN114802567 B CN 114802567B CN 202210393666 A CN202210393666 A CN 202210393666A CN 114802567 B CN114802567 B CN 114802567B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000003238 somatosensory effect Effects 0.000 title description 5
- 238000001514 detection method Methods 0.000 claims abstract description 59
- 230000005484 gravity Effects 0.000 claims abstract description 15
- 230000008859 change Effects 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 13
- 230000001133 acceleration Effects 0.000 description 18
- 238000010586 diagram Methods 0.000 description 10
- 238000004804 winding Methods 0.000 description 5
- 230000006698 induction Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000005669 field effect Effects 0.000 description 1
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- 238000000926 separation method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M7/00—Motorcycles characterised by position of motor or engine
- B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
-
- 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
- B60L2200/24—Personal mobility vehicles
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
The invention relates to the technical field of vehicles, in particular to a running control method of an intelligent body-sensing electric vehicle, which comprises a front wheel, a rear wheel, a bracket connecting the front wheel and the rear wheel, a seat cushion, a driving motor and a gesture detection device, wherein the seat cushion is arranged on the bracket, the front wheel or the rear wheel is driven by the driving motor, the gesture detection device is arranged on the front wheel, the rear wheel, the bracket or the seat cushion, and the gesture detection device senses the gravity center change of a rider so as to control the output power and/or the rotation direction of the driving motor. By arranging the gesture detection device on the front wheel, the rear wheel, the bracket or the seat cushion, the output power and the rotation direction of the driving motor are controlled by the gravity center change of the rider detected by the gesture detection device, the running speed and the running direction of the electric vehicle can be controlled, the vehicle speed can be controlled without putting hands on the rotation handle, the hands of people can not feel tired, the running safety is provided, and the invention also provides a corresponding main control circuit.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a driving control method and a main control circuit of an intelligent body-sensing electric vehicle.
With the acceleration of the pace of life of people, vehicles become an increasingly important means of life, with electric bicycles being an important option.
At present, the electric bicycle in industry controls the output power and the running speed through a power switch at a handle and a rotary handle, the control mode is single, the hand of a person needs to be always held on the rotary handle to control the speed of the bicycle, and long-distance running is easy to fatigue.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide an intelligent vehicle capable of controlling a vehicle speed without placing a hand on a rotating handle.
The utility model provides an electric motor car is felt to intelligent body, includes front wheel, rear wheel, connects support, seatpad, driving motor and the gesture detection device of front wheel and rear wheel, and the seatpad sets up on the support, and front wheel or rear wheel pass through driving motor drive, and gesture detection device sets up on front wheel, rear wheel, support or seatpad, and gesture detection device response rider's focus changes in order to control driving motor's output and/or direction of rotation.
Preferably, the intelligent seat cushion further comprises a main control circuit, wherein an intermediate support shaft is arranged at the lower part of the seat cushion, the upper part of the intermediate support shaft is connected with the seat cushion, and the lower part of the intermediate support shaft is connected with a bracket; the seat cushion can rotate around the middle supporting shaft; the gesture detection device obtains the rotation angle and the direction of the seat cushion, and the main control circuit controls the output power and the rotation direction of the driving motor according to the rotation angle and the rotation direction obtained by the gesture detection device.
Preferably, the intermediate support shaft is connected with the seat cushion through a universal joint, and the seat cushion can rotate in a three-dimensional direction, namely: a plane defined by the front-rear direction and the up-down direction, a plane defined by the left-right direction and the up-down direction, and a horizontal plane; meanwhile, an automatic steering device is arranged on the handle of the bicycle; the three-dimensional direction rotation of the seat cushion is decomposed into a component in the vehicle body forward direction, a component in the vehicle body up-down direction and a component in the vehicle body left-right direction, the component in the vehicle body forward-backward direction controls the forward and reverse rotation of the driving motor, the component in the vehicle body up-down direction controls the output power of the driving motor, and the component in the vehicle body left-right direction controls the steering of the automatic steering device.
Preferably, the main control circuit is provided with a remote wake-up circuit, a positioning circuit and an automatic cruise circuit, the remote wake-up circuit receives the remote wake-up information, and the automatic cruise circuit and the positioning circuit enter an automatic cruise mode according to the remote wake-up information instruction.
Preferably, the periphery of the seat cushion is provided with a slide way, the slide way is provided with a slide block, the main control circuit can control the slide of the slide block, and the seat cushion rotates around the middle supporting shaft in the sliding process of the slide block on the slide way, so that the speed and the running direction of the electric vehicle in the automatic cruising mode can be controlled by controlling the slide of the slide block.
Preferably, the seat cushion is rotatably disposed about the intermediate support shaft in a plane defined by the front-rear direction and the up-down direction.
Preferably, the lower part of the seat cushion is provided with a front supporting shaft and a rear supporting shaft, the upper parts of the front supporting shaft and the rear supporting shaft are respectively connected with the seat cushion, and the lower parts of the front supporting shaft and the rear supporting shaft are respectively connected with a bracket; the front support shaft is positioned at the front part of the middle support shaft, and the rear support shaft is positioned at the rear part of the middle support shaft;
The upper part of the front support shaft is connected with the seat cushion in a sliding way in the up-down direction, and the upper part of the rear support shaft is connected with the seat cushion in a sliding way in the up-down direction;
The seat cushion rotates about the intermediate support shaft in a plane defined in the front-rear direction and the up-down direction,
The rotation angle of the seat cushion around the middle supporting shaft relative to the horizontal plane is +/-15 degrees;
The gesture detection device senses the rotation angle of the seat cushion to control the output power and the rotation direction of the driving motor.
