CN105083460A - Portable pocket type intelligent electric vehicle - Google Patents
Portable pocket type intelligent electric vehicle Download PDFInfo
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- CN105083460A CN105083460A CN201510599164.5A CN201510599164A CN105083460A CN 105083460 A CN105083460 A CN 105083460A CN 201510599164 A CN201510599164 A CN 201510599164A CN 105083460 A CN105083460 A CN 105083460A
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Abstract
The invention particularly discloses a portable pocket type intelligent electric vehicle. The system mainly comprises a supporting plate, power wheels, universal wheels, a battery, a control system, pressure sensors, motors and transmission mechanisms. The number of the power wheels is two. The number of the universal wheels is two. The power wheels and the universal wheels are arranged in the positions, close to the front side and close to the rear side, of the bottom of the supporting plate respectively. The four wheels make contact with the ground and support the electric vehicle. The number of the motors and the number of the transmission mechanisms are both two, and the motors and the transmission mechanisms are installed at the bottom of the supporting plate. The motors drive the transmission mechanisms and supply power to the power wheels. The four pressure sensors are installed in the left front position, the left rear position, the right front position and the right rear position of the upper surface of the supporting plate respectively and used for detecting the gravity center of an operator. The control system carries out calculation according to the gravity center of the operator and the deviation of the center position, and controls the speed of the two power wheels. The system is small in size and convenient to carry, the electric vehicle is controlled through the gravity center of people, an operation rod is not needed, pedals are not needed, and operation is natural.
Description
Technical field
The invention belongs to portable electric car field, particularly one to can be used for riding instead of walk, carrying multipurpose miniature pocket-type intelligent electric truck system.
Background technology
In city, along with the increase of population and increasing of self-propelled vehicle, often cause traffic not smooth, the problems such as congestion in road, have impact on the normal live and work order of people.In order to alleviate above problem, Portable electric bicycle arises at the historic moment, and current conventional portable electric car has Electrical Bicycle, Segway Human Transporter, Self-balance electric vehicle etc.Portable electric bicycle is widely used in real life, not only meets energy-conserving and environment-protective trend, and facilitates short distance traffic, but the Portable electric bicycle used at present exists following problem.
If number of patent application is 201410854491.6, the date of application is on December 31st, 2014, the patent of invention of " Electrical Bicycle " by name; And number of patent application is 201180036225.7, the date of application is on May 12nd, 2011, and the patent of invention of " Electrical Bicycle " by name, all can regard as on the basis of standard bicycle, install motor driver additional.These two kinds of battery-driven cars, volume is comparatively large, is not easy to carry, simultaneously operating mode all need by hand come controlling party to, bring inconvenience to driving.
If number of patent application is 201310127406.1, date of application is on April 11st, 2013, the patent of invention of " electronic self-balancing single-wheel sliding plate car " by name, and number of patent application is 201410677452.3, date of application is on November 4th, 2014, the patent of invention of " a kind of self-balancing vehicle " by name, adopts single wheel or Double-wheel structure, driving procedure needs training and study, and has unsafe characteristic.
If number of patent application is 201410193369.9, the date of application is on May 7th, 2014, the patent of invention of " a kind of foot-controlled electric scooter " by name; And number of patent application is 201310413881.5, date of application is on September 12nd, 2013, the patent of invention of " Portable intelligent scooter " by name, two schemes are by all devising pedal, control the walking of battery-driven car by pedal and turn to, operation inconvenience, and the design of pedal adds the complexity of structure, easily damages.
Summary of the invention
In order to overcome volume in background technology comparatively large, need training and study, the problem that dangerous, pedal operation is inconvenient, the present invention spy proposes a kind of novel portable pocket-type intelligent electric motor car.
For solving the problems of the technologies described above, present invention employs following technical scheme:
A kind of portable pocket-type intelligent electric motor car, described system mainly comprises stay bearing plate (1), power wheel (2), cardan wheel (3), battery (4), control system (5), pressure sensor (6), motor (9), transmission device (10);
Each two of described power wheel (2), cardan wheel (3), be placed in forward side, stay bearing plate (1) bottom and side position rearward respectively, four wheels kiss the earth provides the support of battery-driven car; Described motor (9) and transmission device (10) all have two covers, and are arranged on stay bearing plate (1) bottom, and motor (9) drives transmission device (10), for power wheel (2) provides the power of rotation;
Four pressure sensors (6) are installed on left front, left back, right front, the right back position of stay bearing plate (1) upper surface, respectively for the detection of operating personal center of gravity;
Described control system (5) carries out computing according to the skew of operating personal center of gravity and center, controls the speed of two power wheels (2).
