CN110641593A - Foot-controlled electric balance car - Google Patents
Foot-controlled electric balance car Download PDFInfo
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- 230000004927 fusion Effects 0.000 claims description 11
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- 230000005484 gravity Effects 0.000 abstract description 8
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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
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- 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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
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- 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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
-
- 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
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/08—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips foot actuated
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- 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
- B60L2200/16—Single-axle vehicles
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- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
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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)
- Power Engineering (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention relates to the field of turning calculation of a two-wheeled self-balancing vehicle and discloses a foot-controlled electric balancing vehicle, which comprises the following steps: the pressure data born by different parts of the pedal position of the balance car is detected and output, the balance car is controlled to turn by depending on pressure difference information generated by different positions of the pedal when people naturally turn, the potential safety hazards of misjudgment of turning and straight going, misjudgment of turning amplitude and the like under various actual conditions (such as random swinging of the gravity center, single foot leaving of the balance car and the like) are effectively solved, meanwhile, the balance car cannot swing when the user gets on the balance car with the single foot, and the safety and the stability of the balance car when the user gets on the balance car are enhanced.
Description
Technical Field
The invention relates to the field of balance cars, in particular to a foot-controlled electric balance car.
Background
The two-wheel balance vehicle is a typical unbalanced, nonlinear and under-driven system, and the turning control modes of the two-wheel balance vehicle at present mainly include three types:
the first is to detect the change of human body posture through a gyroscope device, and the turning operation of the balance car is realized through a structure that a gravity center rotating shaft rotates left and right, but the structure has several disadvantages:
1. the gyroscope device is greatly influenced by noise and temperature, a relatively complex algorithm is needed to ensure the reliability of the system, the cost of a control module is increased, and the operation difficulty of a user is increased due to the fact that the gyroscope device needs to be calibrated at regular time;
2. when the bicycle is driven straight, the bicycle swings left and right, the driving speed cannot be increased, and the riding difficulty is high;
3. the structure has high turning sensitivity, so that the left part and the right part rotate relatively when getting on the bus and having a shifted gravity center or having a single foot, thereby causing difficulty in getting on the bus and possible wrong turning.
The second is to realize the turning control by the rotation of the rotating shaft, and the structure realizes the turning by controlling the rotation of the torsion mechanism, but the structure has the characteristics of complex structure and difficult operation.
The third is centre of gravity turn, in the in-service use in-process, relies on the centre of gravity principle to realize turning, causes easily that the turn judges the mistake, has great security hidden danger.
Disclosure of Invention
The invention aims to provide a method for identifying turning of an electric balance vehicle controlled by foot control pressure change, which effectively solves the application problems of misjudgment of turning and straight going, misjudgment of turning amplitude and the like under various actual conditions (such as random swing of gravity center, single foot leaving of the balance vehicle and the like).
The technical scheme adopted by the invention for solving the technical problems is as follows: a foot-controlled electric balance car comprises a car body, a first wheel, a second wheel, a first driving motor connected with the first wheel, a second driving motor connected with the second wheel, four pressure detection modules, a control mechanism, a power supply module for supplying power to the control mechanism, a first pedal, a second pedal and a cover plate; the first wheel is mounted on one side of the vehicle body, the second wheel is mounted on the other side of the vehicle body, the four pressure detection modules are mounted on the upper surface of the vehicle body, the control mechanism and the power supply module are mounted on the lower portion of the vehicle body, the first pedal and the second pedal are mounted on the upper surface of the vehicle body, so that the four pressure detection modules are located between the vehicle body and the pedals, and the cover plate is mounted on the lower surface of the vehicle body, so that the control mechanism and the power supply module are located between the vehicle body and the cover plate;
the four pressure detection modules comprise a first pressure detection module and a second pressure detection module which are arranged in an area on one side of a vehicle body and are respectively marked as X1 and X2, and a third pressure detection module and a fourth pressure detection module which are arranged in an area on the other side of the vehicle body and are respectively marked as X3 and X4, and the four pressure detection modules form a four-quadrant pressure sensing system and are used for sensing pressure difference information generated by artificial foot control on a pedal; the control mechanism is connected with the pressure detection modules, controls the first wheel and the second wheel to move according to information sensed by the four pressure detection modules, and specifically comprises the following control steps:
the method comprises the following steps: collecting pressure values of X1, X2, X3 and X4 by using a turning control module, and respectively recording the pressure values as (Xn _ Out), wherein n is a natural number;
step two: storing the pressure initial value of each pressure detection module into a register of the control module;
step three: recording the pressure value of each pressure detection module in real time, subtracting the initial value of the corresponding pressure value, and storing the pressure value difference value into a register of the control module;
step four: calculating to obtain a fusion value of the pressure difference value of the area at one side and the pressure difference value of the area at the other side according to the relation among the pressure value difference values;
step five: and calculating whether the vehicle turns and the turning amplitude value according to the fusion value of the pressure difference value of the area at one side and the pressure difference value of the area at the other side.