Preferably, the device also comprises a head pipe and a front fork, wherein the rear part of the head pipe is connected with a bracket, and the lower part of the front fork is connected with a front wheel; the upper part of the front fork is rotatably connected with the lower part of the head pipe, and the front fork is rotatably arranged in a plane determined by the front-back direction and the up-down direction relative to the head pipe; the joint of the front fork and the head pipe is provided with a locking structure.
Preferably, the front fork is a single-arm front fork, and is connected to one side of the front wheel
Preferably, in the embodiment, the head pipe is provided with a chute, the bracket extends into the chute, and the bracket is clamped with the chute through a conical clamping pin; and taking out the conical bayonet lock, and separating the bracket from the head pipe.
Through setting up spout and toper bayonet lock, can realize the cooperation of support and head pipe's one-key and split. After the disassembly, the head part is lifted upwards to separate the front part from the rear part, so that the front-rear one-key disassembly and assembly are realized. The rear half of the original car body is used as a driving part, and the two-wheeled stroller is connected in the same way, as shown in fig. 12, the front end of the bracket is connected with the stroller (parts such as a seat cushion and a posture detection device are reserved and are not shown in the figure), so that the stroller becomes an intelligent stroller. Based on the same connecting structure, the intelligent scooter, the intelligent sledge and the like can be driven by the bracket 3 and the rear wheel. The multipurpose of a vehicle is really realized, and any combination is disassembled by one key.
Preferably, the bicycle further comprises a rear fork, wherein the upper part of the rear fork is connected with a bracket, and the lower part of the rear fork is connected with a rear wheel; the upper part of the rear fork is rotatably connected with the lower part of the bracket, and the rear fork is rotatably arranged in a plane determined by the front-back direction and the up-down direction relative to the bracket; the joint of the rear fork and the bracket is provided with a locking structure.
Preferably, the drive motor drives the rear wheel, and the drive motor is a shaftless motor.
Preferably, the rear fork is a single-arm rear fork, a rear fork single-arm shaft is arranged at the lower part of the rear fork, and the rear fork single-arm shaft is connected with the rear wheel from the left side of the rear wheel; the rear wheel comprises a hub shell, a right side cover, a motor side cover, a winding space and a tire placing space; the right side cover is connected to the right side of the hub shell, and the motor side cover is connected to the left side of the hub shell; the middle part of the motor side cover is provided with a hole, and the single arm shaft of the rear fork is connected with the hole; the winding space sets up in the left and right sides at the edge of wheel hub shell, and the tire is placed the space and is set up in the week side of wheel hub shell.
A driving control method of an intelligent body sensing electric vehicle comprises the steps that slide ways are arranged around a seat cushion of the electric vehicle, an intermediate support shaft is arranged at the lower part of the seat cushion, and the lower part of the intermediate support shaft is connected with a bracket of the electric vehicle; the front wheel or the rear wheel of the electric vehicle is driven by a driving motor, and the electric vehicle is provided with a gesture detection device which senses the gravity center change of a rider so as to control the output power and/or the rotation direction of the driving motor;
the slide way is provided with a slide block, the main control circuit controls the slide of the slide block, and the seat cushion rotates in a three-dimensional direction around the middle support shaft of the electric vehicle in the process of sliding on the slide way by the slide block;
the rotating angle and the rotating direction of the seat cushion are acquired through the gesture detection device, and the output power and the rotating direction of the driving motor are controlled through the main control circuit according to the rotating angle and the rotating direction acquired through the gesture detection device, so that the running speed and the running direction of the electric vehicle are controlled.
Preferably, the attitude detecting means includes 4 or more gyroscopes, and the front wheel and the rear wheel are respectively provided with 2 or more gyroscopes by which the attitude of the electric vehicle is sensed.
Main control circuit of intelligent body sensing electric vehicle: the electric bicycle comprises a main control circuit, wherein slide ways are arranged around a seat cushion of the electric bicycle, an intermediate support shaft is arranged at the lower part of the seat cushion, and the lower part of the intermediate support shaft is connected with a bracket of the electric bicycle; the seat cushion can rotate around the middle supporting shaft, the front wheel or the rear wheel of the electric vehicle is driven by the driving motor, the electric vehicle is provided with a gesture detection device, and the gesture detection device senses the gravity center change of a rider so as to control the output power and/or the rotation direction of the driving motor;
The slide way is provided with a slide block, the main control circuit controls the slide of the slide block, and the seat cushion rotates in a three-dimensional direction around the middle support shaft of the electric vehicle in the sliding process of the slide block on the slide way, so that the speed and the running direction of the electric vehicle in an automatic cruising mode are controlled; the gesture detection device obtains the rotation angle and the direction of the seat cushion, and the main control circuit controls the output power and the rotation direction of the driving motor according to the rotation angle and the rotation direction obtained by the gesture detection device.
Preferably, the seat cushion rotates around the intermediate support shaft in a plane defined by the front-rear direction and the up-down direction, and the rotation angle of the seat cushion around the intermediate support shaft with respect to the horizontal plane is ±15°; the gesture detection device senses the rotation angle of the seat cushion to control the output power and the rotation direction of the driving motor.
Preferably, the main control circuit is provided with a remote wake-up circuit, a positioning circuit and an automatic cruise circuit, the remote wake-up circuit receives the remote wake-up information, and the automatic cruise circuit and the positioning circuit enter an automatic cruise mode according to the remote wake-up information instruction.
