CN105129006A - Intelligent somatosensory vehicle - Google Patents
Intelligent somatosensory vehicle Download PDFInfo
- Publication number
- CN105129006A CN105129006A CN201510630739.5A CN201510630739A CN105129006A CN 105129006 A CN105129006 A CN 105129006A CN 201510630739 A CN201510630739 A CN 201510630739A CN 105129006 A CN105129006 A CN 105129006A
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- module
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- steer
- driver
- deflecting bar
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- Automatic Cycles, And Cycles In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
An intelligent somatosensory vehicle comprises a vehicle frame, a steering gear and a control system, wherein the steering gear comprises a steering lever, a steering driving device, a connecting mechanism and a shell; a steering driving module is overhung on the connecting mechanism; the connecting mechanism is connected with the shell in a discontinuous manner; the control system comprises a microcontroller module connected with a pressure sensor, a gyroscope module, an accelerometer module and a posture sensor module; the posture sensor module is put on a driver and is used for sensing the posture information of the driver; when the pressure sensor on a handle senses that both hands are away from the handle, the pressure sensor automatically enters the state of controlling, operating and driving the vehicle in a somatosensory manner. A controller carries out corresponding driving operation such as left-handed rotation, right-handed rotation, acceleration, speed reduction and stop according to the posture information of the driver; the control system is powered by a power module, is used for replacing the hands of the driver with the head to control steering of the vehicle when the driver drives the vehicle on a road, can alleviate driving fatigue, and can prevent a fortuitous accident due to bewilderment caused by sudden factors such as incoming phone call or short messages of a mobile phone.
Description
Technical field
The present invention relates to a kind of intelligent body sense car, particularly the attitude body sense control loop of the light vehicle such as bicycle, Electrical Bicycle, three-wheel vehicle, motor bike.
Background technology
The vehicle are all the fashion easily as green for bicycle and Electrical Bicycle, in the comparatively smooth single road in road surface, ride for a long time tire out, uninteresting.
Publication number CN204415584U discloses a kind of by voice-operated two-wheeled electric bicycle, its front fork and handle are the connections by motor through shaft, overturn time to the shock of handle motor shaft is given a discount very risky, adopt Voice command to turn to due to it simultaneously, in the environment that speech recognition is noisy out of doors, recognition command accuracy rate is lower, so control efficiency is lower, can not be very sensitive.
Summary of the invention
Based on above-mentioned Electrical Bicycle Problems existing, the object of the present invention is to provide a kind of intelligent body sense car, replace turning to of manual manipulation handle by other positions of human body, realize the stable automatic Pilot efficiently of bicycle.
To achieve these goals, the present invention by the following technical solutions.
A kind of intelligent body sense car, comprise vehicle frame, steering hardware, control system, wherein steering hardware comprises deflecting bar, steer-drive, bindiny mechanism, housing, driver module is turned to be suspended in bindiny mechanism, wherein bindiny mechanism is connected with housing discountinuity, control system comprises and pressure sensor, gyro module, accelerometer module, the micro controller module that attitude induction module connects, wherein attitude induction module is put in it chaufeur, for responding to the attitude information of chaufeur, controller turns left according to the attitude information of chaufeur, turn right, accelerate, slow down, stop corresponding driver behavior, control system provides electric energy by power module.
It is characterized in that described gyro module and accelerometer module have two kinds, one is positioned at headstock part, for detecting attitude information and the direction information of car body, passing to controller and driving with keeping car body balance, another kind of be placed on chaufeur with it in attitude induction module.
It is characterized in that described being connected with coupler with the deflecting bar in the gap of housing through bindiny mechanism, wherein the diameter of coupler is greater than the diameter of actuating device, and making the deflecting bar that is connected with coupler and being between inner actuating device has gap.