Further, also comprise ultrasonic transduter (7) and camera (8), described control system (5) carries out detection of obstacles by ultrasonic transduter (7) and camera (8), when there being obstacle, will stop the movement of battery-driven car.
Further, described control system (5) comprising: the left and right motor-drive circuit be connected with motor (9), the pressure sensor detection circuit be connected with pressure sensor (6), the ultrasonic interface circuit be connected with ultrasonic transduter (7), the utilizing camera interface circuit be connected with camera (8), the battery electric quantity management circuit be connected with battery (4) and controller.
Further, described control system (5) also comprises wireless communication module, and described wireless communication module is bluetooth or WIFI, after being connected, can carry out Remote to dolly by mobile terminal, computer.
Further, described control system (5) also comprises software, and described software comprises pressure sensor processing module, sonac processing module, camera sensing device processing module, wireless communication process module, motion-control module and driving interface module.
Further, described battery electric quantity management circuit, the electricity of Real-time Collection battery (4), when electricity is less than minimum, intelligent electric motor car is out of service, carries out battery protection.
This algorithm of overlapping portable pocket-type intelligent electric motor car is:
1, take out intelligent electric motor car, open electric vehicle power sources, be placed on ground.
2, user of service's both feet are trampled on the supporting plate successively.
3, user of service utilizes centre of body weight operation battery-driven car to move.
4, after user of service leaves stay bearing plate, battery-driven car automatic train stop.
5, user of service also can carry out the movement of Remote battery-driven car by mobile terminal or computer.
The present invention's beneficial effect is compared with prior art:
1) native system compact, be easy to carry, deposit take up room little.
2) native system does not need special training and study, as long as station can be moved on the supporting plate naturally, completes the function of riding instead of walk.
3) native system adopts four wheel constructions, natural equilibrium, than wheelbarrow essential safety, there will not be the situation of falling down.
4) native system carries out the control of battery-driven car by gravity center of human body, without the need to control lever, also without the need to pedal, and operation nature.
5) native system adopts ultrasonic transduter and vision sensor to carry out barrier judgment and navigation, has ensured the safety of battery-driven car further.
6) native system adopts and is furnished with the function of radio communication, can the state of Real-time Obtaining battery-driven car, and can control battery-driven car.
Accompanying drawing explanation
Fig. 1 is construction profile schematic diagram of the present invention.
Fig. 2 is bottom construction schematic diagram of the present invention.
Fig. 3 is Facad structure schematic diagram of the present invention.
Fig. 4 is control system hardware structure diagram of the present invention.
Fig. 5 is Control System Software constructional drawing of the present invention.
Fig. 6 is control method diagram of circuit of the present invention.
Fig. 7 is hardware design schematic diagram of the present invention.
Detailed description of the invention
The enforcement of a kind of portable pocket-type intelligent electric motor car of the present invention is further described below in conjunction with accompanying drawing.
Portable pocket-type intelligent electric motor car front-wheel is power wheel 2 as shown in Figure 1, 2, 3, and motor 9 is by transmission device 10, and as gear transmission drives power wheel 2 to rotate, trailing wheel is cardan wheel 3, and trailing wheel does not have power, only plays supporting function.Four wheels of portable pocket-type intelligent electric motor car, are fixed on stay bearing plate 1; Pressure sensor 6, as diaphragm pressure sensor is arranged in stay bearing plate 1 upper surface; Portable pocket-type intelligent electric motor car can adopt lithium cell 4 to power; Control system 5 adopts ARM to be the control hardware of core.