Preferably, the drive motor drives the rear wheel of the electric vehicle, and the drive motor is a shaftless motor.
Preferably, the attitude detecting means includes 4 or more gyroscopes, and the front wheel and the rear wheel are respectively provided with 2 or more gyroscopes by which the attitude of the electric vehicle is sensed.
The beneficial effects of the invention are as follows: the utility model provides an electric motor car is felt to intelligent body, includes front wheel, rear wheel, connects support, seatpad, driving motor and the gesture detection device of front wheel and rear wheel, and the seatpad sets up on the support, and front wheel or rear wheel pass through driving motor drive, and gesture detection device sets up on front wheel, rear wheel, support or seatpad, and gesture detection device response rider's focus changes in order to control driving motor's output and/or direction of rotation. The invention further provides a corresponding intelligent body sensing electric vehicle driving control method main control circuit.
Drawings
Fig. 1 is a block diagram of a circuit configuration of a running control method of an intelligent electric vehicle according to the present invention.
Fig. 2 is a schematic structural diagram of an electric vehicle corresponding to a running control method of an intelligent motion sensing electric vehicle, in which a forward inclination angle of a seat cushion 4 is 15 °.
Fig. 3 is a schematic structural diagram of an electric vehicle corresponding to a running control method of an intelligent motion sensing electric vehicle according to the present invention, wherein a seat cushion 4 has no inclination angle.
Fig. 4 is a schematic structural diagram of an electric vehicle corresponding to a running control method of an intelligent motion sensing electric vehicle according to the present invention, wherein a back inclination angle of a seat cushion 4 is 15 °.
Fig. 5 is a schematic structural diagram of an electric vehicle corresponding to a running control method of an intelligent body-sensing electric vehicle, in which front wheels are retracted inwards and rear wheels are retracted inwards in a stationary state.
Fig. 6 is a schematic structural diagram of an electric vehicle corresponding to a running control method of an intelligent body sensing electric vehicle, where a half-pack type fender is located at an upper working position and is used for shielding rain and mud.
Fig. 7 is a schematic structural diagram of an electric vehicle corresponding to a running control method of an intelligent body sensing electric vehicle, where a half-pack type fender is located at a lower working position and is used for supporting the ground.
Fig. 8 is a schematic diagram of a connection structure between a rear wheel and a rear fork of an electric vehicle corresponding to a running control method of an intelligent motion sensing electric vehicle.
Fig. 9 is a schematic diagram of a connection structure of a rear wheel of an electric vehicle corresponding to a running control method of an intelligent motion sensing electric vehicle according to the present invention.
Fig. 10 is a cross-sectional view of a rear wheel of an electric vehicle corresponding to a running control method of an intelligent electric vehicle according to the present invention.
Fig. 11 is a schematic structural view of a rear wheel and a bracket of an electric vehicle corresponding to a running control method of an intelligent motion sensing electric vehicle according to the present invention, with front forks, front wheels and handles removed.
Fig. 12 is a schematic diagram showing a structure of an electric vehicle in which a rear half of a vehicle body of the electric vehicle is used as a driving force to drive a two-wheeled vehicle according to the running control method of the intelligent vehicle of the present invention.
Fig. 13 is a schematic structural view of a connected two-wheeled vehicle of an electric vehicle according to a running control method of an intelligent motion sensing electric vehicle of the present invention.
In the figure:
1-front wheels; 2-rear wheels; 21-a hub shell; 22-right side cover; 23-motor side covers; 24-winding space; 25-tire placement space; 3-a bracket; 4, a seat cushion; 5-driving a motor; 6-an attitude detection device; 7-a master control circuit; 71-a remote wake-up circuit; 72-a positioning circuit; 8-an intermediate support shaft; 9-a front support shaft; 10-a rear support shaft; 73-auto-cruise circuit; 11-head tube; 12-front fork; 13-a rear fork; 131-a rear fork single arm shaft; 14-a handlebar; 15-semi-wrapped mud flaps; 16-a hook-type connecting rod; 17-limiting springs; 18-high power waterproof contact terminals; 19-male; 20-two-wheeled vehicle.
Detailed Description
Embodiments of the present invention are described in detail below with reference to fig. 1-13, but the present invention may be embodied in many different forms as defined and covered by the claims.
A driving control method of an intelligent body sensing electric vehicle comprises the steps that slide ways are arranged around a seat cushion 4 of the electric vehicle, an intermediate support shaft 8 is arranged at the lower part of the seat cushion 4, and the lower part of the intermediate support shaft 8 is connected with a bracket 3 of the electric vehicle; the front wheel 1 or the rear wheel 2 of the electric vehicle is driven by a driving motor 5, the electric vehicle is provided with a gesture detection device 6, and the gesture detection device 6 senses the gravity center change of a rider to control the output power and/or the rotation direction of the driving motor 5;
The slide way is provided with a slide block, the main control circuit 7 controls the slide of the slide block, and the seat cushion 4 rotates in a three-dimensional direction around the middle support shaft 8 of the electric vehicle in the process of sliding the slide block on the slide way;
The rotation angle and the direction of the seat cushion 4 are acquired by the gesture detection device 6, and the output power and the rotation direction of the driving motor 5 are controlled by the main control circuit 7 according to the rotation angle and the rotation direction acquired by the gesture detection device 6, so that the running speed and the running direction of the electric vehicle are controlled.
In the present embodiment, the attitude detection means 6 includes 4 or more gyroscopes, and the front wheel 1 and the rear wheel 2 are respectively provided with 2 or more gyroscopes by which the attitude of the electric vehicle is sensed.
