CN206087066U - Electrodynamic balance swing car self -balance control system that starts shooting - Google Patents
Electrodynamic balance swing car self -balance control system that starts shooting Download PDFInfo
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- CN206087066U CN206087066U CN201621035486.3U CN201621035486U CN206087066U CN 206087066 U CN206087066 U CN 206087066U CN 201621035486 U CN201621035486 U CN 201621035486U CN 206087066 U CN206087066 U CN 206087066U
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Abstract
The utility model relates to an electrodynamic balance swing car self -balance control system that starts shooting. It has solved technical problem such as the unable automatic balance of current electrodynamic balance car start. Include the balance car automobile body that forms by two pedal seat pin joints, the last in -wheel motor that is equipped with respectively of pedal seat, be equipped with control circuit in the balance car automobile body, control circuit is connected with the power module that the setting just links to each other respectively with in -wheel motor in the balance car automobile body, thereby thereby be equipped with between control circuit and the power module enable control circuit and power module intercommunication and the control circuit effect enable down two in -wheel motor rotates respectively make two pedal seat the inclination all with predetermine the start self -balancing that the inclination keeps unanimously messenger's balance car automobile body to carry out balanced state and press the button. The advantage lies in: degree of automation is high, the automatic balance that realizes two pedal seat in start back, and the playing method is diversified, has both driving modes and supplies the user to select.
Description
Technical field
The utility model belongs to electric vehicle devices technical field, certainly flat more particularly, to a kind of start of electrodynamic balance swing car
Weighing apparatus control system.
Background technology
Electrodynamic balance car, is called body-sensing car, thinking car, the car that acts as regent etc..Mainly there are single wheel and the class of two-wheel two on market.Its fortune
Make principle and be mainly built upon one kind to be referred to as in the general principle of " dynamic stability ", the gyroscope and acceleration using vehicle body
Spend sensor to detect the change of vehicle body attitude, and utilize servo-control system, accurately motor is adjusted accordingly
It is whole, to keep the balance of system.Wherein, electrodynamic balance swing car is mainly made up of two pedal stands that can mutually reverse,
The change of car body direct of travel is realized by twisting pedal stand, this kind of electrodynamic balance swing car manipulation difficulty is big, each pedal stand
Cannot adjust automatically center of gravity, need to first pass through and go the pressure sensor trampled above one of pedal stand to make with pin after start
Single pedal stand adjusts its attitude and realizes balance, then goes again to trample another pedal stand and realizes its poised state, only when
User could stand on pedal stand when two pedal stands are in poised state, so allow for existing electrodynamic balance and turn round
Car manipulation is extremely inconvenient, and needs artificially to go the poised state for realizing each pedal stand.
In order to solve the problems, such as prior art, people have carried out long-term exploration, it is proposed that solution miscellaneous
Scheme.For example, Chinese patent literature discloses a kind of self-balancing two-wheeled balance car and control method [application number：
201610118977.2], the self-balancing two-wheeled balance car includes：Revolver, right wheel, crossbeam and mobile platform, the revolver and the right side
Wheel is connected to the two ends of crossbeam, and is rotated by axle of crossbeam, and the mobile platform is arranged at crossbeam top, the horizontal stroke
Balance drive motor is provided with beam, for driving the movable center of gravity to adjust balance car of mobile platform, balance car is made certainly
Dynamic balancing.
Although although such scheme alleviate existing electrodynamic balance swing car to a certain extent cannot adjust automatically center of gravity
Problem, but mainly use the mode of transverse shifting mobile platform due to the program to realize the balance of pedal stand, this
Sample still cannot be realized making pedal stand realize balance automatically after the start of electrodynamic balance swing car.
The content of the invention
The purpose of this utility model is for the problems referred to above, there is provided a kind of simple and reasonable, electricity of high degree of automation
Dynamic balancing swing car start Self-balance Control System.
To reach above-mentioned purpose, the utility model employs following technical proposal：The start of this electrodynamic balance swing car is certainly flat
Weighing apparatus control system, including the balance car car body by two pedal stand pivot joints, is respectively equipped with wheel hub electricity on described pedal stand
Machine, it is characterised in that control circuit is provided with described balance car car body, described control circuit is connected with and is arranged on balance car
Being provided between the supply module being connected in car body and with wheel hub motor respectively, described control circuit and supply module can make control
Circuit is connected with supply module and two wheel hub motors can be made to rotate respectively so that two pin under control circuit effect
The inclination angle for stepping on seat is consistent so that balance car car body is balanced the start self-balancing button of state with default inclination angle.
In above-mentioned electrodynamic balance swing car start Self-balance Control System, described control circuit includes being respectively provided with
Balance sensor module in two pedal stands, described balance sensor module is respectively connected with motor performing module, and institute
The motor performing module stated is connected respectively with wheel hub motor.
In above-mentioned electrodynamic balance swing car start Self-balance Control System, described balance sensor module includes adding
Speedometer transducer and gyro sensor, and described acceierometer sensor is integrated in gyro sensor and is arranged on
On secondary control plate in pedal stand.
