CN103600795B - Based on the balanced car with two wheels of disk grating - Google Patents

Abstract

The invention provides a self-balancing two-wheeled vehicle based on a disc grating, which includes a vehicle body and a gyroscope inclination measuring assembly fixed on the vehicle body, a disc grating steering assembly and a central control assembly; the gyroscope inclination measuring assembly passes the gyro The instrument group obtains the inclination angle of the center of the car body in the front and rear direction, and then obtains the forward and backward signals; the disc grating steering component detects the angle between the user's feet and the forward direction through the left disc grating sensor and the right disc grating sensor, And then get the turn signal. The invention has the characteristics of simple and compact structure, low difficulty in daily maintenance, high steering control precision, strong interest, convenient, quick and natural operation.

Description

Self-balancing two-wheeled vehicle based on disk grating

technical field

The invention relates to the technical field of self-balancing two-wheeled vehicles, in particular to a disc grating-based self-balancing two-wheeled vehicle capable of realizing the steering of a two-wheeled self-balancing trolley.

Background technique

The operating principle of Segway is mainly based on a basic principle called "Dynamic Stabilization", that is, the automatic balancing ability of the vehicle itself. The built-in precision solid-state gyroscope (Solid-State Gyroscopes) is used to judge the posture state of the car body, and the precise and high-speed central microprocessor calculates the appropriate command, and then drives the motor to achieve the balance effect. Suppose we take the vertical axis of the overall center of gravity of the driver standing on the car and the vehicle as the reference line. When this axis tilts forward, the built-in electric motor in the body of the camera will generate forward force, on the one hand to balance the torque of the person and the car toppled forward, and on the other hand to generate the acceleration for the vehicle to move forward. On the contrary, when When the gyroscope finds that the driver's center of gravity is tilted backward, it will also generate a backward force to achieve a balance effect. Therefore, as long as the driver changes the angle of his body to tilt forward or backward, the camera will move forward or backward according to the direction of tilt, and the speed is proportional to the degree of tilt of the driver's body. In principle, as long as the camera is powered on correctly and can maintain enough power to operate, the people on the car don’t have to worry about the possibility of falling, which is very different from vehicles such as scooters that generally need to be balanced by the driver.

The utility model patent whose authorized notification number is CN201597703U discloses a steering mechanism for automatic balancing of two-wheeled vehicles. It consists of a base plate and a horizontal shaft fixedly connected to it through a support frame. One end of the horizontal shaft is fixedly linked with an operating rod, and the other end of the horizontal shaft is provided with a potentiometer. The force support is provided with elastic bodies under or above both sides of the force support. During operation, the operator controls the rotation of the horizontal shaft by turning the joystick, and the direction and size of the rotation are sent instructions through the potentiometer to realize the direction rotation of the trolley.

Application publication number is that the invention patent of CN102849156A has announced a kind of self-balancing two-wheel vehicle steering device. It includes: a hydraulic pipeline assembly, which is arranged in the vehicle body, including a horizontal pipeline and two vertical pipelines respectively located on both sides of the horizontal pipeline and connected with the horizontal pipeline. There are pistons that move up and down at the ends of the two vertical pipelines , so that the liquid is in a closed state, and the two pistons are placed under the pedal; the only sensor assembly includes the moving element and the moving signal receiving signal; the steering control system is used to receive the position signal and control the steering of the self-balancing two-wheeled vehicle.

The steering gear of current self-balancing two-wheeled vehicle is mainly to realize the steering gear of two-wheeled vehicle by hand control handle. However, the design of the connecting rod that can be adapted to different operators is relatively complicated, which also greatly increases the volume of the two-wheeled vehicle and reduces the portability of the two-wheeled vehicle. During the driving process, both hands must constantly operate the handle, which reduces the entertainment, and the steering mechanism of the existing handleless self-balancing two-wheeled vehicle is relatively complicated, and the maintenance of the two-wheeled vehicle is inconvenient.

Contents of the invention

Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a disc grating-based self-balancing two-wheeled vehicle, which controls the direction of the self-balancing two-wheeled vehicle through a stable and smart steering device, freeing the driver's hands , improve the entertainment and operating experience of the self-balancing two-wheeled vehicle.