As shown in Figure 3, portable pocket-type intelligent electric motor car is when use procedure, and both feet step down on stay bearing plate 1, the value of control system 5 Real-time Collection four diaphragm pressure sensors 6, the size of comparative pressure sensor values, if the pressure sensor value of left-front corner is maximum, then left front turning; If the pressure sensor value at right front angle is maximum, then right front turning; If the pressure sensor value of left rear corner is maximum, then left back turning; If the pressure sensor value at right back angle is maximum, then right-about.In use procedure, the value of control system 5 Real-time Collection ultrasonic transduter 7, when obstacle having been detected, has stopped the movement of battery-driven car.Camera 8 real time recording mobile video.
As shown in Figure 4, control system hardware is made up of left motor-drive circuit, right motor-drive circuit, pressure sensor detection circuit, ultrasonic interface circuit, utilizing camera interface circuit, battery electric quantity management circuit and controller.Wherein left/right motor drive motor, mainly realizes the power gain of motor control signal, drives heavy-duty motor to rotate; Pressure sensor detection circuit, by the mode of measurement of resistance, the value of sampled pressure sensor; Ultrasonic interface circuit, mainly provides the acquisition of signal of ultrasonic transduter; Utilizing camera interface circuit, the digital signal of acquisition camera, and by video information by wireless communication transmissions to mobile terminal or computer; Battery electric quantity management circuit, gathers the voltage of battery electric quantity, monitors charging and discharging process, the normal use of protection battery; The logic function that controller adopts ARM control chip to complete battery-driven car realizes.
As shown in Figure 5, Control System Software mainly contains pressure sensor process, sonac process, the process of camera sensing device, wireless communication process, motion control and driving interface module.Wherein pressure sensor processing module, mainly realizes collection and the conversion of pressure sensor numerical value, provides correct left front, right front, left back, the force value of right abaft; The collection of sonac processing modules implement ultrasonic signal, is converted into corresponding distance value; The process of camera sensing device mainly realizes collection and the record of camera video; Wireless communication process processes the control signal from mobile terminal and computer on the one hand, realizes the function of Remote, receives video data on the one hand in addition, carries out the display of camera data; Motion-control module realizes battery-driven car drived control method, comprises center of gravity calculation, sensor anticollision, battery electric quantity compensation, load protection etc.; Driving interface module mainly realizes motor-driven data transfer, realizes the conversion from motor speed value to PWM drive singal.
As shown in Figure 6, the control method of a kind of portable pocket-type intelligent electric motor car that the present invention relates to, described control method mainly comprises center of gravity calculation method and intelligent electric motor car motion control method.
A control method for portable pocket-type intelligent electric motor car, described control method step is as follows:
A) force value of the pressure sensor of controller Real-time Collection diverse location;
B) the more each force value of pressure sensor processing module size and calculate current center of gravity, motion-control module according to the velocity amplitude of current center of gravity calculation left and right wheels, and transmit control signal and left and right wheel speed value to driving interface module;
C) according to from the control signal of motion-control module and left and right wheel speed value, driving interface module drives left and right motor to make battery-driven car towards center of gravity directional steering and movement.
In step a), the force value of described pressure sensor comprises: left front sensor pressure values
, right front sensor pressure values
, left back sensor pressure values
, right back sensor pressure values
.
In step b), first, calculate
,
, center of gravity is by left and right pressure ratio
, front and back pressure ratio
represent;
illustrate center of gravity distribution in the lateral direction, when center of gravity is in center,
be 1, when
time left-leaning,
be greater than 1, when
during Right deviation,
be less than 1;
illustrate center of gravity distribution in the longitudinal direction, when center of gravity is in center,
be 1, when
when leaning forward,
be greater than 1; When
during hypsokinesis,
be less than 1;
Secondly, left and right pressure ratio is judged
, front and back pressure ratio
whether interval in the pressure ratio preset
,
, wherein
for maximum duty left and right pressure ratio,
for minimum operating mode left and right pressure ratio,
for pressure ratio before and after maximum duty,
for pressure ratio before and after minimum operating mode, if pressure ratio is not interval at working condition pressure ratio, intelligent electric motor car stop motion, if pressure ratio is interval at working condition pressure ratio, then carries out the calculating of left and right wheel speed;
Again, fast component before calculating respectively
, turning differential
,
; Speed of advance
with front and back pressure ratio
with pressure ratio before and after minimum operating mode
the proportional relation of difference, namely
, wherein
for the advance coefficient preset; Revolver turning differential compensation is
, right turning differential compensation of taking turns is
, wherein
for turning coefficient,
for the left-hand rotation preset minimum left and right pressure ratio,
for the right-hand rotation preset maximum left and right pressure ratio;
Finally, left and right wheel speed is calculated; Intelligent electric motor car drived control method is two-wheeled individual drive, wherein revolver speed
for speed of advance
, revolver turning differential compensation
sum, namely
, right wheel speed
for speed of advance
, rightly take turns turning differential compensation
sum, namely
.
