CN103676943A - A seat-type gravity center manual-controlled turning foot-pedal-type two-wheel self-balance intelligent vehicle - Google Patents
A seat-type gravity center manual-controlled turning foot-pedal-type two-wheel self-balance intelligent vehicle Download PDFInfo
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- CN103676943A CN103676943A CN201310415367.5A CN201310415367A CN103676943A CN 103676943 A CN103676943 A CN 103676943A CN 201310415367 A CN201310415367 A CN 201310415367A CN 103676943 A CN103676943 A CN 103676943A
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Abstract
本发明公开了一种座椅型重心手控转向脚踏式两轮自平衡智能车，包括座椅式车体以及设置于车体上的前后控制机构、转向控制机构和控制系统；其中，所述前后控制机构设置于座椅式车体的扶手处；所述转向控制机构设置于座椅式车体的脚踏处，所述控制系统与转向控制机构相连接，并检测由前后控制机构产生的重心倾斜信号。本发明使得操控智能车前进和后退时提供的前倾后倾信号不再是由身体的前倾后仰来实现，而是通过手控来调节；而对于方向的控制，不再像现有的操控模式，通过摆杆进行转向，而是通过脚踏给出转向信号；并且，人们在控制智能车时真正地“坐”了下来，和平时坐在椅子上一样舒适，具有结构简洁、操控稳定性好、易实现的特点。
The invention discloses a seat-type center-of-gravity hand-controlled steering pedal-type two-wheeled self-balancing smart car, which includes a seat-type car body, a front and rear control mechanism, a steering control mechanism and a control system arranged on the car body; wherein, the The front and rear control mechanism is arranged at the armrest of the seat-type vehicle body; the steering control mechanism is arranged at the pedal of the seat-type vehicle body, the control system is connected with the steering control mechanism, and detects the center of gravity tilt signal. The present invention makes the forward and backward signals provided when the smart car is controlled to move forward and backward no longer realized by the forward and backward tilt of the body, but adjusted by manual control; and the direction control is no longer like the existing In the control mode, the steering is performed through the swing rod, but the steering signal is given through the pedals; and people really "sit" when controlling the smart car, which is as comfortable as sitting on a chair, with simple structure and stable control. The characteristics of good performance and easy realization.
Description
Technical field
The present invention relates to a kind of mobile equilibrium robot of electromechanical integration technology area, specifically a kind of self posture information of relying on regulates the chair-type center of gravity manual control of pose to turn to foot-operated double-wheel self-balancing intelligent vehicle.
Background technology
Double-wheel self-balancing intelligent carriage is the mobile equilibrium realizing in the principle based on inverted pendulum.When intelligent vehicle is horizontal, now dolly is in an equilibrium state, and control system is not adjusted its pose, if now add artificially turn signal, now dolly will carry out in original place no-radius turning; Yet, after the sensor module of intelligent vehicle detects dolly center of gravity and leans forward, in order to guarantee that dolly does not fall, controller can send control signal, and intelligent vehicle is gone ahead, thereby makes whole car body all the time in a mobile equilibrium, in so dynamic process, if continue, give intelligent vehicle a top rake, dolly can not stop Accelerating running forward, has realized moving ahead of intelligent vehicle just in such process.Vice versa.
Current double-wheel self-balancing intelligent vehicle adopts the stand-type control mode of people mostly, there is small part to adopt the layout of bike saddle formula, above the two be all by people's swing, control intelligent vehicle center of gravity forward or towards retrodeviating, thereby realize moving forward and backward of intelligent vehicle.People controls by this way and is easy to fatigue.
Summary of the invention
The present invention is directed to above shortcomings in prior art, provide the manual control of a kind of chair-type center of gravity to turn to foot-operated double-wheel self-balancing intelligent vehicle.
The present invention is achieved by the following technical solutions.
The manual control of chair-type center of gravity turns to a foot-operated double-wheel self-balancing intelligent vehicle, comprises chair type car body and is arranged at front and back control gear on car body, turns to control gear and control system; Wherein, described front and back control gear is arranged at the arm rest of chair type car body; The described foot-operated place that turns to control gear to be arranged at chair type car body, described control system is connected with turning to control gear, and detects the center of gravity tilt signals being produced by front and back control gear.