Further, the method comprises the following steps: the method for judging whether the vehicle turns in the step five comprises the following steps: further comprises a one-side trigger threshold judgment and a another-side trigger threshold judgment, specifically,
Achufa＝(DetailX1+DetailX2)/(DetailX3+DetailX4)；
Bchufa＝(DetailX3+DetailX4)/(DetailX1+DetailX2)；
when the sum of the pressure values of the four pressure detection modules (DetailX1+ DetailX2+ DetailX3+ DetailX4) is smaller than a first preset value or when the trigger value (AChufa) on one side is larger than a second preset value or the trigger value (BChufa) on the other side is larger than the second preset value, the balance car is determined not to be standing on the balance car, and the balance car is controlled not to turn.
Further, the method comprises the following steps: in the second step, the initial pressure value is set to (Xn _ offset), n is a natural number, that is:
X1_offset＝X1_Out；
X2_offset＝X2_Out；
X3_offset＝X3_Out；
X4_offset＝X4_Out。
further, the method comprises the following steps: in the third step, the initial pressure value is (detailXn), n is a natural number from 1 to 8, that is:
DetailX1＝X1_Out-X1_offset；
DetailX2＝X2_Out-X2_offset；
DetailX3＝X3_Out-X3_offset；
DetailX4＝X4_Out-X4_offset。
further, the method comprises the following steps: setting the fusion value of the left pressure difference value as Z (x) and the fusion value of the right pressure difference value as Y (x); the above-mentioned
Z(x)＝DetailX1-DetailX2；
Y(x)＝DetailX3-DetailX4；
A turning determination parameter Delta ═ (z (x) -y (x));
condition A, the sum of the four pressure sense module values (X1_ Out + X2_ Out + X3_ Out + X4_ Out) is greater than a first predetermined value;
a condition B when the one-side trigger value (AChufa) and the other-side trigger value (BChufa) are simultaneously smaller than a third predetermined value;
the condition C is that Delta is not equal to 0;
when the condition A, the condition B and the condition C are simultaneously met, the balance car is controlled to turn, when Delta is greater than 0, the balance car turns to one side, when Delta is less than 0, the balance car turns to the other side, and the turning speed is controlled by the Delta;
and when Delta is 0, the balance car is controlled not to rotate.
Further, the method comprises the following steps: each pressure detection module includes one or more pressure sensors.
The invention has the beneficial effects that: aiming at the condition that the gyroscope cannot be used in the existing balance car structure, the invention realizes the control of turning and driving by the pressure difference information generated by artificial foot control by collecting the pressure difference information generated by artificial foot control and carrying out algorithm fusion on the collected values, thereby effectively solving the potential safety hazards of misjudgment of turning and straight going, misjudgment of turning amplitude and the like under various actual conditions (such as random swing of the gravity center, single foot leaving the balance car and the like), simultaneously realizing that the balance car cannot swing when the single foot gets on the car, and enhancing the safety and stability when the car gets on the car.
Drawings
Fig. 1 is a pressure sensor mounting layout.
Fig. 2 is an electrical connection schematic of the present invention.
Fig. 3 is a schematic structural diagram of the present invention.