It is characterized in that there is the pressure sensor be connected with microcontroller at the handle place of vehicle frame, whether the both hands for responding to driver have left handle, when sensing the driving forward by driving steering hardware to keep car body balance after information that both hands all have left the then vehicle-mounted gyroscope of handle and accelerometer is by the process of controller.
It is characterized in that there is the pressure sensor be connected with microcontroller at the handle place of vehicle frame, whether the both hands for responding to driver have left handle, when sensing that both hands all have left the state that handle then enters through body sense accessory drive car driver behavior automatically.
Advantage of the present invention is.
Replace turning to of manual manipulation handle by other positions of human body, the shake that can alleviate driving fatigue and prevention people hand when anxiety controls vehicle body instability.
The pressure sensor be connected with microcontroller is had by the handle place being positioned at vehicle frame, after detecting that both hands leave handle, automatic maintenance car body balance state, and turned to by gesture stability car, eliminate the step of manual switching manual steering and auto-steering, more press close to anxiety, critical application scenario.
Steer-drive is suspended and is fixed in bindiny mechanism, the integrated level of steering hardware is improved greatly, make when standard bicycle outer profile does not have too large change, for car adds Function for Automatic Pilot, more meet the requirement that people are succinct to bicycle profile, structure is firm.
The use habit of people to the vehicle is more met compared with single wheel balance truck and coaxial balancing car.
The present invention uses attitude induction module to control the turning to of car in automatic Pilot state, controls more efficient, accurately compared with voice recognition mode, avoids noise that air-flow in traveling causes to the interference of speech recognition.
Accompanying drawing explanation
Intelligent body sense car schematic diagram shown in Fig. 1.
Intelligent body sense vehicle control constructional drawing shown in Fig. 2.
Intelligent body sense car steering hardware assembly drowing shown in Fig. 3.
Detailed description of the invention
As Fig. 1 in this embodiment, described system comprises: be included in the control setup 200 in bicycle body 100 and steering hardware 300.The control setup 200 be positioned on car body as Fig. 2 comprises the microcontroller 220 be connected with pressure sensor 210, gyroscope 230, accelerometer 240, attitude induction module 250.Gyroscope 230 and accelerometer 240 are installed on bicycle body 100 and turn on relevant headstock part and be connected with microcontroller 220, and control system is powered by power module 260.
Described gyroscope 230 is positioned over the position relevant with the rotary state of wheel word 300 to accelerometer 240, such as handle, deflecting bar, front fork, wheel.Being positioned at chaufeur attitude induction module 250 with it and being preferentially placed on human body head, controlling the driver behavior such as left-hand rotation, right-hand rotation, acceleration, deceleration of car for the head oscillation attitude information by detecting chaufeur.
As shown in Figure 3, wherein steering hardware 300 comprises deflecting bar 310, steer-drive 320, bindiny mechanism 330, housing 340, and there are the hole for being bolted actuating device and the axis hole by motor shaft in bindiny mechanism 330 above.Steer-drive 320 Suspending fixation is in bindiny mechanism 330.
Steer-drive 320 Suspending fixation is in bindiny mechanism 330, and between bindiny mechanism 330 with housing 340, discountinuity is connected, and wherein has the gap by deflecting bar 310 between bindiny mechanism 330 and housing 340.
A 2 junctions clearance angle between described bindiny mechanism 330 and housing 340 is about 180 degree, and 2 tops of deflecting bar 310 are passed through from 2 gaps respectively.Car is when turning to, and deflecting bar 310 can be movable in the scope of about 180 degree.