Described chair type car body comprises base, seat, left wheel, right wheel, left reducing motor and right reducing motor, wherein, described seat is arranged on base, described left reducing motor and right reducing motor are individually fixed in the left and right sides of base, and described left wheel is connected by the splined shaft of left reducing motor and right reducing motor respectively with right wheel; Described front and back control gear is arranged on the handrail of seat, described in turn to control gear and set-up of control system on base.
Between described seat and base, by cylinder, be connected, and be placed on base.
Described cylinder head is provided with cylinder upper connecting plate.
Described seat comprises interconnective flat seat and the chair back, and the angle between described flat seat and the chair back is adjustable.
Described front and back control gear comprises two groups of control modules, and two groups of control modules are arranged at respectively on the left and right handrail of chair type car body; Wherein, each group control module includes guide rail, balancing weight and driving lever, and described guide rail and balancing weight are arranged at handrail inside, and the bottom of described driving lever is arranged on guide rail by balancing weight, and can move forward and backward along guide rail; Described chair type car body is realized center of gravity front and back by stirring driving lever regulate, thereby realize moving forward and backward of car body.
The described control gear that turns to comprises left-hand tread plate, right-hand tread plate and steering gear; Wherein, described steering gear is arranged at the root of left-hand tread plate and right-hand tread plate, and is fixedly connected with chair type car body, and described steering gear is provided with angular displacement sensor; Described steering gear is passed to angular displacement sensor by the signal of trampling of left-hand tread plate or right-hand tread plate, control system detects the turn signal being collected by angular displacement sensor, and send and turn to steering order to the left reducing motor of chair type car body and right reducing motor according to turn signal, realize the differential of two-wheeled, thereby realize turning to of car body.
Described control system comprises control enclosure and is arranged at the acceierometer sensor of control enclosure inside, gyroscope, driver, control chip and alarm, and described control chip is connected with right reducing motor with the left reducing motor of acceierometer sensor, gyroscope, outside angular displacement sensor, driver, alarm and chair type car body respectively.
Described gyroscope and acceierometer sensor are vertically fixed in control enclosure.
The manual control of described chair-type center of gravity turns to foot-operated double-wheel self-balancing intelligent vehicle, also comprises as lower member:
-battery, described battery respectively with front and back control gear, turn to control gear and control system to be connected.
Chair-type center of gravity provided by the invention manual control turns to foot-operated double-wheel self-balancing intelligent vehicle, and the swing that makes to control the hypsokinesis signal that leans forward providing when intelligent vehicle moves forward and backward and be no longer by health realizes, but regulates by manual control; And for the control of direction, no longer as existing steer mode, turn to by fork, but by the foot-operated turn signal that provides; And, people when controlling intelligent vehicle veritably " seat " get off, be sitting at ordinary times on chair the same comfortable.
The feature that the present invention has is simple for structure, control good stability, easily realize.
Accompanying drawing explanation
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is one-piece construction schematic diagram of the present invention;
Fig. 2, Fig. 3 and Fig. 4 are each several part structural representation of the present invention;
In figure: 1 is right driving lever, 2 is right balancing weight, and 3 is right handrail, and 4 is right guide rail, 5 is flat seat, and 6 is right wheel, and 7 is right reducing motor, and 8 is pedal, 9 is battery, and 10 is steering gear, and 11 is control system, and 12 is flange, 13 is base, and 14 is cylinder, and 15 is left wheel, and 16 is left reducing motor, 17 is the first bracing frame, and 18 is left handrail, and 19 is the second bracing frame, and 20 is left rail, 21 is left driving lever, and 22 is left balancing weight, and 23 is the chair back, and 24 is cylinder upper connecting plate.
Embodiment
Below embodiments of the invention are elaborated: the present embodiment is implemented take technical solution of the present invention under prerequisite, has provided detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Please refer to Fig. 1 to Fig. 4.
The present embodiment provides the manual control of a kind of chair-type center of gravity to turn to foot-operated double-wheel self-balancing intelligent vehicle, comprises chair type car body and is arranged at front and back control gear on car body, turns to control gear and control system; Wherein, described front and back control gear is arranged at the arm rest of chair type car body; The described foot-operated place that turns to control gear to be arranged at chair type car body, described control system respectively with front and back control gear with turn to control gear to be connected.