The present invention is achieved through the following technical solutions.

A self-balancing two-wheeled vehicle based on a disc grating, including a car body and a gyroscope inclination measuring component fixed on the car body, a disc grating steering component and a central control component, wherein:

The car body includes an upper support plate and a lower support plate, and the left wheel and the right wheel are respectively connected to the left and right sides of the lower support plate;

The gyroscope inclination measurement component includes a gyroscope group, which is horizontally fixed on the upper surface of the upper support plate, and rotates with the vehicle body, so as to obtain the inclination angle of the center of the vehicle body in the front-rear direction, and then obtain the forward and backward direction. Signal;

The disc grating steering assembly includes a left disc grating sensor, a right disc grating sensor, a left foot cover guide groove and a right foot cover guide groove, and the left disc grating sensor and the right disc grating sensor are respectively fixed on the upper support plate The lower surface of the left foot cover guide groove and the right foot cover guide groove are respectively fixed on the upper surface of the upper support plate and correspond to the positions of the left disc grating sensor and the right disc grating sensor respectively; the left disc The grating sensor and the right disc grating sensor are used to detect the angle between the user's foot and the forward direction, and then obtain the steering signal;

The central control assembly includes a power supply part, a left control motor, a right control motor and a central processing unit, the power supply part is arranged between the upper support plate and the lower support plate, and is used to provide the required power for the entire self-balancing two-wheeled vehicle , the left control motor and the right control motor are respectively connected to the left wheel and the right wheel, and the central processing unit is used to receive the forward and backward signals of the gyroscope group and the steering signals of the left disc grating sensor and the right disc grating sensor, And send the control signal to the left control motor and the right control motor, so as to control the movement of the left wheel and the right wheel.

Preferably, the power supply part is arranged in the center between the upper support plate and the lower support plate; the gyroscope group is arranged in the center of the upper support plate; the left disc grating sensor and the right disc grating sensor are arranged symmetrically On the left and right sides of the power supply part, the left and right foot cover guide grooves are symmetrically arranged on the left and right sides of the gyroscope group.

Preferably, the gyroscope group includes two single-axis gyroscopes, and the two single-axis gyroscopes are symmetrically arranged on the upper surface of the upper support plate.

Preferably, the vehicle body is an integrated I-shaped structure.

Preferably, the method for determining the steering signal of the disc grating steering assembly is specifically:

- When the angle detected by the left disc grating sensor is greater than 0 degrees and reaches a certain degree, it indicates that the user wants to turn left;

- When the angle detected by the right disc grating sensor is greater than 0 degrees and reaches a certain degree, it indicates that the user wants to turn right;

- When the angle detected by both the left disc grating sensor and the right disc grating sensor is greater than 0 degrees, no steering is performed and detection is continued.

Compared with the prior art, the self-balancing two-wheeled vehicle based on the disk grating provided by the present invention saves the handlebar assembly, thereby reducing the overall volume of the vehicle body, reducing the storage space, and more convenient to carry; at the same time, the present invention The structure is simple and compact, which reduces the difficulty of daily maintenance of the self-balancing two-wheeled vehicle; the disc grating method can obtain higher-precision steering control, and at the same time, the user can control the rotation of the self-balancing vehicle according to the rotation of his feet. There is a perceptual understanding, which can allow users to adapt to the operation of the two-wheeled self-balancing vehicle more quickly, release the user's hands, and increase the fun of operation; it has the characteristics of more convenient, fast and natural steering operation.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is a structural block diagram of the present invention;

Fig. 2 is the front view of structure of the present invention;

Fig. 3 is a top view of the structure of the present invention;

Fig. 4 is a perspective view of the structure of the present invention;

In the figure: 1 is the upper support plate, 2 is the power supply part, 3 is the left disc grating sensor, 4 is the left control motor, 5 is the left wheel, 6 is the guide groove of the left foot cover, 7 is the gyroscope group, 8 is the lower support board.

Detailed ways

The following is a detailed description of the embodiments of the present invention: this embodiment is implemented on the premise of the technical solution of the present invention, and provides detailed implementation methods and specific operation processes. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Please also refer to Figures 1 through 4.

