CN105169687B - A kind of Segway Human Transporter and its driving method with pressure sensitive system - Google Patents

Abstract

The invention discloses an electric scooter with a pressure sensing system. Left and right pressure sensors, controllers and batteries inside the body, wherein the left and right sides of the scooter are respectively provided with: left and right drive wheels; left and right universal wheels; and left and right pressure sensors; The right pressure sensor is respectively connected to the controller, and the controller is connected to the battery and the left and right driving wheels; the driving method of the electric scooter with the pressure sensing system is also disclosed. The present invention is provided with two wheels at the front and rear, so that the user is easy to use; the start and brake of the electric scooter are realized by using the pressure induction, and the turning is controlled by the speed difference between the left and right driving wheels, which is simple and easy to realize.

Description

An electric scooter with a pressure sensing system and its driving method

technical field

The invention relates to the field of scooter, in particular to an electric scooter with a pressure sensing system and a driving method thereof.

Background technique

With the continuous improvement of people's living standards, people pay more and more attention to improving the quality of life. Fitness, leisure, and entertainment have become an indispensable part of people's lives. Various forms of fitness and entertainment equipment emerge in endlessly, among which scooters are currently popular products. One of them is loved by everyone because of its fitness, entertainment and challenging. The existing scooter has simple structure and single function, and the starting, braking, driving and steering cannot be automatically controlled. When moving forward, one foot of the person steps on the scooter, and the other foot kicks the ground backward. There is friction between the shoes and the ground, and the scooter slides forward by the reaction force of the friction between the shoes and the ground. In order to make the scooter continue to move forward, people need to constantly pedal the ground. Because the active force of gliding is the frictional force between shoes and the ground, gliding is more laborious, and people with poor physical strength can not do gliding for a long time. This scooter, which is constantly pedaling on the ground with one foot to move forward, cannot automatically control start, brake, drive, and turn. It is laborious and time-consuming, and cannot be used as a means of transportation.

In the Chinese patent application publication specification, 201020667793.X and 201120197140.4 both propose an electric scooter using pressure induction control for the defects of the scooter operated by human power, both of which are aimed at one wheel at the front and rear Scooters are equipped with only one pressure sensor. Their turning principle is to judge the turning by looking at the pressure change of the pressure sensor. The turning device is to make the whole wheel turn, similar to the turning method of a bicycle. There are certain defects in these two schemes. First of all, this kind of electric scooter with one wheel at the front and back is difficult for users to learn, and the learner must have a strong balance; secondly, this electric scooter is only used A pressure sensor controls the turn. When the user wants to turn, the user must deliberately control the left or right tilt of the foot center of gravity. This has certain requirements for the position range of the user's foot, and different people's feet are different in size, so The actual operation is not so flexible; moreover, because it installs the motor on the rotating device, it turns with the rotation of the rotating device, so when the human body is relatively heavy, it needs a lot of power to drive the rotating device, which consumes a lot of time. Great energy.

Contents of the invention

The object of the present invention is to overcome the defects of the prior art problems, and provide an electric scooter with a pressure sensing system and a driving method thereof.

According to one aspect of the present invention, there is provided an electric scooter with a pressure sensing system, comprising a scooter body, pedals, left and right driving wheels at the front end of the scooter and left and right universal wheels at the rear end, and It includes left and right pressure sensors, controllers and batteries arranged inside the car body, wherein the left and right sides of the scooter are respectively provided with: left and right driving wheels; left and right universal wheels; and left and right pressure Sensors; the left and right pressure sensors are respectively connected to the controller, and the controller is connected to the battery and the left and right driving wheels.

