CN202201103U - Electric two-wheeled balance car - Google Patents
Electric two-wheeled balance car Download PDFInfo
- Publication number
- CN202201103U CN202201103U CN2011202913196U CN201120291319U CN202201103U CN 202201103 U CN202201103 U CN 202201103U CN 2011202913196 U CN2011202913196 U CN 2011202913196U CN 201120291319 U CN201120291319 U CN 201120291319U CN 202201103 U CN202201103 U CN 202201103U
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- main shaft
- angular velocity
- sensor
- velocity sensor
- solid angular
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Abstract
The utility model relates to an electronic two-wheeled balance car, including the main shaft, the main shaft both ends are equipped with right drive wheel and left drive wheel, establish footboard and battery on the main shaft to and steering handle and controlling means, controlling means include main top controller, steering control circuit and brushless motor drive circuit, main top controller include central processing computer MCU, a set of vertical direction's solid angular velocity sensor, a set of horizontal direction's solid angular velocity sensor, a triaxial acceleration sensor and a triaxial geomagnetic field sensor. The device has the characteristics of light weight, flexible operation and stable running, and has small floor area and high efficiency.
Description
Technical field
The utility model relates to a kind of electronic two-wheeled balance truck.
Background technology
The developing direction of elec. vehicle is energy-saving and environmental protection, and the conventional electric-powered vehicle adopts the basic structure of internal-combustion engines vehicle, only changes driving arrangement into motor and battery pack; This structure increases the weight of electronlmobil, and cost is too high, from the angle of transformation of energy; The reduction of its expenditure of energy is also not obvious; Though power-actuated efficient is higher, consider the factors such as charge discharge efficiency of battery, the energy-conservation gain of conventional electric vehicle is limited.
The utility model content
Its purpose of the utility model just is to provide a kind of electronic two-wheeled balance truck, have in light weight, manoeuvrable with go the characteristics of balance, and floor area is little, efficient is high.
The technical scheme that realizes above-mentioned purpose and take comprises main shaft, and the main shaft two ends are provided with right drive wheel and left driving wheel; Establish pedal and battery on the main shaft; And steering tiller and control setup, described control setup comprises the main gyro controller, steering controling circuit and driving circuit of brushless electric machine; Described main gyro controller comprises central processing computer MCU; The solid angular velocity sensor of one group of vertical direction, the solid angular velocity sensor of one group of horizontal direction, three-axis acceleration sensor and one three is magnetic field sensor axially.
Compared with prior art, the beneficial effect of the utility model is,
The structure design of " gyro automatically controlled increases steady " has saved necessary support of conventional electric bicycle or motor bike and steering hardware owing to adopted, thus have in light weight, manoeuvrable with go the pulsation-free characteristics, and floor area is little, efficient is high.
Description of drawings
Below in conjunction with accompanying drawing the utility model is done further to detail.
Fig. 1 is this apparatus structure principle schematic.
Fig. 2 is this device running condition scheme drawing.
The specific embodiment
Comprise main shaft 3; Main shaft 3 two ends are provided with right drive wheel 1 and left driving wheel 2, establish pedal 5 and battery 7 on the main shaft 3, and steering tiller 4 and control setup; Described control setup comprises main gyro controller 6; Steering controling circuit and driving circuit of brushless electric machine 8, described main gyro controller 6 comprises central processing computer MCU, the solid angular velocity sensor of one group of vertical direction; The solid angular velocity sensor of one group of horizontal direction, three-axis acceleration sensor and one three is magnetic field sensor axially.
This device is a kind of coaxial parallel two-wheel electric dolly, through electron steering this car need not can be kept balance and advance by manpower automatically, and the occupant stand on the pedal at main shaft position when going; As shown in Figure 2; Occupant's health that initiatively turns forward, dolly recedes and can brake or retreat promptly to overtake; The grasp balance of need not diverting attention, both hands can freely move.Two were overstock the wheel that carries brushless hub electric motor about this car adopted, and by controller control two-wheeled individual drive, with battery the energy were provided, and adopted solid micromechanical gyro sensor and geomagnetic field sensors to come the senses vehicle attitude.