In step c), driving interface module receives control signal and the left and right wheel speed value of motion-control module, adopts the vector control method of induction less brush-less motor, controls left and right motor speed.
Fig. 7 is the hardware design schematic diagram of control system, is a specific implementation of the present invention.Controller have employed STM32F103C8T6 as Master control chip, and controller and crystal oscillating circuit form minimum control circuit; Power voltage step down part mainly realizes the conversion from battery to control voltage; Pressure sensor detection circuit, the main method adopting the test of precision resistance dividing potential drop; Super sonic interface circuit, directly receives hypracoustic feedback signal by controller IO; PWM drive part is used for the driving of motor, generates the rotation of pulse-width signal drive motor.WiFi part adopts ESP8266-12E module, completes wireless connections and communicates.Other parts are the hardware circuits for system test and debugging.
Description for the understanding of detailed description of the invention be only for help understand the present invention, instead of be used for restriction of the present invention.Those skilled in the art all can utilize thought of the present invention to carry out some and change and change, as long as its technological means does not depart from thought of the present invention and main points, still within protection scope of the present invention.
Claims (7)
1. a portable pocket-type intelligent electric motor car, is characterized in that: described system mainly comprises stay bearing plate (1), power wheel (2), cardan wheel (3), battery (4), control system (5), pressure sensor (6), motor (9), transmission device (10); Each two of described power wheel (2), cardan wheel (3), be placed in forward side, stay bearing plate (1) bottom and side position rearward respectively, four wheels kiss the earth provides the support of battery-driven car; Described motor (9) and transmission device (10) all have two covers, and are arranged on stay bearing plate (1) bottom, and motor (9) drives transmission device (10), for power wheel (2) provides the power of rotation; Four pressure sensors (6) are installed on left front, left back, right front, the right back position of stay bearing plate (1) upper surface, respectively for the detection of operating personal center of gravity; Described control system (5) carries out computing according to the skew of operating personal center of gravity and center, controls the speed of two power wheels (2).
2. the portable pocket-type intelligent electric motor car of one according to claim 1, it is characterized in that: also comprise ultrasonic transduter (7) and camera (8), described control system (5) carries out detection of obstacles by ultrasonic transduter (7) and camera (8), when there being obstacle, the movement of battery-driven car will be stopped.
3. the portable pocket-type intelligent electric motor car of one according to claim 2, is characterized in that: described control system (5) comprising: the left and right motor-drive circuit be connected with motor (9), the pressure sensor detection circuit be connected with pressure sensor (6), the ultrasonic interface circuit be connected with ultrasonic transduter (7), the utilizing camera interface circuit be connected with camera (8), the battery electric quantity management circuit be connected with battery (4) and controller.
4., according to the arbitrary described portable pocket-type intelligent electric motor car of one of claim 1 or 2 or 3, it is characterized in that: described control system (5) also comprises wireless communication module, and described wireless communication module is bluetooth or WIFI.
5. according to the arbitrary described portable pocket-type intelligent electric motor car of one of claim 1 or 2 or 3, it is characterized in that: described control system (5) also comprises software, described software comprises pressure sensor processing module, sonac processing module, camera sensing device processing module, wireless communication process module, motion-control module and driving interface module.
6., according to the arbitrary described portable pocket-type intelligent electric motor car of one of claim 1 or 2 or 3, it is characterized in that: described stay bearing plate (1) upper surface is furnished with overplate (11).
7. the portable pocket-type intelligent electric motor car of one according to claim 3; it is characterized in that: described battery electric quantity management circuit, the electricity of Real-time Collection battery (4), when electricity is less than minimum; intelligent electric motor car is out of service, carries out battery protection.