Preferably, the controller is configured with two drives, which respectively drive the left and right drive wheels, and control the output of the two drives in the following manner:

A: Obtain the absolute value of the left and right signal difference input to the controller through the left and right pressure sensors respectively and compare it with a preset value;

B: If the absolute value is greater than 0 and less than the preset value, the controller controls the driving speed of the left and right driving wheels to be equal, so that the scooter can go straight;

C: If the absolute value is greater than the preset value and the left signal is greater than the right signal, the controller drives the left drive wheel to decelerate, and the right drive wheel accelerates to realize left turning; if the absolute value is greater than the preset value and If the left signal is smaller than the right signal, the controller drives the left drive wheel to accelerate, and the right drive wheel to decelerate to realize right turn.

Preferably, the battery is configured in a pluggable form to facilitate portability and replacement.

Preferably, the vehicle body is also equipped with a gear switch, and different gear positions can be set by switching the gear switch to achieve different vehicle speeds.

Preferably, the gears are divided into gears 1, 2, 3 and 4, wherein gears 1, 2 and 3 are set to correspond to different vehicle speeds, and gear 4 is set as a weighing gear.

Preferably, the controller is configured with a wireless signal receiving device for receiving external control signals sent from the mobile device.

Preferably, the mobile device is a remote control or a mobile phone.

Preferably, the external control signal control includes driving, steering and gear switching of the scooter.

According to another aspect of the present invention, there is provided a driving method of an electric scooter with a pressure sensing system, which is used to drive the electric scooter according to claim 1, characterized in that it comprises the steps of:

S1: Initialize the settings so that the signal difference between the left and right of the scooter is zero;

S2: Obtain the absolute value of the left and right signal difference input to the controller through the left and right pressure sensors respectively, and compare it with a preset value;

S3: If the absolute value is greater than 0 and less than the preset value, the controller controls the driving speed of the left and right driving wheels to be equal, so that the scooter can go straight;

S4: If the absolute value is greater than the preset value and the left signal is greater than the right signal, the controller drives the left drive wheel to decelerate and the right drive wheel to accelerate to realize left turning; if the absolute value is greater than the preset value and If the left signal is smaller than the right signal, the controller drives the left drive wheel to accelerate, and the right drive wheel to decelerate to realize right turn.

Preferably, the step S1 can also be configured to implement a weighing function.

A beneficial effect of the present invention is:

Existing electric scooters have one wheel at the front and the rear, and it is difficult for users to learn, and the learner must have a strong balance. The present invention has two wheels respectively at the front and the rear, and the user is easy to use.

Another beneficial effect of the present invention is:

The existing electric scooter is a pressure sensor to control the turning. When the user wants to turn, he must deliberately control the left or right tilt of the foot center of gravity. This has certain requirements for the position range of the user's foot, and different people's feet The sizes are different, so the actual operation is not so flexible. And the present invention is a pressure sensor for each of the left and right feet, and the user only needs to shift the center of gravity to the left or right foot, which is easy to operate; in addition, the specific implementation method of the existing electric scooter turning is to install the motor on the rotating device On the other hand, turning is realized with the rotation of the rotating device, so when the human body is relatively heavy, a large force is required to drive the rotating device, which consumes a lot of energy. The present invention uses the rotational speed difference of two electric motors (one wheel turns fast and the other wheel turns slowly) to turn, which is easy to realize.

Description of drawings

Below in conjunction with accompanying drawing and example the present invention will be further described:

1a-1b are side views and front views of an electric scooter with a pressure sensing system according to a first embodiment of the present invention;

Fig. 2 is a schematic diagram of the operation of the electric scooter system with a pressure sensing system according to the second embodiment of the present invention.

detailed description

According to a first embodiment of the present invention, with reference to Figures 1a-1b, an electric scooter with a pressure sensing system is provided,

Including scooter body 1, pedals 2, left and right driving wheels 6 at the front end of the scooter and left and right universal wheels 7 at the rear end, as well as left and right pressure sensors 3 and a controller arranged inside the car body 4 and the battery 5, wherein the left and right sides of the scooter are respectively provided with: left and right drive wheels 6; left and right universal wheels 7; and left and right pressure sensors 3; left and right pressure sensors 3 are respectively connected To the controller 4 which is connected to the battery 5 and the left and right drive wheels 6 .