Main control circuit of intelligent body sensing electric vehicle: the electric bicycle comprises a main control circuit 7, wherein slide ways are arranged around a seat cushion 4 of the electric bicycle, a middle supporting shaft 8 is arranged at the lower part of the seat cushion 4, and the lower part of the middle supporting shaft 8 is connected with a bracket 3 of the electric bicycle; the seat cushion 4 can rotate around the middle supporting shaft 8, the front wheel 1 or the rear wheel 2 of the electric vehicle is driven by the driving motor 5, the electric vehicle is provided with a gesture detection device 6, and the gesture detection device 6 senses the gravity center change of a rider to control the output power and/or the rotation direction of the driving motor 5;
the slide way is provided with a slide block, the main control circuit 7 controls the slide of the slide block, and the seat cushion 4 rotates around the middle support shaft 8 of the electric vehicle in the three-dimensional direction in the process of sliding on the slide way, so that the speed and the running direction of the electric vehicle in an automatic cruising mode are controlled; the posture detecting device 6 acquires the rotation angle and direction of the seat cushion 4, and the main control circuit 7 controls the output power and rotation direction of the driving motor 5 according to the rotation angle and direction acquired by the posture detecting device 6.
In the present embodiment, the seat cushion 4 rotates about the intermediate support shaft 8 in a plane defined in the front-rear direction and the up-down direction, and the rotation angle of the seat cushion 4 about the intermediate support shaft 8 with respect to the horizontal plane is ±15°; the posture detecting means 6 senses the rotation angle of the seat cushion 4 to control the output power and the rotation direction of the driving motor 5.
In this embodiment, the main control circuit 7 is provided with a remote wake-up circuit 71, a positioning circuit 72 and an auto-cruise circuit 73, the remote wake-up circuit 71 receives remote wake-up information, and the auto-cruise circuit 73 and the positioning circuit 72 enter an auto-cruise mode according to the remote wake-up information instruction.
In this embodiment, the driving motor 5 drives the rear wheel 2 of the electric vehicle, and the driving motor 5 is a shaftless motor.
In the present embodiment, the attitude detection means 6 includes 4 or more gyroscopes, and the front wheel 1 and the rear wheel 2 are respectively provided with 2 or more gyroscopes by which the attitude of the electric vehicle is sensed.
As shown in fig. 1 to 13, the present embodiment provides an intelligent somatosensory electric vehicle. Example 1
An intelligent body sensing electric vehicle, in this embodiment: the bicycle comprises a front wheel 1, a rear wheel 2, a bracket 3 for connecting the front wheel 1 and the rear wheel 2, a seat cushion 4, a driving motor 5 and a posture detection device 6, wherein the seat cushion 4 is arranged on the bracket 3, the front wheel 1 or the rear wheel 2 is driven by the driving motor 5, the posture detection device 6 is arranged on the front wheel 1, the rear wheel 2, the bracket 3 or the seat cushion 4, and the posture detection device 6 senses the gravity center change of a rider so as to control the output power and/or the rotation direction of the driving motor 5.
In the embodiment, the device also comprises a main control circuit 7, wherein an intermediate support shaft 8 is arranged at the lower part of the seat cushion 4, the upper part of the intermediate support shaft 8 is connected with the seat cushion 4, and the lower part of the intermediate support shaft 8 is connected with a bracket 3; the seat cushion 4 can rotate around the middle supporting shaft 8; the posture detecting device 6 acquires the rotation angle and direction of the seat cushion 4, and the main control circuit 7 controls the output power and rotation direction of the driving motor 5 according to the rotation angle and direction acquired by the posture detecting device 6.
In the present embodiment, the seat cushion 4 is rotatably provided about the intermediate support shaft 8 in a plane defined by the front-rear direction and the up-down direction.
In the embodiment, a front support shaft 9 and a rear support shaft 10 are arranged at the lower part of the seat cushion 4, the upper parts of the front support shaft 9 and the rear support shaft 10 are respectively connected with the seat cushion 4, and the lower parts of the front support shaft 9 and the rear support shaft 10 are respectively connected with the bracket 3; the front support shaft 9 is positioned at the front part of the middle support shaft 8, and the rear support shaft 10 is positioned at the rear part of the middle support shaft 8; the upper part of the front support shaft 9 is slidably connected with the seat cushion 4 in the up-down direction, and the upper part of the rear support shaft 10 is slidably connected with the seat cushion 4 in the up-down direction; the seat cushion 4 rotates around the intermediate support shaft 8 in a plane defined by the front-rear direction and the up-down direction, and the rotation angle of the seat cushion 4 around the intermediate support shaft 8 with respect to the horizontal plane is ±15°; the posture detecting means 6 senses the rotation angle of the seat cushion 4 to control the output power and the rotation direction of the driving motor 5.
The intelligent somatosensory electric vehicle utilizes a gyroscope arranged below a vehicle seat to collect related data for a master control board singlechip to analyze and sense the self body weight of a rider to adjust the vehicle speed and control the electric vehicle to advance and retreat, the front-back inclination angle of the vehicle seat is not more than 15 degrees, the maximum inclination angle is over 45 degrees, automatic power-off protection is realized, and the highest somatosensory control vehicle speed is not more than 25 kilometers per hour.