Further, described chair type car body comprises base, seat, left wheel, right wheel, left reducing motor and right reducing motor, wherein, described seat is arranged on base, and be fixed on car body by cylinder, described left reducing motor and right reducing motor are individually fixed in the left and right sides of base, and described left wheel is connected by the splined shaft of left reducing motor and right reducing motor respectively with right wheel; Described front and back control gear is arranged on the handrail of seat, described in turn to control gear and set-up of control system on base.
Further, between described seat and base, by cylinder, be connected, and be placed on base.
Described cylinder head is provided with cylinder upper connecting plate.
Further, described seat comprises interconnective flat seat and the chair back, and the angle between described flat seat and the chair back is adjustable.
Further, described front and back control gear comprises two groups of control modules, and two groups of control modules are arranged at respectively on the left and right handrail of chair type car body; Wherein, each group control module includes guide rail, balancing weight and driving lever, and described guide rail and balancing weight are arranged at handrail inside, and the bottom of described driving lever is arranged on guide rail by balancing weight, and can move forward and backward along guide rail; Described chair type car body is realized center of gravity front and back by stirring driving lever regulate, thereby realize moving forward and backward of car body.
Further, described in, turn to control gear to comprise left-hand tread plate, right-hand tread plate and steering gear; Wherein, described steering gear is arranged at the root of left-hand tread plate and right-hand tread plate, and is fixedly connected with chair type car body, and described steering gear is provided with angular displacement sensor; Described steering gear is passed to angular displacement sensor by the signal of trampling of left-hand tread plate or right-hand tread plate, control system detects the turn signal being collected by angular displacement sensor, and send and turn to steering order to the left reducing motor of chair type car body and right reducing motor according to turn signal, thereby realize turning to of car body.
Further, described control system comprises control enclosure and is arranged at the acceierometer sensor of control enclosure inside, gyroscope, driver, control chip and alarm, and described control chip is connected with right reducing motor with the left reducing motor of acceierometer sensor, gyroscope, outside angular displacement sensor, driver, alarm and chair type car body respectively.
Further, described gyroscope and acceierometer sensor are vertically fixed in control enclosure.
Further, the present embodiment also comprises as lower member:
-battery, described battery respectively with front and back control gear, turn to control gear and control system to be connected.
Be specially,
The present embodiment comprises: left wheel 15, right wheel 6, left reducing motor 16, right reducing motor 7, chair type car body, base 13, pedal 8, steering gear 10 band angular displacement sensors, flange 12, flat seat 5, the chair back 23, bracing frame 117, bracing frame 219, cylinder block 14, left handrail 18, right handrail 3, left rail 20, right guide rail 4, left balancing weight 22, right balancing weight 2, left driving lever 21, right driving lever 1, battery 9, control system 11.
Left and right reducing motor 16,7 connects firmly on the base 13 of chair type car body by ring flange 12, and left and right wheel 15,6 is connected by the splined shaft of left and right reducing motor 16,7;
Pedal 8 roots are provided with steering gear 10, finally in base 13 forward positions, by bearing seat and base 13, are fixed together, and for balance car, under static or running status, provide turn signal;
Flat seat 5 is connected with cylinder 14 by the first bracing frame 17, realizes the adjustable of angle of declination on flat seat 5; The chair back 23 is connected with cylinder 14 by the second bracing frame 19, realizes the adjustable of the chair back 23 inclination angles, front and back; Center of gravity when the two combination has just been taken a seat for mediator;
In left and right handrail 18,3, by left and right guide rail 20,4, connect left and right balancing weight 22,2 respectively, by regulating the right side on left and right balancing weight 22,2, the front and back position of left driving lever 21,1 to regulate the centre offset position of intelligent vehicle.
The course of work of the present embodiment is:
Before control system initialization, after people takes a seat, first left and right balancing weight 22,2 is placed in to the center of left and right guide rail 20,4, during with assurance operation, center of gravity has larger adjustable extent, pedal 8 is placed in to meta, then by regulating angle of declination and the chair back 23 inclination angles, front and back on described flat seat 5, people is taken a seat after in a comparatively comfortable state, and regulate above-mentioned two inclination angles until car body and people's center of gravity is general and the concentric shafts of two-wheeled on same perpendicular.After initialization completes, in operational process, the left and right balancing weight 22,2 of the two-hand control of take is as main, and it is the centre of gravity place that auxiliary mode regulates and controls intelligent vehicle that health coordinates, thereby realizes moving forward and backward of intelligent vehicle; Mode by left and right foot pedal 8 realizes turning to of intelligent vehicle, and a left side is stepped on toward left steering, and the right side is stepped on toward right turn.