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| CN201510599164.5A CN105083460A (en) | 2015-09-16 | 2015-09-16 | Portable pocket type intelligent electric vehicle |
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| CN201510599164.5A CN105083460A (en) | 2015-09-16 | 2015-09-16 | Portable pocket type intelligent electric vehicle |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105329387A (en) * | 2015-12-01 | 2016-02-17 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105329388A (en) * | 2015-12-01 | 2016-02-17 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105346651A (en) * | 2015-12-01 | 2016-02-24 | 杭州骑客智能科技有限公司 | Electric balance vehicle |
| CN105344090A (en) * | 2015-11-26 | 2016-02-24 | 宁波迷你博特智能科技有限公司 | Electric scooter |
| CN105346607A (en) * | 2015-12-01 | 2016-02-24 | 杭州骑客智能科技有限公司 | Electric balance vehicle |
| CN105346606A (en) * | 2015-12-01 | 2016-02-24 | 杭州骑客智能科技有限公司 | Electrodynamic balance bike |
| CN105346650A (en) * | 2015-12-01 | 2016-02-24 | 杭州骑客智能科技有限公司 | Electric balance vehicle |
| CN105346643A (en) * | 2015-12-01 | 2016-02-24 | 杭州骑客智能科技有限公司 | Electrodynamic balance bike |
| CN105381593A (en) * | 2015-12-29 | 2016-03-09 | 程恩广 | Gravity sensing scooter |
| CN105416464A (en) * | 2015-12-01 | 2016-03-23 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105416484A (en) * | 2015-12-01 | 2016-03-23 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105416485A (en) * | 2015-12-01 | 2016-03-23 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105573324A (en) * | 2016-01-18 | 2016-05-11 | 刘鸿飞 | Intelligent carrying vehicle, and control method thereof |
| CN105584569A (en) * | 2015-12-10 | 2016-05-18 | 金源泰机电无锡有限公司 | Portable electric tool for riding instead of walking |
| CN105920829A (en) * | 2016-04-28 | 2016-09-07 | 上官希坤 | Gravity sensing control system for electric skateboard |
| CN106741399A (en) * | 2016-11-18 | 2017-05-31 | 惠安灿锐信息技术咨询有限公司 | A kind of intelligent device instead of walk based on Internet of Things |
| CN107308630A (en) * | 2016-04-27 | 2017-11-03 | 江苏数字鹰科技发展有限公司 | A kind of flight slide plate using brand-new control mode |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105344090A (en) * | 2015-11-26 | 2016-02-24 | 宁波迷你博特智能科技有限公司 | Electric scooter |
| CN105346650A (en) * | 2015-12-01 | 2016-02-24 | 杭州骑客智能科技有限公司 | Electric balance vehicle |
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| CN105346643A (en) * | 2015-12-01 | 2016-02-24 | 杭州骑客智能科技有限公司 | Electrodynamic balance bike |
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| CN105416464A (en) * | 2015-12-01 | 2016-03-23 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105416484A (en) * | 2015-12-01 | 2016-03-23 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105416485A (en) * | 2015-12-01 | 2016-03-23 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105416484B (en) * | 2015-12-01 | 2023-09-19 | 浙江骑客机器人科技有限公司 | electric balance car |
| CN105584569A (en) * | 2015-12-10 | 2016-05-18 | 金源泰机电无锡有限公司 | Portable electric tool for riding instead of walking |
| CN105381593A (en) * | 2015-12-29 | 2016-03-09 | 程恩广 | Gravity sensing scooter |
| CN105573324A (en) * | 2016-01-18 | 2016-05-11 | 刘鸿飞 | Intelligent carrying vehicle, and control method thereof |
| CN107308630A (en) * | 2016-04-27 | 2017-11-03 | 江苏数字鹰科技发展有限公司 | A kind of flight slide plate using brand-new control mode |
| CN105920829A (en) * | 2016-04-28 | 2016-09-07 | 上官希坤 | Gravity sensing control system for electric skateboard |
| CN106741399A (en) * | 2016-11-18 | 2017-05-31 | 惠安灿锐信息技术咨询有限公司 | A kind of intelligent device instead of walk based on Internet of Things |
| CN106741399B (en) * | 2016-11-18 | 2019-06-04 | 速珂智能科技（上海）有限公司 | A kind of intelligent device instead of walk |
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Application publication date: 20151125 |
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