In the present embodiment, the posture detecting device 6 includes a posture detecting module, which employs an MPU6050 module, which is selected because it has the following advantages: ① The angle measurement and the acceleration measurement are integrated; ② Simultaneously measuring the angle and the acceleration on the triaxial; ③ The output of the device is a digital signal, so that the device is convenient to process for storage and transmission; ④ The measuring range is large, and the reaction is quick. MPU6050 integrates a 3-axis gyroscope, 3-axis accelerator, and includes a digital motion processing (DMP: digital Motion Processor) hardware acceleration engine that can be connected to other brands of accelerators, magnetic sensors, or other sensors via a second I2C port, outputting the complete 9-axis fusion algorithm to the application via the main I2C port in the form of a single data stream.
In this embodiment, the gesture detection device 6 further includes an accelerometer module. The acceleration has a synthetic theorem, and can be understood as acceleration in which gravitational acceleration can be decomposed in three directions (front and rear, left and right, up and down) X, Y, Z. The accelerometer module comprises an acceleration sensor, and the acceleration sensor is used for detecting tiny deformation caused by inertial force by using MEMS technology, so that the accelerometer can measure acceleration values in three directions of a X, Y, Z axis at a certain moment. The electric vehicle measures the component of the gravity acceleration at the X, Y, Z axis by using an accelerometer, and then calculates the approximate inclination angle of the trolley by using the ratio of the component of each direction to the gravity acceleration.
The object is always subjected to the action of the gravitational attraction of the earth to generate a downward gravity acceleration, the driving motor is used for positively applying an action force in the forward or backward direction when the vehicle is dynamic, and the accelerometer is used for measuring the result that the gravity acceleration and the vehicle movement acceleration are combined to obtain a component of the total acceleration in three directions. Therefore, the angle measured by the accelerometer must contain a plurality of interference factors, so that the angle needs to be processed by a filter to obtain a more stable and reasonable waveform. Therefore, the embodiment further includes a filter, where the filter has a port connected to the driving motor to obtain the output power of the driving motor.
In this embodiment, the gesture detection device 6 further includes a gyroscope module. The gyroscope operation current is 5 mA, and the standby current is 5uA; accelerator operation current 500u accelerator power saving mode current 40ua@10h. The gyroscope module is used for recording the angular velocity of the vehicle in real time when the vehicle swings. Whereby the angle obtained by the accelerometer combined with the angular velocity obtained by the gyroscope by kalman filtering can be better tuned for PID. In the program, the real-time acceleration of the trolley is obtained in an IIC mode, the zero point offset is removed, the final angular velocity value is obtained, and the real-time attitude of the trolley is obtained in the mode, so that the angle and the angular velocity of the saddle can be obtained, and the two parameters are transmitted to a Kalman filtering function.
In this embodiment, the gesture detection apparatus 6 further includes a motor driving module: because the working voltage of the motor is different from that of the singlechip, the load capacity of the singlechip is low, and the motor can not be directly driven to operate by the singlechip due to the factors such as large current required by the motor, a motor driving module is required to drive the motor. For the motor of the project, the motion state needs to be adjusted in real time by driving the gear motor, a larger output current 15A and a higher output voltage 36V are needed, and in order to leave margin, a field effect power tube N groove 75V 75A (TIP 75N 75) is selected to be used as the motor driving of the project. Because of the speed regulation of the motor, a PWM speed regulation method is adopted. The principle is that the on time of the switching tube in one period is T, and the period is T, and then the average voltage u=vcc (T/T) =a×vcc at both ends of the motor, where a=t/T (duty ratio), vcc is the power supply voltage. The rotational speed of the motor is proportional to the voltage across the motor, which is proportional to the duty cycle of the control waveform, and thus the speed of the motor is proportional to the duty cycle a.
In the embodiment, the device also comprises a head pipe 11 and a front fork 12, wherein the rear part of the head pipe 11 is connected with the bracket 3, and the lower part of the front fork 12 is connected with the front wheel 1;
The upper part of the front fork 12 is rotatably connected with the lower part of the head pipe 11, and the front fork 12 is rotatably arranged in a plane determined by the front-back direction and the up-down direction relative to the head pipe 11; a locking structure is arranged at the joint of the front fork 12 and the head pipe 11.
In this embodiment, when the electric vehicle is in a stationary state, the front wheel 1 can be adjusted at any angle inward or outward relative to the head pipe 11, so as to change the inter-axle distance between the front wheel 1 and the rear wheel 2, thereby achieving optimal riding comfort. When the vehicle is stationary, the front fork 12, together with the front wheel 1, can be folded inward of the vehicle body to reduce the storage space.
In this embodiment, the upper portion of the front fork 12 is connected to the handlebar 14.
In this embodiment, the front fork 12 is a single-arm front fork, and the front fork 12 is connected to one side of the front wheel 1.
In the embodiment, the head pipe 11 is provided with a chute, the bracket 3 extends into the chute, and the bracket 3 is clamped with the chute through a conical clamping pin; the taper bayonet is taken out, and the bracket 3 is separated from the head pipe 11.
By arranging the sliding groove and the conical bayonet, one-key matching and splitting of the bracket 3 and the head pipe 11 can be realized. After the disassembly, the head part is lifted upwards to separate the front part from the rear part, so that the front-rear one-key disassembly and assembly are realized. The rear half of the original car body is used as a driving part, the two-wheeled stroller is connected in the same way, as shown in fig. 12, and the front end of the bracket 3 is connected with the 2-wheeled stroller 20 (parts such as a seat cushion and a posture detection device are reserved and are not shown in the figure), so that the two-wheeled stroller becomes an intelligent stroller. Based on the same connecting structure, the intelligent scooter, the intelligent sledge and the like can be driven by the bracket 3 and the rear wheel 2. The multipurpose of a vehicle is really realized, and any combination is disassembled by one key.