Deflecting bar 310 is connected with coupler 350 by the gap between bindiny mechanism 330 and housing 340, the axle drive shaft of steer-drive 320 is connected with coupler 350 through the motor axis hole of bindiny mechanism 330, bindiny mechanism 330 and steer-drive 320 are in the centre on deflecting bar 310 two tops by deflecting bar 310, jagged outside coupler 350, deflecting bar 310 top is partly embedded in the breach in outside, both tighten together by the part fastener that deflecting bar 310 is exposed at outside coupler simultaneously, prevent from mutually skidding when deflecting bar 310 moves together with coupler 350, due to the part of deflecting bar 310 fastener contact, after tap is connected with deflecting bar 310 and coupler 350, power for longitudinal aspect can not solely be applied on coupler, ensure that the stability that coupler 350 is connected with actuating device 320, after deflecting bar 310 is connected with coupler 350, also should exceed housing 340 part, fastener is facilitated to be connected and fixed in leading (not shown) and deflecting bar 310 top and coupler 350, wherein the diameter of coupler 350 is greater than the diameter of actuating device, make the gap having relative motion between deflecting bar 310 top that is connected with coupler and actuating device 320.
After steer-drive 320 is connected with coupler 350, by the fastener of both sides, deflecting bar 310 top, both are fixed, during the electric machine rotation of the steer-drive 320 of bindiny mechanism 330, drive deflecting bar 310 rotated thus front fork and wheel are moved thereupon, realizing the operation that body sense turns to driving.
The two ends that headset group (not shown) is positioned over housing 340 lower than the height of shell 340, should be convenient in bindiny mechanism 330.
The working process of intelligent body sense car of the present invention: when in intelligent body sense car driving process, be positioned at the pressure sensor be connected with microcontroller at the handle place of vehicle frame, sense that the both hands of driver have left handle, the then vehicle-mounted gyroscope of reaction body gesture and the information of accelerometer are received by controller and process the rear driving forward by driving steering hardware to keep car body balance, the attitude information that microcontroller 220 returns according to gyroscope 230 and accelerometer 240 and acceleration information, control according to direction when entering automatic Pilot to be travel direction by PID, control the rotational angle of the steer motor in steer-drive 320 and turning velocity thus keep car body balance ground automatic Pilot.Automatically enter through the state of body sense accessory drive car driver behavior simultaneously.Microcontroller 220 receives the driver head's attitude information being worn over the attitude induction module 250 on chaufeur head and sending, controller 220 according to the "Left"-deviationist of driver head's attitude, Right deviation, lean forward, operation intention that hypsokinesis judges driver, microcontroller controls steer-drive according to the information of the deflection angle of the driver head detected and deflection acceleration/accel and realizes, to turn right and function is driven in the acceleration of Power Drive Unit, deceleration, stopping, realizing the operation that body sense turns to driving.
Described vehicle-mounted gyroscope and accelerometer, can not add under the application scenario of three-wheel vehicle, also only can be used as the effect of guiding direction.
Described steer-drive 320 can be DC machine, reducing motor, servomotor also can be stepping motor.
Described attitude induction module 250 and the mode be connected between microcontroller 220 can be wireless modes also can be wired mode.
When keeping car body balance to drive in control system, the velocity information of needs can be obtained acceleration information by accelerometer 240 and obtained by integration, also can obtain by separately adding the similar speed sensor such as Hall element, coder.
Deflecting bar 310 top told can be cylinder also can be the tabular of band radian, can be two also can be one or more.
The junction of described bindiny mechanism 330 and housing can one also can be multiple, it can be fixing between bindiny mechanism 330 and housing 340 also can be detouchable, as guide tracked.
Described attitude induction module 250 can be six axle gyroscope MPU6050, for tilt acceleration and the angle of inclination of the attitude head of head, also can be six axle sensors and the combination of other model.
After described intelligent body sense car enters automatic driving mode can be move ahead by car inertia, and also can be drive by manpower to move ahead, can be coordinate Power Drive Unit automatic Pilot under driven by power under the condition of battery-driven car.
It should be noted that, for the purpose of simplifying the description, the headset group at housing 340 two ends and be as good as place with the connection mode of handle mobile jib and the connection mode of common bicycle, for the purpose of simplifying the description, repeats no more.