This embodiment provides a self-balancing two-wheeled vehicle based on a disc grating, including a car body and a gyroscope inclination measurement assembly fixed on the car body, a disc grating steering assembly and a central control assembly, wherein:

The car body includes an upper support plate 1 and a lower support plate 8, and the left wheel and the right wheel are respectively connected to the left and right sides of the lower support plate;

The gyroscope inclination measurement assembly includes a gyroscope group 7, and the gyroscope group 7 is horizontally fixed on the upper surface of the upper support plate 1, and rotates with the vehicle body, thereby obtaining the inclination angle of the center of the vehicle body in the front-rear direction, and then Get forward and backward signals;

The disc grating steering assembly includes a left disc grating sensor 3, a right disc grating sensor, a left foot cover guide groove 6 and a right foot cover guide groove, and the left disc grating sensor 3 and the right disc grating sensor are respectively fixed on The lower surface of the upper support plate 1, the left foot cover guide groove 6 and the right foot cover guide groove are respectively fixed on the upper surface of the upper support plate 1 and correspond to the positions of the left disc grating sensor 3 and the right disc grating sensor respectively. Corresponding; the left disc grating sensor 3 and the right disc grating sensor are used to detect the angle between the user's feet and the forward direction, and then obtain the steering signal;

The central control assembly includes a power supply part 2, a left control motor 4, a right control motor and a central processing unit. The required power is provided, the left control motor 4 and the right control motor are respectively connected to the left wheel and the right wheel, and the central processing unit is used to receive the forward and backward signals of the gyroscope group 7 and the left disc grating sensor 3 and the right wheel. The steering signal of the disk grating sensor, and the control signal is sent to the left control motor 4 and the right control motor, and then controls the movement of the left wheel and the right wheel.

Further, the power supply part 2 is arranged at the center between the upper support plate 1 and the lower support plate 8; the gyroscope group 7 is arranged at the center of the upper support plate 1; the left disk grating sensor 3 and the right The disc grating sensor is arranged symmetrically on the left and right sides of the power supply part 2 , and the left and right foot cover guide grooves are symmetrically arranged on the left and right sides of the gyroscope group 7 .

Further, the gyroscope group 7 includes two single-axis gyroscopes, and the two single-axis gyroscopes are symmetrically arranged on the upper surface of the upper support plate.

Further, the vehicle body is an integrated I-shaped structure.

Further, the method for determining the steering signal of the disc grating steering assembly is specifically:

- When the angle detected by the left disk grating sensor 3 is greater than 0 degrees and reaches a certain degree, it indicates that the user wishes to turn left;

- When the angle detected by the right disc grating sensor is greater than 0 degrees and reaches a certain degree, it indicates that the user wants to turn right;

- When the angle detected by both the left disc grating sensor 3 and the right disc grating sensor is greater than 0 degrees, no steering is performed and detection is continued.

Specifically,

The disc grating-based self-balancing two-wheel vehicle provided in this embodiment provides a new steering method for the self-balancing two-wheel vehicle. When the user rotates the foot cover guide grooves on the left and right sides of the pedal at different angles, the self-balancing two-wheeled vehicle based on the disk grating provided by this embodiment can realize the steering function of the two-wheeled vehicle.

In this embodiment, the whole device is provided with the required power by the power supply part, and the gyroscope group is horizontally fixed on the upper support plate, and rotates slightly together with the person and the vehicle body. The user rotates different angles in the left or right foot cover guide grooves of the upper support plate, and the rotation angles on both sides relative to the neutral position are detected by two disc grating sensors. The central processing unit outputs commands for the direction of rotation and the magnitude of the rotation speed to the two-wheeled vehicle according to the rotation angles measured by the two disc grating sensors, and the left and right control motors realize the steering of the two-wheeled vehicle.

The vehicle body includes an upper support plate for users to stand on and a lower support plate used as a bottom plate, and the upper support plate and the lower support plate form an integrated I-shaped structure.

The gyroscope inclination angle measurement component, two single-axis gyroscopes are respectively fixed on the upper surface of the upper support plate, and the inclination angle of the center of the vehicle body in the front-rear direction is obtained through the gyroscopes, and then the forward and backward signals of the two-wheeled vehicle are obtained.