In the embodiment, the rear wheel comprises a rear fork 13, wherein the upper part of the rear fork 13 is connected with a bracket 3, and the lower part of the rear fork 13 is connected with the rear wheel 2;
the upper part of the rear fork 13 is rotatably connected with the lower part of the bracket 3, and the rear fork 13 is rotatably arranged in a plane determined by the front-back direction and the up-down direction relative to the bracket 3;
the joint of the rear fork 13 and the bracket 3 is provided with a locking structure.
In a stationary state of the vehicle, the rear fork 13 is folded inward of the body with the rear wheel 2, thereby reducing a storage space. When the vehicle is in a static state, the rear wheel 2 can be adjusted at any angle inwards or outwards, so that the inter-axle distance between the rear wheel 2 and the front wheel 1 is changed, and the optimal riding comfort is achieved.
In this embodiment, the drive motor 5 drives the rear wheel 2, and the drive motor 5 is a shaftless motor.
In the embodiment, the rear fork 13 is a single-arm rear fork, a rear fork single-arm shaft 131 is arranged at the lower part of the rear fork 13, and the rear fork single-arm shaft 131 is connected with the rear wheel 2 from the left side of the rear wheel 2;
the rear wheel 2 includes a hub shell 21, a right side cover 22, a motor side cover 23, a winding space 24, and a tire placing space 25;
the right side cover 22 is connected to the right side of the hub shell 21, and the motor side cover 23 is connected to the left side of the hub shell 21;
a hole is formed in the middle of the motor side cover 23, and a rear fork single-arm shaft 131 is connected with the hole;
The winding space 24 is provided on both left and right sides of the rim of the hub shell 21, and the tire placing space 25 is provided on the circumferential side of the hub shell 21.
In this embodiment, the drive motor 5 is embedded in the rear wheel 2.
In this embodiment, the half-wrapped fender 15 is further included, and the half-wrapped fender 15 is connected to the hub shell 21 through the opposite hook type connecting rod 16.
The intelligent induction electric vehicle adopts shaftless motor drive, and shaftless motor includes stator, rotor and limit cover, wheel hub shell, utilizes rotor and motor limit cover lug connection, thereby omits the axle center by limit cover and shell connection location, simplifies motor structure support lock and covers on the motor limit and reach simple installation convenience, and the motor concentricity is high, and the uniformity is good, reduces the rear fork width, saves whole car space.
In this embodiment, the wheel hub further comprises a limiting spring 17, the first end of the opposite hook-shaped connecting rod 16 is pivoted with the wheel hub shell 21, the second end of the opposite hook-shaped connecting rod 16 is fixedly connected with the half-package type mud guard 15, the upper end of the limiting spring 17 is rotatably connected with the wheel hub shell 21, and the lower end of the limiting spring 17 is rotatably connected to the lower portion of the first end of the opposite hook-shaped connecting rod 16. Under the action of the limiting spring 17, the semi-wrapped mud guard 15 has two working positions, wherein the upper working position acts as a rain guard, and the lower working position acts as a car stay.
The semi-bag type mud guard 15 moves up and down between 2 working positions to finish function switching, and the vehicle body cannot incline in the switching process, so that the intelligent body-feeling electric vehicle can conveniently enter an automatic cruising state from a stopping state. The half-package fender 15 is controlled by the smart cruise circuit 73 to switch between 2 operating positions.
The front wheel 1 is supported by adopting a rotary single-arm front fork 12 on one side of the front wheel 1 of the automobile body, the rear wheel 2 is supported by adopting a rotary single-arm rear fork 13 on one side of the rear wheel 2 of the automobile body, and when the automobile is parked, the rear single-arm half-wrapped mud guard 15 is put down and can be used as an automobile support.
In this embodiment, the driving motor 5 is provided with a high-power waterproof contact terminal 18, the rear fork 13 is provided with a male head 19, and the male head 19 is inserted into the high-power waterproof contact terminal 18 to realize electrical connection. The contact type power supply mode changes the original wire outgoing modes such as a waterproof head and a connecting wire, and the like, and the high-power waterproof contact terminal 18 specially overlapped in the motor is directly connected with the external plug-in (male head 19) of the vehicle body to realize quick and convenient power supply contact, so that the motor in the production process is greatly convenient to install and the intelligent electric vehicle motor can be maintained and replaced without professional staff in the future.
When the illumination of the intelligent electric vehicle is lower than 25LUX in the driving process, the light control system can send a signal to the controller (the main control circuit 7), and the control system can send a corresponding instruction to automatically start the front headlight. APP, positioning, bluetooth, USB, anti-lost, and the like.
When the front part of the intelligent electric vehicle encounters an obstacle in the driving process, the intelligent electric vehicle automatically slows down or stops through radar induction.
The front half part of the automobile body (front wheel, front fork, head tube, handle bar) utilizes the chute of the junction of head tube and automobile body, there is a taper bayonet lock above the chute to pull the spring bayonet lock outwards, lift the locomotive part upwards, make this front and back separation, realize front and back one-key dismantlement equipment. The rear half part of the original car body is used as a driving part, and the two-wheeled baby carriage is connected in the same mode, so that the baby carriage is changed into an intelligent baby carriage, an intelligent scooter, an intelligent sleigh and the like. The multipurpose of a vehicle is really realized, and any combination is disassembled by one key.