Labeled as: the vehicle comprises a vehicle body 1, a first driving motor 2, a second driving motor 3, a first wheel 4, a second wheel 5, a first pedal 6, a second pedal 7, a control mechanism 8, a power supply module 9 and a cover plate 10.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 to 3, the foot-controlled electric balance car includes a car body 1, a first wheel 4, a second wheel 5, a first driving motor 2 connected to the first wheel 4, a second driving motor 3 connected to the second wheel 5, four pressure detection modules, a control mechanism 8, a power supply module 9, a first foot pedal 6, a second foot pedal 7 and a cover plate 10; the first wheel 4 is mounted on one side of the vehicle body 1, the second wheel 5 is mounted on the other side of the vehicle body 1, the four pressure detection modules are mounted on the upper surface of the vehicle body 1, the control mechanism 9 and the power supply module 8 are mounted on the lower portion of the vehicle body 1, the first pedal 6 and the second pedal 7 are mounted on the upper surface of the vehicle body 1, the four pressure detection modules are located between the vehicle body and the pedals, the cover plate 10 is mounted on the lower surface of the vehicle body 1, the control mechanism 8 and the power supply module 9 are located between the vehicle body 1 and the cover plate 10, the four pressure detection modules comprise a first pressure detection module and a second pressure detection module which are mounted in an area on one side of the vehicle body 1 and respectively marked as X1 and X2, and a third pressure detection module and a fourth pressure detection module and respectively marked as X3 and X4, the four pressure detection modules form a four-quadrant pressure sensing system and are used for sensing artificial Pressure difference information of (a); the control mechanism is connected with the pressure detection modules, the control mechanism controls the movement of the wheels according to information sensed by the four pressure detection modules, each pressure detection module used in the application is a resistance strain gauge, the type number of the resistance strain gauge is ZYF1000-1.9GB-BL6(23) N6-C, other pressure detection modules capable of achieving the same pressure detection function can be used, and the control mechanism can be STM32F303RBT6, AT32F413RBT6 or other control mechanisms with the same function;
the specific control steps are as follows:
the method comprises the following steps: pressure values of X1, X2, X3 and X4 are collected by a turning control module and are respectively marked as (Xn _ Out), and n is a natural number, namely X1_ Out, X2_ Out, X3_ Out and X4_ Out.
The pressure initial value of each pressure detection module is stored in a register of the control module, and the pressure can be a value detected by the pressure detection module when the user does not stand or a value set artificially;
specifically, the initial pressure value is (Xn _ offset), n is a natural number, that is:
X1_offset＝X1_Out；
X2_offset＝X2_Out；
X3_offset＝X3_Out；
X4_offset＝X4_Out。
step three: recording the pressure value of each pressure sensor in real time, filtering out a noise value, subtracting an initial value of a corresponding pressure value, and storing a pressure value difference value into a register of a control mechanism;
specifically, the initial pressure value is (DetailXn), n is a natural number, that is:
DetailX1＝X1_Out-X1_offset；
DetailX2＝X2_Out-X2_offset；
DetailX3＝X3_Out-X3_offset；
DetailX4＝X4_Out-X4_offset。
step four: calculating to obtain a fusion value of the regional pressure difference on one side and the regional pressure difference on the other side according to the difference value between the pressure values;
specifically, a fused value of a pressure difference value of one side is set as Z (x), and a fused value of a pressure difference value of the other side is set as Y (x); the above-mentioned
Z(x)＝DetailX1-DetailX2；
Y(x)＝DetailX3-DetailX4。
Step five: obtaining whether a turn and a turn amplitude value are obtained according to the pressure difference value of one side and the pressure difference value of the other side;
specifically, the turning determination parameter (Delta) is (z (x) -y (x));
condition A, the sum of the four pressure sense module values (X1_ Out + X2_ Out + X3_ Out + X4_ Out) is greater than a first predetermined value;
a condition B when the one-side trigger value (AChufa) and the other-side trigger value (BChufa) are simultaneously smaller than a third predetermined value;
the condition C is that Delta is not equal to 0;
when the condition A, the condition B and the condition C are simultaneously met, the balance car is controlled to turn, when Delta is greater than 0, the balance car turns to one side, when Delta is less than 0, the balance car turns to the other side, and the turning speed is controlled by the Delta;
and when Delta is 0, the balance car is controlled not to rotate.
Specifically, the (Delta) ═ z (z), (x) -y (x) × (x) turning speed parameter (K);
the turning speed parameter (K) can be taken from 1 ten thousandth to one hundred thousandth according to specific conditions, and the turning speed parameter (K) reduces the variation of the pressure value, so that the turning judgment parameter (Delta) is reduced to be between positive and negative one, unit conversion of the control quantity is realized, and the turning judgment parameter (Delta) is standardized.