When a person steps on the pedal 2, the pressure sensor 3 installed under the pedal 2 will sense it, and it sends a signal to the controller 4, and the controller 4 is connected to the driving wheel 6, so that the driving wheel 6 rotates forward, thereby driving people walking. The battery 5 is connected to the controller 4 and the driving wheel 6 to provide energy for the system, and is configured in a pluggable form, which is convenient for portability and replacement.

Referring to FIG. 2 , there are two drives in the controller 4 to respectively drive the motors in the two drive wheels 6 , and the signal basis for the controller 4 to drive the motors is the signal output from the pressure sensor 3 . Because people's body weight is approximately the same on the left and right, the magnitudes of the signals sensed by the left and right pressure sensors 3 are also approximately the same. is SP), it is not considered to be a deliberate inclination of the human body. In this way, if the driver does not deliberately tilt his body center of gravity to which side, the scooter will go straight.

When the driver standing on the scooter wants to turn, he can deflect the center of gravity of his body to the side he wants to turn (that is, one foot is a little heavier and the other is a little lighter), then the left and right pressure sensors 3 Two different signals SL and SN are generated. These two different signals SL and SN are both input into the single-chip microcomputer, and then the two signals are converted and then subtracted, that is, SL-SN, and SL-SN=ST.

Then there is: when ST>0 and |ST|>SP, that is, SL>SN, then the single-chip microcomputer controls the left driving wheel to decelerate, and the right driving wheel to accelerate, so as to realize the left turn. And the bigger |ST| is, the faster it turns.

When ST<0 and |ST|>SP, that is, SL<SN, the microcontroller controls the left drive wheel to accelerate, and the right drive wheel to decelerate, so as to realize the right turn. And the larger the absolute value of ST, the faster the rotation.

When the human body stopped tilting the center of gravity, the scooter resumed going straight.

Referring to Fig. 1 a again, a gear switch 8 (corresponding to the car body button in Fig. 2 ) is installed on the scooter body for switching different vehicle speeds, and the gear positions are divided into 1, 2, and 3 And 4 gears, among which 1, 2, and 3 gears are set to correspond to different vehicle speeds, the 1st gear has the lowest speed, the 2nd gear is medium, the 3rd gear is the highest, and the 4th gear is set as a weighing gear. Sensor 3 can sense the pressure, so this electric scooter can also be used as an electronic scale.

During the running of the car, when the human body jumps off the car, the driving wheel 6 is automatically stopped and braked because the car senses that the pressure disappears.

In addition, the controller 4 is configured with a wireless signal receiving device for receiving external control signals sent from the mobile device. Mobile devices include remote controllers or mobile phone Bluetooth, etc., which directly control the driving, steering and gear switching of the scooter through external control signals. The working principle of the scooter is the same as that described above, so no further description is given here.

According to a second embodiment of the present invention, there is provided a method for driving an electric scooter with a pressure sensing system, comprising:

S1: Initialize the settings so that the signal difference between the left and right of the scooter is zero;

S2: Obtain the absolute value of the left and right signal difference input to the controller through the left and right pressure sensors respectively, and compare it with a preset value;

S3: If the absolute value is greater than 0 and less than the preset value, the controller controls the driving speed of the left and right driving wheels to be equal, so that the scooter can go straight;

S4: If the absolute value is greater than the preset value and the left signal is greater than the right signal, the controller drives the left drive wheel to decelerate and the right drive wheel to accelerate to realize left turning; if the absolute value is greater than the preset value and If the left signal is smaller than the right signal, the controller drives the left drive wheel to accelerate, and the right drive wheel to decelerate to realize right turn.