The disc grating steering assembly uses the disc grating sensors on the left and right sides to detect the angle between the foot and the forward direction when a person is standing, and then obtains the steering signal.

The specific process is:

When the user does not stand on the vehicle body, the upper support plate is kept in a balanced position through its own counterweight adjustment. When a user stands on the car body, the angle of rotation of the left foot cover guide groove on the upper support plate is θ1, and the rotation angle of the right foot cover guide groove on the upper support plate is θ2. The specific angle of the rotation angle obtained by the two disk grating sensors relative to the neutral position can be calculated by the algorithm of the central control unit, and the information of the rotation direction and rotation speed of the trolley can be obtained, so that the trolley can reach the control of the user by controlling the motor. Require. Set a threshold K. In the present invention, when (θ1≥K) && (θ2≤K), it is considered that the operation has issued a left steering command to the trolley; when (θ2≥K) && (θ1≤K), the user controls The command to turn right is issued; when (θ2≥K) && (θ1≥K), (θ2≤K) && (θ1≤K), it is considered that the user has not issued a steering command to the car. The absolute value of θ1 or θ2 is positively correlated with the steering speed of the car. After the user gets off the vehicle, the upper support plate returns to the equilibrium position under the action of the counterweight.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims (5)

1. A self-balancing two-wheeled vehicle based on a disc grating, characterized in that it includes a car body and a gyroscope inclination measuring assembly, a disc grating steering assembly and a central control assembly that are fixed on the car body, wherein: The car body includes an upper support plate and a lower support plate, and the left wheel and the right wheel are respectively connected to the left and right sides of the lower support plate; The gyroscope inclination measurement component includes a gyroscope group, which is horizontally fixed on the upper surface of the upper support plate, and rotates with the vehicle body, so as to obtain the inclination angle of the center of the vehicle body in the front-rear direction, and then obtain the forward and backward direction. Signal; The disc grating steering assembly includes a left disc grating sensor, a right disc grating sensor, a left foot cover guide groove and a right foot cover guide groove, and the left disc grating sensor and the right disc grating sensor are respectively fixed on the upper support plate The lower surface of the left foot cover guide groove and the right foot cover guide groove are respectively fixed on the upper surface of the upper support plate and correspond to the positions of the left disc grating sensor and the right disc grating sensor respectively; the left disc The grating sensor and the right disc grating sensor are used to detect the angle between the user's foot and the forward direction, and then obtain the steering signal; The central control assembly includes a power supply part, a left control motor, a right control motor and a central processing unit. The power supply part is arranged between the upper support plate and the lower support plate to provide power. The left control motor and the right control motor Connected to the left wheel and the right wheel respectively, the central processing unit is used to receive the forward and backward signals of the gyroscope group and the steering signals of the left disc grating sensor and the right disc grating sensor, and send the control signal to the left control motor and The right controls the motor, which controls the movement of the left and right wheels. 2. The self-balancing two-wheeled vehicle based on disc gratings according to claim 1, wherein the power supply part is arranged in the center between the upper support plate and the lower support plate; the gyroscope group is arranged in the upper At the center of the support plate; the left disc grating sensor and the right disc grating sensor are symmetrically arranged on the left and right sides of the power supply part, and the left foot cover guide groove and the right foot cover guide groove are symmetrically arranged on the left and right sides of the gyroscope group sides. 3. The self-balancing two-wheeled vehicle based on the disk grating according to claim 1 or 2, wherein the gyroscope group includes two uniaxial gyroscopes, and the two uniaxial gyroscopes are symmetrically arranged on the upper the upper surface of the support plate. 4. The self-balancing two-wheeled vehicle based on disc gratings according to claim 1, wherein the vehicle body is an integrated I-shaped structure. 5. The self-balancing two-wheeled vehicle based on the disc grating according to claim 1, wherein the method for determining the steering signal by the disc grating steering assembly is specifically: - When the angle detected by the left disc grating sensor is greater than 0 degrees and reaches a certain degree, it indicates that the user wants to turn left; - When the angle detected by the right disc grating sensor is greater than 0 degrees and reaches a certain degree, it indicates that the user wants to turn right; - When the angle detected by both the left disc grating sensor and the right disc grating sensor is greater than 0 degrees, no steering is performed and detection is continued.