The first predetermined value and the third predetermined value may be set according to actual conditions, such as 9, 10, 11, and the like.
The method for judging whether the vehicle turns in the step five comprises the following steps: further comprises a one-side trigger threshold judgment and a another-side trigger threshold judgment, specifically,
Achufa＝(DetailX1+DetailX2)/(DetailX3+DetailX4)；
Bchufa＝(DetailX3+DetailX4)/(DetailX1+DetailX2)；
when the sum of the pressure values of the four pressure detection modules (DetailX1+ DetailX2+ DetailX3+ DetailX4) is smaller than a first preset value or when the trigger value (AChufa) on one side is larger than a second preset value or the trigger value (BChufa) on the other side is larger than the second preset value, the balance vehicle is controlled not to turn when no legs of a person stand on the balance vehicle, and the first preset value and the second preset value can be set according to actual conditions, such as 9, 10, 11 and the like.
According to the structure, by acquiring pressure change and carrying out algorithm fusion on the acquired values, the two driving motors are controlled by pressure difference information generated by artificial foot control to output driving forces with different sizes to the two wheels, so that the two wheels have a certain speed difference, the balance car can turn, potential safety hazards such as misjudgment of turning and straight going, misjudgment of turning amplitude and the like under various actual conditions (such as random swinging of the center of gravity, single foot leaving the balance car and the like) are effectively solved, meanwhile, the balance car cannot swing when the single foot gets on the car, and the safety and the stability when the balance car gets on the car are enhanced;
the above-mentioned left and right positional relationship of the first wheel 4, the second wheel 5, the first pedal 6, and the second pedal 7 is determined according to the user's standing position, when the user gets on the vehicle from one side of the balance vehicle, the first wheel 4 and the first pedal 6 are on the left side with respect to the user, the second wheel 5 and the second pedal 7 are on the right side with respect to the user, when the user gets on the vehicle from the other side of the balance vehicle, the first wheel 4 and the first pedal 6 are on the right side with respect to the user, and the second wheel 5 and the second pedal 7 are on the left side with respect to the user, so that the user can get on the vehicle from any direction without distinguishing the front and rear direction when using the balance vehicle.
On the basis of the above, each pressure detection module comprises one or more pressure sensors, and when a plurality of pressure sensors are used, the accuracy of turn recognition can be further enhanced.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a foot control electrodynamic balance car which characterized in that: the device comprises a vehicle body (1), a first wheel (4), a second wheel (5), a first driving motor (2) connected with the first wheel (4), a second driving motor (3) connected with the second wheel (5), four pressure detection modules, a control mechanism (8), a power supply module (9) for supplying power to the control mechanism, a first pedal (6), a second pedal (7) and a cover plate (10); the first wheel (4) is installed on one side of the vehicle body (1), the second wheel (5) is installed on the other side of the vehicle body (1), the four pressure detection modules are installed on the upper surface of the vehicle body (1), the control mechanism (9) and the power supply module (9) are installed on the lower portion of the vehicle body (1), the first pedal (6) and the second pedal (7) are installed on the upper surface of the vehicle body (1), so that the four pressure detection modules are located between the vehicle body and the first pedal and the second pedal, and the cover plate (10) is installed on the lower surface of the vehicle body (1), so that the control mechanism (8) and the power supply module (9) are located between the vehicle body (1) and the cover plate (10);
the four pressure detection modules comprise a first pressure detection module and a second pressure detection module which are arranged in one side area of a vehicle body (1) and are respectively marked as X1 and X2, and a third pressure detection module and a fourth pressure detection module which are arranged in the other side area of the vehicle body (1) and are respectively marked as X3 and X4, wherein the four pressure detection modules form a four-quadrant pressure sensing system and are used for sensing pressure difference information generated by artificial foot control on a pedal; the control mechanism (9) is connected with the pressure detection modules, the control mechanism (9) controls the first wheel (4) and the second wheel (5) to move according to information sensed by the four pressure detection modules, and the specific control steps are as follows:
the method comprises the following steps: collecting pressure values of X1, X2, X3 and X4 by using a turning control module, and respectively recording the pressure values as (Xn _ Out), wherein n is a natural number;
step two: storing the pressure initial value of each pressure detection module into a register of the control module;
step three: recording the pressure value of each pressure detection module in real time, subtracting the initial value of the corresponding pressure value, and storing the pressure value difference value into a register of the control module;
step four: calculating to obtain a fusion value of the pressure difference value of the area at one side and the pressure difference value of the area at the other side according to the relation among the pressure value difference values;
step five: and calculating whether the vehicle turns and the turning amplitude value according to the fusion value of the pressure difference value of the area at one side and the pressure difference value of the area at the other side.