In addition, the step S1 can also be configured to implement a weighing function. Referring to Figure 1a, when the car is parked, switch the gear switch 8 to gear 4 (weighing gear), and then put the object (or person) to be weighed on the pedal, and the controller on the car can calculate the weight . Then it is sent to an external mobile device (mobile phone or other device) by wireless means for display.

The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the described embodiments, and those skilled in the art can also make various equivalent deformations or replacements without violating the spirit of the present invention. These equivalent modifications or replacements are all within the scope defined by the claims of the present application.

Unless a required step requires input generated by a preceding step, the specific order of steps described herein is for illustration only, and not limitation.

Claims (9)

1. a kind of Segway Human Transporter with pressure sensitive system, it is characterised in that including scooter car body, pedal, slide plate The left and right driving wheel at Chinese herbaceous peony end and the left and right universal wheel of rear end, in addition to be arranged on vehicle body left and right pressure sensor, Controller and battery, wherein being respectively arranged with left and right sides of the scooter：Left and right driving wheel；Left and right universal wheel； And left and right pressure sensor；Left and right pressure sensor is respectively connecting to controller, and controller is connected to battery and left and right Driving wheel, controller are configured with two-way driving, by motor of the drive installation in left and right driving wheel respectively, respectively driving it is left, Right driving wheel, the controller control two-way driving output in the following manner：

A：Obtain the absolute value of the left and right signal difference by left and right pressure sensor input controller respectively and preset with one Value compares；

B：If the absolute value is more than 0 and is less than the preset value, controller control driving left and right driving wheel speed is equal, Realize that scooter is kept straight on；

C：If the absolute value is more than the preset value and left signal is more than right signal, controller driving left driving wheel slows down, Right driving wheel accelerates, and realizes；If the absolute value is more than the preset value and left signal is less than right signal, controller drives Dynamic left driving wheel accelerates, and right driving wheel is slowed down, and realizes and turns right.

A kind of 2. Segway Human Transporter with pressure sensitive system according to claim 1, it is characterised in that the battery Plug form is configured to, in order to carry and change.

A kind of 3. Segway Human Transporter with pressure sensitive system according to claim 1, it is characterised in that the car body A driving switch is also configured with, different gears is set by switching the driving switch, to realize different speeds.

A kind of 4. Segway Human Transporter with pressure sensitive system according to claim 3, it is characterised in that the gear It is divided and is arranged to 1,2,3 and 4 grade, wherein 1,2,3 grade is arranged to corresponding different speed, 4 grades is arranged to shelves of weighing.

A kind of 5. Segway Human Transporter with pressure sensitive system according to claim 1, it is characterised in that the control Device is configured with wireless signal receiver, to receive the external control signal sent from mobile device.

A kind of 6. Segway Human Transporter with pressure sensitive system according to claim 5, it is characterised in that the movement Equipment is remote control or mobile phone.

A kind of 7. Segway Human Transporter with pressure sensitive system according to claim 5, it is characterised in that the outside Control signal controls the driving, steering and gear switch for including scooter.

8. a kind of driving method of the Segway Human Transporter with pressure sensitive system, electronic described in claim 1 for driving Scooter, it is characterised in that including step：

S1：Initialize installation, so that scooter left and right signal difference zero；

S2：Obtain the absolute value of the left and right signal difference by left and right pressure sensor input controller respectively and preset with one Value compares；

S3：If the absolute value is more than 0 and is less than the preset value, controller control driving left and right driving wheel speed is equal, Realize that scooter is kept straight on；

S4：If the absolute value is more than the preset value and left signal is more than right signal, controller driving left driving wheel slows down, Right driving wheel accelerates, and realizes；If the absolute value is more than the preset value and left signal is less than right signal, controller drives Dynamic left driving wheel accelerates, and right driving wheel is slowed down, and realizes and turns right.

9. a kind of driving method of Segway Human Transporter with pressure sensitive system according to claim 8, its feature exist In the step S1 can also configure for realizing function of weighing.