In this embodiment, the power supply system may be assembled and disassembled by one key, and the battery capacity may be changed according to the requirement.
In this embodiment, the intelligent sensing saddle uses the "dynamic balance" principle, and changes the driving state due to the change of the posture of the driver, because it can intelligently sense the change of the center of gravity, adopts a motion compensation algorithm, uses the gyroscope and the acceleration sensor in the intelligent sensing saddle to accurately detect the tiny change of the posture of the vehicle body, uses the precise servo control system to sensitively drive the motor to perform corresponding adjustment, when the driver tilts the body, the posture sensor outputs corresponding posture information, after the main control circuit 7 senses the information, the main control circuit 7 commands the driving motor 5 to rotate in the corresponding direction, the posture sensor continuously measures the posture of the vehicle according to a certain frequency and outputs the posture information to the controller, and the main control circuit 7 continuously adjusts the rotation direction and the rotation speed of the driving motor 5, thereby maintaining a dynamic balance.
In this embodiment, the battery is further included, and the battery is provided with a wireless charging core. The working principle of the intelligent induction wireless charging system is that a magnetic field is generated when current flows through a coil, and current is generated when other unenergized coils are close to the magnetic field, so that the wireless charging technology adopts the physical phenomenon called electromagnetic induction, and the intelligent induction wireless charging system can realize self-adaptive point-to-point charging and point-to-multipoint charging functions for the intelligent electric vehicle in a certain range.
Example two
An intelligent body sensing electric vehicle, in this embodiment: the bicycle comprises a front wheel 1, a rear wheel 2, a bracket 3 for connecting the front wheel 1 and the rear wheel 2, a seat cushion 4, a driving motor 5 and a posture detection device 6, wherein the seat cushion 4 is arranged on the bracket 3, the front wheel 1 or the rear wheel 2 is driven by the driving motor 5, the posture detection device 6 is arranged on the front wheel 1, the rear wheel 2, the bracket 3 or the seat cushion 4, and the posture detection device 6 senses the gravity center change of a rider so as to control the output power and/or the rotation direction of the driving motor 5.
In this embodiment, the main control circuit 7 is provided with a remote wake-up circuit 71, a positioning circuit 72 and an auto-cruise circuit 73, the remote wake-up circuit 71 receives remote wake-up information, and the auto-cruise circuit 73 and the positioning circuit 72 enter an auto-cruise mode according to the remote wake-up information instruction.
In this embodiment, the intermediate support shaft 8 is connected to the seat cushion 4 through a universal joint, and the seat cushion 4 can be rotated in three-dimensional directions, namely: a plane defined by the front-rear direction and the up-down direction, a plane defined by the left-right direction and the up-down direction, and a horizontal plane; at the same time, an automatic steering device is arranged on the handlebar 14; the three-dimensional rotation of the seat cushion 4 is decomposed into a component in the vehicle body forward-backward direction, a component in the vehicle body up-down direction, and a component in the vehicle body left-right direction, the component in the vehicle body forward-backward direction controlling the forward and reverse rotation of the drive motor, the component in the vehicle body up-down direction controlling the output power of the drive motor, and the component in the vehicle body left-right direction controlling the steering of the automatic steering device.
In this embodiment, the main control circuit 7 is provided with a remote wake-up circuit 71, a positioning circuit 72 and an auto-cruise circuit 73, the remote wake-up circuit 71 receives remote wake-up information, and the auto-cruise circuit 73 and the positioning circuit 72 enter an auto-cruise mode according to the remote wake-up information instruction.
In this embodiment, the periphery of the seat cushion 4 is provided with a slide way, the slide way is provided with a slide block, the main control circuit 7 can control the slide of the slide block, and the seat cushion 4 rotates in the three-dimensional direction around the middle supporting shaft in the sliding process of the slide block on the slide way, so that the speed and the driving direction of the electric vehicle in the automatic cruising mode can be controlled by controlling the slide of the slide block.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions of the present invention and the accompanying drawings, or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (7)
1. A driving control method of an intelligent body sensing electric vehicle is characterized in that:
The periphery of a seat cushion (4) of the electric vehicle is provided with a slideway, the lower part of the seat cushion (4) is provided with a middle supporting shaft (8), and the lower part of the middle supporting shaft (8) is connected with a bracket (3) of the electric vehicle; the front wheel (1) or the rear wheel (2) of the electric vehicle is driven by a driving motor (5), the electric vehicle is provided with a gesture detection device (6), and the gesture detection device (6) senses the gravity center change of a rider so as to control the output power and/or the rotation direction of the driving motor (5);
The sliding block is arranged on the sliding way, the main control circuit (7) controls the sliding of the sliding block, the middle supporting shaft is connected with the seat cushion through the universal joint in the sliding process of the sliding block on the sliding way, and the seat cushion (4) rotates around the middle supporting shaft (8) of the electric vehicle in the three-dimensional direction;
the gesture detection device (6) is arranged on the front wheel (1), the rear wheel (2), the support (3) or the seat cushion (4), the gesture detection device (6) comprises a gesture detection module, an accelerometer module, a gyroscope module and a motor driving module, the rotation angle and the direction of the seat cushion (4) are acquired through the gesture detection device (6), and the output power and the rotation direction of the driving motor (5) are controlled according to the rotation angle and the rotation direction acquired by the gesture detection device (6) through the main control circuit (7), so that the running speed and the running direction of the electric vehicle are controlled.