In the present embodiment, left and right reducing motor is fixed on car body both sides, is controlled, and drive by driver by controller; Balance car wheel is connected by reducing motor output shaft with two motors, the car body of above formation balance car, running gear and drive system; Car body forward position is fixed with and can by pin, steps on the pedal of rotation, on this pedal, is fixed with angular displacement sensor, and it is responsible for gathering turn signal, thereby this part forms the steering of balance car; In addition, the acceierometer sensor of being responsible for gathering the gyro sensor of balance car angle of oscillation rate signal and gathering balance car angle signal is vertically fixed in control enclosure, and be connected with control chip, control enclosure is fixed on car body, the sensor module of above formation balance car and control system; Above car body, be fixed with cylinder, it is connected with car body by flange, for adjusting seat height; The adjustable flat seat in pitch angle is connected with cylinder block by the cylinder upper connecting plate at cylinder block top; Pitch angle adjustable chair back is connected with cylinder block by the second bracing frame; Handrail below, left and right is connected with cylinder block by the first bracing frame, in handrail inside, left and right, be provided with guide rail, for leading to balancing weight and reducing friction, people are by the driving lever of operation balancing weight before and after right-hand man, can realize moving forward and backward of mobile equilibrium position center of gravity, more than be the control system of balance car.Thus, realize balance car and advanced, retreat and turning function, broken existing stand-type controlling and bike saddle formula steer mode.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (9)
1. the manual control of chair-type center of gravity turns to a foot-operated double-wheel self-balancing intelligent vehicle, it is characterized in that, comprises chair type car body and is arranged at front and back control gear on chair type car body, turns to control gear and control system; Wherein, described front and back control gear is arranged at the arm rest of chair type car body; The described foot-operated place that turns to control gear to be arranged at chair type car body, described control system is connected with turning to control gear.
2. chair-type center of gravity according to claim 1 manual control turns to foot-operated double-wheel self-balancing intelligent vehicle, it is characterized in that, described chair type car body comprises base, seat, left wheel, right wheel, left reducing motor and right reducing motor, wherein, described seat is arranged on base, described left reducing motor and right reducing motor are individually fixed in the left and right sides of base, and described left wheel is connected by the splined shaft of left reducing motor and right reducing motor respectively with right wheel; Described front and back control gear is arranged on the handrail of seat, described in turn to control gear and set-up of control system on base.
3. chair-type center of gravity according to claim 2 manual control turns to foot-operated double-wheel self-balancing intelligent vehicle, it is characterized in that, between described seat and base, by cylinder, is connected.
4. chair-type center of gravity according to claim 3 manual control turns to foot-operated double-wheel self-balancing intelligent vehicle, it is characterized in that, described seat comprises interconnective flat seat and the chair back, and the angle between described flat seat and the chair back is adjustable.
5. chair-type center of gravity according to claim 1 manual control turns to foot-operated double-wheel self-balancing intelligent vehicle, it is characterized in that, described front and back control gear comprises two groups of control modules, and two groups of control modules are arranged at respectively on the left and right handrail of chair type car body; Wherein, each group control module includes guide rail, balancing weight and driving lever, and described guide rail and balancing weight are arranged at handrail inside, and the bottom of described driving lever is arranged on guide rail by balancing weight, and can move forward and backward along guide rail; Described chair type car body is realized center of gravity front and back by stirring driving lever regulate, thereby realize moving forward and backward of car body.
6. chair-type center of gravity according to claim 1 and 2 manual control turns to foot-operated double-wheel self-balancing intelligent vehicle, it is characterized in that, described in turn to control gear to comprise left-hand tread plate, right-hand tread plate and steering gear; Wherein, described steering gear is arranged at the root of left-hand tread plate and right-hand tread plate, and is fixedly connected with chair type car body, and described steering gear is provided with angular displacement sensor; Described steering gear is passed to angular displacement sensor by the signal of trampling of left-hand tread plate or right-hand tread plate, angular displacement sensor sends turn signal according to trampling signal to control system, according to turn signal, reducing motor and right reducing motor send and turn to steering order control system left, realize the differential of two-wheeled, thereby realize turning to of car body.