In above-mentioned electrodynamic balance swing car start Self-balance Control System, described motor performing module is integrated in master
On control plate, and described master control borad is arranged in any one pedal stand, and described supply module is arranged on remaining one and rides
In seat.
In above-mentioned electrodynamic balance swing car start Self-balance Control System, described control circuit passes through wireless telecommunications
Mode is connected with removable control device, described removable control device be provided with control balance car car body perform include it is front
Enter, retreat, turn in any one or more state operating key.
In above-mentioned electrodynamic balance swing car start Self-balance Control System, described operating key be mechanical key with
Any one in touch-key.
Compared with prior art, the advantage of this electrodynamic balance swing car start Self-balance Control System is：Structure letter
Single reasonable, high degree of automation is automatically obtained the balance of two pedal stands after start, playing method variation drives mould with both
Formula is selected for user, when beginner can select the second driving states, i.e., only could when two pedal stands stress simultaneously
Realize that balance car car body is moved, this ensure that the safety of beginner, practician can select the first driving states, when any one
The executable movement of balance car car body, which increases Driving during individual pedal stand stress.
Description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is structured flowchart of the present utility model.
It is balance car car body 1, pedal stand 11, secondary control plate 111, master control borad 112, wheel hub motor 12, control circuit 2, flat in figure
Weighing apparatus sensor assembly 21, motor performing module 22, supply module 3, start self-balancing button 4, removable control device 5, control
Key 6.
Specific embodiment
With reference to the accompanying drawings and detailed description the utility model is described in more detail.
As shown in Figure 1-2, this electrodynamic balance swing car start self-balancing control method, comprises the steps：
The contrast of A, current state and preset value：The start self-balancing button 4 on balance car car body 1 is opened, by supply module 3
Connect with control circuit 2, control circuit 2 detects respectively the current inclination angle of two pedal stands 11 of current balance car car body 1 and divides
Do not contrasted with the default inclination value of two pedal stands 11；
B, the adjustment of balance car vehicle body attitude：Control circuit 2 is ridden respectively according to the current inclination angle of each pedal stand 11 with this
The wheel hub motor 12 that the default inclination value comparing result of seat 11 controls to be connected with pedal stand 11 respectively is rotated, and wheel hub motor 12 drives flat
Weighing apparatus car car body 1 each pedal stand 11 rotates the attitude of adjustment balance car car body 1；
C, balance car car body keep poised state：Control circuit 2 constantly detects inclining for the pedal stand 11 after two adjustment
Angle is simultaneously preset inclination value and is contrasted with the pedal stand 11, when the inclination angle of one of pedal stand 11 reaches default inclination value, control
The wheel hub motor 12 that the control of circuit processed 2 is connected with the pedal stand 11 is shut down, and keeps the poised state of the pedal stand 11, remaining one
Pedal stand 11 continues to adjust attitude, until the inclination angle of a remaining pedal stand 11 preset with the pedal stand 11 inclination angle it is consistent when,
Complete the poised state of whole balance car car body 1；
First driving states of D, balance car car body 1：After step C is completed, pressing start self-balancing button 4 reaches or not
Reach setting time so that balance car car body 1 is in the first driving states, and any one stress makes the pin in two pedal stands 11
Stepping on control circuit 2 when seat 11 is inclined drives respectively the wheel hub motor 12 being connected with two pedal stands 11 to rotate so that balance car car
Body 1 performs any one or more state in advance, retrogressing, steering；
Second driving states of E, balance car car body 1：When again pressing start self-balancing button 4 reaches or not up to sets
Between so that balance car car body 1 is in the second driving states, and control circuit 2 is distinguished during the equal stress run-off the straight of two pedal stands 11
During the wheel hub motor 12 that driving is connected with two pedal stands 11 is rotated so that balance car car body 1 performs advance, retrogressing, turns to
Any one or more state.
Control circuit 2 is caused to examine automatically while electrodynamic balance swing car is opened by key start self-balancing button 4
Survey the inclination angle of each pedal stand 11 and respectively drive hub motor 12 drives it to rotate up to two pedal stands 1 and be completely in balance
State, before traveling, user can only work as with two kinds of playing methods of unrestricted choice, when beginner can select the second driving states
Two pedal stands 11 simultaneously stress when could realize that balance car car body 1 is moved, this ensure that the safety of beginner, practician can
To select the first driving states, when any one 11 stress of pedal stand, the executable movement of balance car car body 1, which increases
Driving.
In step, pressing start self-balancing button 4 reaches or not up to setting time or set point number so that balance
In default inclination angle state of value, control circuit 2 is recorded respectively when the inclination angle of the first two pedal stand 11 is used as balance car car car car body 1
The default inclination value of 1 two pedal stands 11 of body.Wherein, control circuit 2 here is connected with removable by wireless communication mode
Control device 5, the execution of balance car car body 1 is controlled by may move the operating key 6 on control device 5 to be included advancing, retreats, turns
Any one or more state in.