Claims (10)
1. an intelligent body sense car, comprise vehicle frame, steering hardware, control system, wherein steering hardware comprises deflecting bar, steer-drive, bindiny mechanism, housing, driver module is turned to be suspended in bindiny mechanism, wherein bindiny mechanism is connected with housing discountinuity, control system comprises the micro controller module be connected with attitude induction module, wherein attitude induction module is put in it chaufeur, for responding to the attitude information of chaufeur, controller turns left according to the attitude information of chaufeur, turn right, accelerate, slow down, stop corresponding driver behavior, control system provides electric energy by power module.
2. intelligent body sense car as claimed in claim 1, is characterized in that described bindiny mechanism having the hole for being bolted steer-drive and the axis hole by drive motor.
3. intelligent body sense car as claimed in claim 2, is characterized in that described steer-drive is suspended and is fixed in bindiny mechanism, and the axle of steer-drive is connected with the axis hole of coupler through the hole of bindiny mechanism.
4. intelligent body sense car as claimed in claim 1, it is characterized in that the connection of connection structure and housing is that discountinuity connects, the effect in gap makes deflecting bar top movable wherein.
5. intelligent body sense car as claimed in claim 1, it is characterized in that described deflecting bar top is bifurcation structure, steer-drive is in the middle of the bifurcation structure of deflecting bar top.
6. intelligent body sense car as claimed in claim 4, it is characterized in that described being connected with coupler with the deflecting bar in the gap of housing through bindiny mechanism, wherein the diameter of coupler is greater than the diameter of steer-drive, and making the deflecting bar that is connected with coupler and being wrapped between inner steer-drive has gap.
7. intelligent body sense car as claimed in claim 6, it is characterized in that outside described coupler jagged, deflecting bar top is partly embedded in the breach in outside, both tighten together by the part fastener that deflecting bar is exposed at outside coupler simultaneously, prevent from mutually skidding when deflecting bar moves together with coupler.
8. intelligent body sense car as claimed in claim 1, it is characterized in that there is the pressure sensor be connected with microcontroller at the handle place of vehicle frame, whether the both hands for responding to driver have left handle, have gyro module, accelerometer module in control system, when sense both hands all have left handle then automatically enter through gyro module, accelerometer module detect vehicle body attitude and control steer-drive make car keep balance driving condition.
9. intelligent body sense car as claimed in claim 1, it is characterized in that attitude induction module is placed on driver head, the attitude information of head is fed back to microcontroller by it, and microcontroller controls steer-drive according to the information of the deflection angle of the driver head detected and deflection acceleration/accel and realizes, to turn right and function is driven in the acceleration of Power Drive Unit, deceleration, stopping.
10. intelligent body sense car as claimed in claim 1, is characterized in that described actuating device is reducing motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510630739.5A CN105129006A (en) | 2015-09-29 | 2015-09-29 | Intelligent somatosensory vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510630739.5A CN105129006A (en) | 2015-09-29 | 2015-09-29 | Intelligent somatosensory vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105129006A true CN105129006A (en) | 2015-12-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510630739.5A Pending CN105129006A (en) | 2015-09-29 | 2015-09-29 | Intelligent somatosensory vehicle |
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| Country | Link |
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| CN (1) | CN105129006A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383696A (en) * | 2017-08-02 | 2019-02-26 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing vehicle and its forward method |
| CN110126956A (en) * | 2019-06-14 | 2019-08-16 | 浙江阿尔郎科技有限公司 | Balance car, which turns to, uses detection device, control device and balance car |
-
2015
- 2015-09-29 CN CN201510630739.5A patent/CN105129006A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383696A (en) * | 2017-08-02 | 2019-02-26 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing vehicle and its forward method |
| CN110126956A (en) * | 2019-06-14 | 2019-08-16 | 浙江阿尔郎科技有限公司 | Balance car, which turns to, uses detection device, control device and balance car |
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151209 |
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| WD01 | Invention patent application deemed withdrawn after publication |