7. chair-type center of gravity according to claim 6 manual control turns to foot-operated double-wheel self-balancing intelligent vehicle, it is characterized in that, described control system comprises control enclosure and is arranged at the acceierometer sensor of control enclosure inside, gyroscope, driver, control chip and alarm, and described control chip is connected with right reducing motor with the left reducing motor of acceierometer sensor, gyroscope, outside angular displacement sensor, driver, alarm and chair type car body respectively.
8. chair-type center of gravity according to claim 7 manual control turns to foot-operated double-wheel self-balancing intelligent vehicle, it is characterized in that, described gyroscope and acceierometer sensor are vertically fixed in control enclosure.
9. chair-type center of gravity according to claim 1 manual control turns to foot-operated double-wheel self-balancing intelligent vehicle, it is characterized in that, also comprises as lower member:
-battery, described battery respectively with front and back control gear, turn to control gear and control system to be connected.
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|---|---|---|---|
| CN201310415367.5A CN103676943A (en) | 2013-09-12 | 2013-09-12 | A seat-type gravity center manual-controlled turning foot-pedal-type two-wheel self-balance intelligent vehicle |
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| CN201310415367.5A CN103676943A (en) | 2013-09-12 | 2013-09-12 | A seat-type gravity center manual-controlled turning foot-pedal-type two-wheel self-balance intelligent vehicle |
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Cited By (10)
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| CN104512502A (en) * | 2014-12-29 | 2015-04-15 | 南京快轮智能科技有限公司 | Double-wheel self-balancing electric vehicle without handle using gravity center to control direction and control method thereof |
| CN104622056A (en) * | 2015-03-04 | 2015-05-20 | 李洪甲 | Chair capable of serving as traffic tool |
| WO2017210855A1 (en) * | 2016-06-07 | 2017-12-14 | 罗春晖 | Balancing transportation means |
| CN107854241A (en) * | 2017-12-05 | 2018-03-30 | 广东凯洋医疗科技集团有限公司 | One kind two takes turns intelligent electric wheelchair |
| CN108121352A (en) * | 2017-10-31 | 2018-06-05 | 深圳市博鑫创科科技有限公司 | The method and system that a kind of balance car is stopped automatically |
| WO2018145398A1 (en) * | 2017-02-10 | 2018-08-16 | 常州百西瑞机械科技有限公司 | Electric two-wheeled balancing wheelchair |
| GB2575505A (en) * | 2018-07-13 | 2020-01-15 | Centaur Robotics Ltd | Mobility aid device and method of manufacturing |
| CN114291193A (en) * | 2022-01-17 | 2022-04-08 | 东莞理工学院城市学院 | A dual-slider control system based on a two-wheeled balance car |
| WO2023230777A1 (en) * | 2022-05-30 | 2023-12-07 | 北京小米机器人技术有限公司 | Balancing vehicle, control method and apparatus for robot, electronic device, and storage medium |
| CN117246531A (en) * | 2023-10-31 | 2023-12-19 | 四川美术学院 | A human-computer interaction and control method and device for a manned lunar rover |
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| CN104512502A (en) * | 2014-12-29 | 2015-04-15 | 南京快轮智能科技有限公司 | Double-wheel self-balancing electric vehicle without handle using gravity center to control direction and control method thereof |
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| GB2575505B (en) * | 2018-07-13 | 2022-08-24 | Centaur Robotics Ltd | Mobility aid device and method of manufacturing |
| US11931302B2 (en) | 2018-07-13 | 2024-03-19 | Centaur Robotics Limited | Mobility aid device and method of manufacturing |
| CN114291193A (en) * | 2022-01-17 | 2022-04-08 | 东莞理工学院城市学院 | A dual-slider control system based on a two-wheeled balance car |
| CN114291193B (en) * | 2022-01-17 | 2023-01-03 | 东莞理工学院城市学院 | Double-slider control system based on two-wheeled balance car |
| WO2023230777A1 (en) * | 2022-05-30 | 2023-12-07 | 北京小米机器人技术有限公司 | Balancing vehicle, control method and apparatus for robot, electronic device, and storage medium |
| CN117246531A (en) * | 2023-10-31 | 2023-12-19 | 四川美术学院 | A human-computer interaction and control method and device for a manned lunar rover |
| CN117246531B (en) * | 2023-10-31 | 2024-03-29 | 四川美术学院 | A human-computer interaction and control method and device for a manned lunar rover |
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