This electrodynamic balance swing car start Self-balance Control System, including the balance car by the pivot joint of two pedal stands 11
Car body 1, is respectively equipped with wheel hub motor 12 on pedal stand 11, it is characterised in that be provided with control circuit 2 in balance car car body 1, controls
Circuit 2 is connected with the supply module 3 for being arranged in balance car car body 1 and being connected with wheel hub motor 12 respectively, control circuit 2 and confession
Being provided between electric module 3 can be such that control circuit 2 connects with supply module 3 and can make two wheel hub electricity in the case where control circuit 2 is acted on
Machine 12 is rotated respectively so that the inclination angle of two pedal stands 11 is consistent so that balance car car body 1 with default inclination angle
It is balanced the start self-balancing button 4 of state.
Wherein, control circuit 2 here includes the balance sensor module 21 being separately positioned in two pedal stands 11, puts down
Weighing apparatus sensor assembly 21 is respectively connected with motor performing module 22, and motor performing module 22 is connected respectively with wheel hub motor 12, this
In balance sensor module 21 include acceierometer sensor and gyro sensor, and acceierometer sensor and gyroscope
Sensor is integrated on the secondary control plate 111 being arranged in pedal stand 11, and motor performing module 22 here is integrated in master control borad
On 112, and master control borad 112 is arranged in any one pedal stand 11, and supply module 3 is arranged in a remaining pedal stand 11.
Control circuit 2 is connected with removable control device 5 by wireless communication mode, and removable control device 5 is provided with
Control balance car car body 1 performs the operating key 6 for including any one or more state in advance, retrogressing, steering, it is preferable that
Here operating key 6 is any one in mechanical key and touch-key.
Although more having used balance car car body 1, pedal stand 11, secondary control plate 111, master control borad 112, wheel hub motor herein
12nd, control circuit 2, balance sensor module 21, motor performing module 22, supply module 3, start self-balancing button 4, removable
The terms such as control device 5, operating key 6, but be not precluded from using the possibility of other terms.It is used for the purpose of using these terms
More easily describe and explain essence of the present utility model；Being construed as any additional restriction is all and this practicality
New spirit is contrary.
Claims (6)
1. a kind of electrodynamic balance swing car is started shooting Self-balance Control System, including the balance by the pivot joint of two pedal stands (11)
Car car body (1), is respectively equipped with wheel hub motor (12), it is characterised in that described balance car car body on described pedal stand (11)
(1) be provided with control circuit (2) in, described control circuit (2) be connected be arranged in balance car car body (1) and respectively with wheel hub
Being provided between the connected supply module (3) of motor (12), described control circuit (2) and supply module (3) can make control circuit
(2) connect with supply module (3) and control circuit (2) effect under two wheel hub motors (12) can be made to rotate respectively so as to
The inclination angle of two pedal stands (11) is set to be consistent with default inclination angle so that balance car car body (1) is balanced opening for state
Machine self-balancing button (4).
2. electrodynamic balance swing car according to claim 1 is started shooting Self-balance Control System, it is characterised in that described control
Circuit (2) processed includes the balance sensor module (21) being separately positioned in two pedal stands (11), described balance sensor
Module (21) is respectively connected with motor performing module (22), and described motor performing module (22) respectively with wheel hub motor (12) phase
Even.
3. electrodynamic balance swing car according to claim 2 is started shooting Self-balance Control System, it is characterised in that described is flat
Weighing apparatus sensor assembly (21) includes acceierometer sensor and gyro sensor, and described acceierometer sensor and gyro
Instrument sensor is integrated on secondary control plate (111) being arranged in pedal stand (11).
4. electrodynamic balance swing car according to claim 2 is started shooting Self-balance Control System, it is characterised in that described electricity
Machine performing module (22) is integrated on master control borad (112), and described master control borad (112) is arranged on any one pedal stand (11)
Interior, described supply module (3) is arranged in a remaining pedal stand (11).
5. the electrodynamic balance swing car start Self-balance Control System according to claim 1 or 2 or 3 or 4, its feature exists
In described control circuit (2) is connected with removable control device (5), described removable control by wireless communication mode
Device (5) is provided with control balance car car body (1) and performs any one or more state included in advance, retrogressing, steering
Operating key (6).
6. electrodynamic balance swing car according to claim 5 is started shooting Self-balance Control System, it is characterised in that described control
Key (6) processed is any one in mechanical key and touch-key.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621035486.3U CN206087066U (en) | 2016-08-31 | 2016-08-31 | Electrodynamic balance swing car self -balance control system that starts shooting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621035486.3U CN206087066U (en) | 2016-08-31 | 2016-08-31 | Electrodynamic balance swing car self -balance control system that starts shooting |
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| Publication Number | Publication Date |
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| CN206087066U true CN206087066U (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621035486.3U Active CN206087066U (en) | 2016-08-31 | 2016-08-31 | Electrodynamic balance swing car self -balance control system that starts shooting |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106240703A (en) * | 2016-08-31 | 2016-12-21 | 杭州速控软件有限公司 | Electrodynamic balance swing car start self-balancing control method and system thereof |
-
2016
- 2016-08-31 CN CN201621035486.3U patent/CN206087066U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106240703A (en) * | 2016-08-31 | 2016-12-21 | 杭州速控软件有限公司 | Electrodynamic balance swing car start self-balancing control method and system thereof |
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