Control setup comprises main gyro controller 6; The steering tiller circuit and with driving circuit of brushless electric machine 8; The solid angular velocity sensor of central processing computer MCU, one group of vertical direction, the solid angular velocity sensor of one group of horizontal direction are arranged on the main gyro controller 6, and three-axis acceleration sensor and one three is magnetic field sensor axially.When body inclination; The angular velocity sensor of vertical direction can send an angular velocity signal; Central processing computer MCU receives this signal; A rectification of passing ratio integral operation generation control signal sends to the brushless motor actuator makes motor and wheel produce reciprocal correction torque, makes vehicle body restore balance, and this process is accomplished in 20ms.In the process of advancing, because road condition change, travel direction can produce deviation; When the angular velocity sensor of horizontal direction detects the travel direction variation; Output angle deviation signal, computing machine calculate correcting signal control brushless motor actuator in view of the above, thereby make the differential correction of left and right wheels travel direction; Geomagnetic field sensors detects the earth magnetic field flux component of direction in space, obtains the angle information of three-dimensional, and this angle information precision can reach 5 degree, and this angle information precision is not enough to take exercises control and still has long-time stability; Because the solid angular velocity sensor can be because temperature traverse produces intrinsic " drift " phenomenon; Make that the accumulative total angle information is inaccurate; Therefore MCU need obtain absolute direction information through geomagnetic field sensors, with " drift " of correction angle speed sensor, avoids accumulated error; The three-axis acceleration sensor inspection vehicle is in the acceleration/accel of all directions, with avoid tilting tempestuously, rotation or acceleration and deceleration motion, just in case one-sided wheel get out of hand or lose angle signal, this mechanism is used to make vehicle body to stop reposefully.Wherein the direction of acceleration due to gravity also is used for the cumulative angle error of correction angle speed sensor.Steering tiller is a flexible handle, and the occupant is the direction swing handle to the left and right, and governor circuit detects it through the Hall element in the handle and rotates the acquisition turn sign, thereby the differential speech of control left and right wheels is a travel direction.
Claims (1)
1. an electronic two-wheeled balance truck comprises main shaft (3), and main shaft (3) two ends are provided with right drive wheel (1) and left driving wheel (2); Establish pedal (5) and battery (7) on the main shaft (3), and steering tiller (4) and control setup, it is characterized in that; Described control setup comprises main gyro controller (6); Steering controling circuit and driving circuit of brushless electric machine (8), described main gyro controller (6) comprises central processing computer MCU, the solid angular velocity sensor of one group of vertical direction; The solid angular velocity sensor of one group of horizontal direction, three-axis acceleration sensor and one three is magnetic field sensor axially.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202913196U CN202201103U (en) | 2011-08-11 | 2011-08-11 | Electric two-wheeled balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202913196U CN202201103U (en) | 2011-08-11 | 2011-08-11 | Electric two-wheeled balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202201103U true CN202201103U (en) | 2012-04-25 |
Family
ID=45965239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202913196U Expired - Fee Related CN202201103U (en) | 2011-08-11 | 2011-08-11 | Electric two-wheeled balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202201103U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104163222A (en) * | 2014-07-25 | 2014-11-26 | 祝珍海 | Steering control method for self-balancing two-wheeled vehicle |
| CN104724233A (en) * | 2015-01-28 | 2015-06-24 | 西南大学 | Directly-driven two-wheeled self-balancing electric vehicle |
| CN104765942A (en) * | 2014-01-02 | 2015-07-08 | 深圳乐行天下科技有限公司 | Speed fusion method of two-wheeled balance car |
| WO2015188599A1 (en) * | 2014-06-13 | 2015-12-17 | 杭州骑客智能科技有限公司 | Electric balance scooter |
| CN106143718A (en) * | 2016-06-30 | 2016-11-23 | 华北理工大学 | Based on Hall encoder resistance type two-wheeled steering device of balanced car |
| CN106696629A (en) * | 2015-11-12 | 2017-05-24 | 昆山罗伯斯特机器人科技有限公司 | Dynamic suspension self-balancing frame capable of independently driving a plurality of wheels |