2. The running control method of the intelligent electric vehicle according to claim 1, characterized in that:
The gesture detection device (6) comprises more than 4 gyroscopes, the front wheel (1) and the rear wheel (2) are respectively provided with more than 2 gyroscopes, and the gesture of the electric vehicle is sensed through the gyroscopes.
3. Main control circuit of electric motor car is felt to intelligent body, its characterized in that:
the electric vehicle seat cushion comprises a main control circuit (7), wherein slide ways are arranged around the seat cushion (4) of the electric vehicle, an intermediate support shaft (8) is arranged at the lower part of the seat cushion (4), and the lower part of the intermediate support shaft (8) is connected with a bracket (3) of the electric vehicle; the seat cushion (4) can rotate around the middle supporting shaft (8), the front wheel (1) or the rear wheel (2) of the electric vehicle is driven by the driving motor (5), the electric vehicle is provided with a gesture detection device (6), and the gesture detection device (6) senses the gravity center change of a rider to control the output power and/or the rotation direction of the driving motor (5);
The middle supporting shaft is connected with the seat cushion through a universal joint, a slide block is arranged on the slide way, the main control circuit (7) controls the slide of the slide block, and the seat cushion (4) rotates around the middle supporting shaft (8) of the electric vehicle in the three-dimensional direction in the process of sliding on the slide way, so that the speed and the running direction of the electric vehicle in an automatic cruising mode are controlled; the gesture detection device (6) is arranged on the front wheel (1), the rear wheel (2), the support (3) or the seat cushion (4), the gesture detection device (6) comprises a gesture detection module, an accelerometer module, a gyroscope module and a motor driving module, the gesture detection device (6) obtains the rotation angle and the direction of the seat cushion (4), and the main control circuit (7) controls the output power and the rotation direction of the driving motor (5) according to the rotation angle and the rotation direction obtained by the gesture detection device (6).
4. The master control circuit of the intelligent motion sensing electric vehicle according to claim 3,
The seat cushion (4) rotates around the middle supporting shaft (8) in a plane determined by the front-back direction and the up-down direction, and the rotation angle of the seat cushion (4) around the middle supporting shaft (8) relative to the horizontal plane is +/-15 degrees; the gesture detection device (6) senses the rotation angle of the seat cushion (4) to control the output power and the rotation direction of the driving motor (5).
5. The master control circuit of the intelligent motion sensing electric vehicle according to claim 3,
The automatic cruise control system is characterized in that the main control circuit (7) is provided with a remote wakeup circuit (71), a positioning circuit (72) and an automatic cruise circuit (73), the remote wakeup circuit (71) receives remote wakeup information, and the automatic cruise circuit (73) and the positioning circuit (72) enter an automatic cruise mode according to remote wakeup information instructions.
6. The master control circuit of the intelligent motion sensing electric vehicle according to claim 3,
The driving motor (5) drives the rear wheel (2) of the electric vehicle, and the driving motor (5) is a shaftless motor.
7. The master control circuit of the intelligent motion sensing electric vehicle according to claim 3,
The gesture detection device (6) comprises more than 4 gyroscopes, the front wheel (1) and the rear wheel (2) are respectively provided with more than 2 gyroscopes, and the gesture of the electric vehicle is sensed through the gyroscopes.
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| CN201611004801.0A CN106627917B (en) | 2016-11-13 | 2016-11-13 | Electric motor car is felt to intelligence body |
| CN202210393666.2A CN114802567B (en) | 2016-11-13 | 2016-11-13 | Driving control method and main control circuit of intelligent somatosensory electric vehicle |
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| CN105691536A (en) * | 2016-02-04 | 2016-06-22 | 黄河科技学院 | Electric bicycle with running speed controlled through centre-of-gravity position |
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| JP2001278160A (en) * | 2000-04-03 | 2001-10-10 | Sony Corp | Bicycle and method of folding bicycle |
| CN1765686A (en) * | 2005-06-27 | 2006-05-03 | 捷安特(中国)有限公司 | Children's tricycle capable of adjusting ride position |
| EP2213562A3 (en) * | 2005-12-28 | 2011-07-06 | Equos Research Co., Ltd. | Motor vehicle |
| JP4291822B2 (en) * | 2006-02-03 | 2009-07-08 | トヨタ自動車株式会社 | Inverted wheel type traveling body |
| CN201009984Y (en) * | 2006-06-30 | 2008-01-23 | 宁波Gqy视讯股份有限公司 | Dual-purpose of standing and sitting type self-blancing two-wheeled vehicle |
| CN201737108U (en) * | 2010-05-14 | 2011-02-09 | 西安交通大学 | Personal travel tool |
| CN202147799U (en) * | 2011-07-04 | 2012-02-22 | 冉从礼 | Folding bicycle |
| CN102874363B (en) * | 2012-10-19 | 2014-05-28 | 尹国英 | Self-feedback type electric folding bicycle |
| EP2925593B1 (en) * | 2012-11-30 | 2016-10-19 | Invacare International Sàrl | Power driven vehicle having a take-apart frame |
| CN103385791B (en) * | 2013-08-01 | 2015-09-02 | 济南大学 | A kind of people with disability's gesture stability multifunctional wheelchair and control method |
| CN204432878U (en) * | 2015-02-03 | 2015-07-01 | 广州凯路仕自行车运动时尚产业股份有限公司 | A kind of folding bicycle |
| CN205327298U (en) * | 2015-11-27 | 2016-06-22 | 昆山奇正商贸有限公司 | Bicycle convenient to dismouting |
| CN206141713U (en) * | 2016-11-13 | 2017-05-03 | 王启军 | Agent electrification motor car |
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