2. The foot-controlled electric balance car of claim 1, characterized in that: the method for judging whether the vehicle turns in the step five comprises the following steps: and also comprises a left trigger threshold judgment and a right trigger threshold judgment, specifically,
Achufa＝(DetailX1+DetailX2)/(DetailX3+DetailX4)；
Bchufa＝(DetailX3+DetailX4)/(DetailX1+DetailX2)；
when the sum of the pressure values of the four pressure detection modules (DetailX1+ DetailX2+ DetailX3+ DetailX4) is smaller than a first preset value or when the trigger value (AChufa) on one side is larger than a second preset value or the trigger value (BChufa) on the other side is larger than the second preset value, the balance car is determined not to be standing on the balance car, and the balance car is controlled not to turn.
3. The torque detection based electrodynamic balance car of claim 1, wherein: in the second step, the initial pressure value is set to (Xn _ offset), n is a natural number, that is:
X1_offset＝X1_Out；
X2_offset＝X2_Out；
X3_offset＝X3_Out；
X4_offset＝X4_Out。
4. the foot-controlled electric balance car of claim 1, characterized in that: in the third step, the initial pressure value is (detailXn), n is a natural number from 1 to 8, that is:
DetailX1＝X1_Out-X1_offset；
DetailX2＝X2_Out-X2_offset；
DetailX3＝X3_Out-X3_offset；
DetailX4＝X4_Out-X4_offset。
5. the foot-controlled electric balance car of claim 1, characterized in that: setting the fusion value of the left pressure difference value as Z (x) and the fusion value of the right pressure difference value as Y (x); the above-mentioned
Z(x)＝DetailX1-DetailX2；
Y(x)＝DetailX3-DetailX4；
Setting a turning judgment parameter (Delta) (Z (X) -Y (X));
condition A, the sum of the four pressure sense module values (X1_ Out + X2_ Out + X3_ Out + X4_ Out) is greater than a first predetermined value;
a condition B when the one-side trigger value (AChufa) and the other-side trigger value (BChufa) are simultaneously smaller than a third predetermined value;
the condition C is that Delta is not equal to 0;
when the condition A, the condition B and the condition C are simultaneously met, the balance car is controlled to turn, when Delta is greater than 0, the balance car turns to one side, when Delta is less than 0, the balance car turns to the other side, and the turning speed is controlled by the Delta;
and when Delta is 0, the balance car is controlled not to rotate.
6. The foot-controlled electric balance car of claim 1, characterized in that: each pressure detection module includes one or more pressure sensors.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910814175.9A CN110641593A (en) | 2019-08-30 | 2019-08-30 | Foot-controlled electric balance car |
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|---|---|---|---|
| CN201910814175.9A CN110641593A (en) | 2019-08-30 | 2019-08-30 | Foot-controlled electric balance car |
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| CN201910814175.9A Pending CN110641593A (en) | 2019-08-30 | 2019-08-30 | Foot-controlled electric balance car |
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| CN108438128A (en) * | 2018-02-09 | 2018-08-24 | 纳恩博（北京）科技有限公司 | The vehicles and its control method, control device and storage medium |
| US10144478B2 (en) * | 2016-11-25 | 2018-12-04 | Hangzhou Chic Intelligent Technology Co., Ltd. | Pressure control steering |
| CN208216900U (en) * | 2018-05-21 | 2018-12-11 | 浙江阿尔郎科技有限公司 | balance car |
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| US20180037293A1 (en) * | 2015-08-04 | 2018-02-08 | Shane Chen | Two-wheel self-balancing vehicle with platform borne sensor control |
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Application publication date: 20200103 |