| USRE46964E1 (en) | 2012-02-12 | 2018-07-24 | Solowheel Inc. | Two-wheel self-balancing vehicle with independently movable foot placement sections |
| US10252724B2 (en) | 2015-09-24 | 2019-04-09 | P&N Phc, Llc | Portable two-wheeled self-balancing personal transport vehicle |
| USD941948S1 (en) | 2016-07-20 | 2022-01-25 | Razor Usa Llc | Two wheeled board |
| USD958278S1 (en) | 2016-07-20 | 2022-07-19 | Razor Usa Llc | Two wheeled board |
| USD960043S1 (en) | 2016-07-20 | 2022-08-09 | Razor Usa Llc | Two wheeled board |
| US11654995B2 (en) | 2017-12-22 | 2023-05-23 | Razor Usa Llc | Electric balance vehicles |
| US12227257B2 (en) | 2017-04-01 | 2025-02-18 | Razor Usa Llc | Electric balance vehicles |
-
2011
- 2011-08-11 CN CN2011202913196U patent/CN202201103U/en not_active Expired - Fee Related
Cited By (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| USRE46964E1 (en) | 2012-02-12 | 2018-07-24 | Solowheel Inc. | Two-wheel self-balancing vehicle with independently movable foot placement sections |
| USRE49608E1 (en) | 2012-02-12 | 2023-08-15 | Solowheel Inc. | Two-wheel self-balancing vehicle with independently movable foot placement sections |
| CN104765942A (en) * | 2014-01-02 | 2015-07-08 | 深圳乐行天下科技有限公司 | Speed fusion method of two-wheeled balance car |
| US11459053B2 (en) | 2014-06-13 | 2022-10-04 | Hangzhou Chic Intelligent Technology Co., Ltd. | Electric vehicle |
| US10850788B2 (en) | 2014-06-13 | 2020-12-01 | Hangzhou Chic Intelligent Technology Co., Ltd. | Electric vehicle |
| US9452802B2 (en) | 2014-06-13 | 2016-09-27 | Hangzhou Chic Intelligent Technology Co., Ltd | Electric balance vehicle |
| US11731725B2 (en) | 2014-06-13 | 2023-08-22 | Hangzhou Chic Intelligent Technology Co., Ltd. | Electric vehicle |
| RU2619683C1 (en) * | 2014-06-13 | 2017-05-17 | Ханчжоу Шик Интеллиджэнт Текнолоджи Ко., Лтд | Electric balanced vehicle |
| US11173980B2 (en) | 2014-06-13 | 2021-11-16 | Hangzhou Chic Intelligent Technology Co., Ltd. | Electric vehicle |
| WO2015188599A1 (en) * | 2014-06-13 | 2015-12-17 | 杭州骑客智能科技有限公司 | Electric balance scooter |
| US11312444B2 (en) | 2014-06-13 | 2022-04-26 | Hangzhou Chic Intelligent Technology Co., Ltd. | Electric vehicle |
| US10988200B2 (en) | 2014-06-13 | 2021-04-27 | Hangzhou Chic Intelligent Technology Co., Ltd. | Electric vehicle |
| US10336392B2 (en) | 2014-06-13 | 2019-07-02 | Hangzhou Chic Intelligent Technology Co., Ltd | Electric vehicle |
| US10597107B2 (en) | 2014-06-13 | 2020-03-24 | Hangzhou Chic Intelligent Technology Co., Ltd. | Electric vehicle |
| US10696347B2 (en) | 2014-06-13 | 2020-06-30 | Hangzhou Chic Intelligent Technology Co., Ltd. | Electric vehicle |
| US10696348B2 (en) | 2014-06-13 | 2020-06-30 | Hangzhou Chic Intelligent Technology Co., Ltd. | Electric vehicle |
| US11180213B2 (en) | 2014-06-13 | 2021-11-23 | Hangzhou Chic Intelligent Technology Co., Ltd. | Electric vehicle |
| US9376155B2 (en) | 2014-06-13 | 2016-06-28 | Hangzhou Chic Intelligent Technology Co., Ltd | Electric balance vehicle |
| CN104163222A (en) * | 2014-07-25 | 2014-11-26 | 祝珍海 | Steering control method for self-balancing two-wheeled vehicle |
| CN104724233A (en) * | 2015-01-28 | 2015-06-24 | 西南大学 | Directly-driven two-wheeled self-balancing electric vehicle |
| US10252724B2 (en) | 2015-09-24 | 2019-04-09 | P&N Phc, Llc | Portable two-wheeled self-balancing personal transport vehicle |
| CN106696629A (en) * | 2015-11-12 | 2017-05-24 | 昆山罗伯斯特机器人科技有限公司 | Dynamic suspension self-balancing frame capable of independently driving a plurality of wheels |
| CN106143718B (en) * | 2016-06-30 | 2019-04-30 | 华北理工大学 | Steering device for two-wheeled balance car based on Hall encoder resistance |
| CN106143718A (en) * | 2016-06-30 | 2016-11-23 | 华北理工大学 | Based on Hall encoder resistance type two-wheeled steering device of balanced car |
| USD960043S1 (en) | 2016-07-20 | 2022-08-09 | Razor Usa Llc | Two wheeled board |
| USD958278S1 (en) | 2016-07-20 | 2022-07-19 | Razor Usa Llc | Two wheeled board |
| USD941948S1 (en) | 2016-07-20 | 2022-01-25 | Razor Usa Llc | Two wheeled board |
| USD1002764S1 (en) | 2016-07-20 | 2023-10-24 | Razor Usa Llc | Two wheeled board |
| USD1013080S1 (en) | 2016-07-20 | 2024-01-30 | Razor Usa Llc | Two wheeled board |
| USD1068552S1 (en) | 2016-07-20 | 2025-04-01 | Razor Usa Llc | Two wheeled board |
| USD1088156S1 (en) | 2016-07-20 | 2025-08-12 | Razor Usa Llc | Two wheeled board |
| US12227257B2 (en) | 2017-04-01 | 2025-02-18 | Razor Usa Llc | Electric balance vehicles |
| US11654995B2 (en) | 2017-12-22 | 2023-05-23 | Razor Usa Llc | Electric balance vehicles |
| US12214841B2 (en) | 2017-12-22 | 2025-02-04 | Razor Usa Llc | Electric balance vehicles |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120425 Termination date: 20140811 |
|
| EXPY | Termination of patent right or utility model |