CN105169687A - Electric skateboard with pressure sensing system and driving method thereof - Google Patents
Electric skateboard with pressure sensing system and driving method thereof Download PDFInfo
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- CN105169687A CN105169687A CN201510599320.8A CN201510599320A CN105169687A CN 105169687 A CN105169687 A CN 105169687A CN 201510599320 A CN201510599320 A CN 201510599320A CN 105169687 A CN105169687 A CN 105169687A
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Abstract
The invention discloses an electric skateboard with a pressure sensing system. The electric skateboard comprises a skateboard body, a pedal, a left driving wheel, a right driving wheel, a left universal wheel and a right universal wheel, wherein the left driving wheel and the right driving wheel are arranged at the front end of the skateboard, and the left universal wheel and the right universal wheel are arranged at the rear end of the skateboard. The electric skateboard further comprises a left pressure sensor, a right pressure sensor, a controller and a battery, wherein the left pressure sensor, the right pressure sensor, the controller and the battery are arranged inside the skateboard body. The left driving wheel, the right driving wheel, the left universal wheel, the right universal wheel, the left pressure sensor and the right pressure sensor are arranged on the left and right sides of the skateboard respectively. The left pressure sensor and the right pressure sensor are connected to the controller, and the controller is connected to the battery, the left driving wheel and the right driving wheel. The invention further discloses a driving method of the electric skateboard with the pressure sensing system. Through arranging the front and rear wheels, a user can ride the electric skateboard easily. Pressure sensing is utilized for starting and braking the electric skateboard, and the speed difference of the left and right driving wheels is utilized for controlling turning easily.
Description
Technical field
The present invention relates to scooter field, particularly a kind of Segway Human Transporter with pressure sensitive system and driving method thereof.
Background technology
Along with improving constantly of people's living standard, people more and more note promoting quality of life, body-building, leisure, amusement have become people and to have lived a requisite part, the body-building recreation apparatus of various ways emerges in an endless stream, wherein scooter surely belongs to one of hot product at present, because of its energy body-building recreation, challenging, and deeply like by everybody.Existing skate board structure is simple, function singleness, starts, brakes, drives, turns to and all cannot automatically control.When moving ahead, a pin of people steps down on scooter, and with kicking backward, footwear and ground exist frictional force to another pin, and scooter slides forward by the reaction force of footwear and frictional ground force.Continue to enable scooter to move ahead, people needs constantly to use the feet step on the ground.Due to the frictional force that the active force slided is footwear and ground, slide and compare effort, the bad people of muscle power can not do gliding motility for a long time.This constantly realize moving ahead by single pin scooter with pedaling, automatically can not control to start, brakes, drives, turn to, effort, time-consuming, can not become walking-replacing tool.
In Chinese patent application prospectus, 201020667793.X and 201120197140.4 all proposes a kind of Segway Human Transporter using pressure sensitive to control for the defect of the scooter of this use manual operation, this two schemes is all the scooter for each wheel in front and back, and a pressure sensor is all only housed, their turning principle checks that the pressure of this pressure sensor changes and judges to turn, the device of turning allows whole wheel turns, is similar to the turning mode of bicycle.All there is certain defect in this two schemes, first, the Segway Human Transporter of each wheel in this front and back, user's study is got up more difficult, and study people will have stronger balance; Secondly, this Segway Human Transporter only uses a pressure sensor to control to turn, user wants very deliberately to go the "Left"-deviationist of control pin center of gravity or Right deviation when turning, this has certain requirement to the position range that user steps on pin, and different people's pin is in different size, so practical operation is got up so not flexible; Moreover because its motor is contained on tumbler, the rotation with tumbler realizes turning, and like this when human body is heavier time, just need very large power to drive tumbler, the energy expended is large.
Summary of the invention
The object of the invention is to the defect overcoming prior art problem, a kind of Segway Human Transporter with pressure sensitive system and driving method thereof are provided.
According to an aspect of the present invention, a kind of Segway Human Transporter with pressure sensitive system is provided, comprise scooter car body, pedal, the left and right driving wheel of scooter front end and the left and right universal wheel of rear end, also comprise the left and right pressure sensor, controller and the battery that are arranged on vehicle body, be wherein respectively arranged with in the left and right sides of described scooter: left and right driving is taken turns; Left and right universal wheel; And left and right pressure sensor; Left and right pressure sensor is connected to controller respectively, and controller is connected to battery and left and right driving wheel.
Preferably, described controller is configured with two-way and drives, and drives left and right driving wheel respectively, and controls two-way driver output in the following manner:
A: obtain the absolute value respectively by the left and right signal difference of left and right pressure sensor input control device and compare with a preset value;
B: if described absolute value is greater than 0 and be less than described preset value, then controller controls to drive left and right driving wheel speed equal, realizes scooter and keeps straight on;
C: if described absolute value is greater than described preset value and left signal is greater than right signal, then controller drives left driving wheel to slow down, and right driving wheel accelerates, and realizes; If described absolute value is greater than described preset value and left signal is less than right signal, then controller drives left driving wheel to accelerate, and right driving wheel slows down, and realizes turning right.
Preferably, described cell arrangement is plug form, so that carry and change.
Preferably, described car body is also configured with a driving switch, arranges different gears, to realize the different speed of a motor vehicle by switching described driving switch.
Preferably, described gear is divided and is set to 1,2,3 and 4 grade, and wherein 1,2,3 grade is set to the corresponding different speed of a motor vehicle, and 4 grades are set to shelves of weighing.
Preferably, described controller is configured with wireless signal receiver, in order to receive the external control signal sent from mobile device.
Preferably, described mobile device is remote controller or mobile phone.
Preferably, described external control signal control to comprise scooter driving, turn to and gear switch.
According to a further aspect in the invention, a kind of driving method of the Segway Human Transporter with pressure sensitive system is provided, for driving Segway Human Transporter according to claim 1, it is characterized in that, comprising step:
S1: Initialize installation, to make scooter left and right signal difference zero;
S2: obtain the absolute value respectively by the left and right signal difference of left and right pressure sensor input control device and compare with a preset value;
S3: if described absolute value is greater than 0 and be less than described preset value, then controller controls to drive left and right driving wheel speed equal, realizes scooter and keeps straight on;
S4: if described absolute value is greater than described preset value and left signal is greater than right signal, then controller drives left driving wheel to slow down, and right driving wheel accelerates, and realizes; If described absolute value is greater than described preset value and left signal is less than right signal, then controller drives left driving wheel to accelerate, and right driving wheel slows down, and realizes turning right.
Preferably, described step S1 is also configurable for realizing function of weighing.
A beneficial effect of the present invention is:
Existing Segway Human Transporter is each wheels in front and back, and user's study is got up more difficult, and study people will have stronger balance.The present invention is each two wheels in front and back, the easy left-hand seat of user.
Another beneficial effect of the present invention is:
Existing Segway Human Transporter is that a pressure sensor controls to turn, user wants very deliberately to go the "Left"-deviationist of control pin center of gravity or Right deviation when turning, this has certain requirement to the position range that user steps on pin, and different people's pin is in different size, so practical operation is got up so not flexible.And the present invention's each pressure sensor that is left and right bipod, as long as user offsets center of gravity toward left foot or right crus of diaphragm, easily operate; In addition, the concrete implementing method that existing Segway Human Transporter is turned is that motor is contained on tumbler, and the rotation with tumbler realizes turning, and like this when human body is heavier time, just need very large power to drive tumbler, the energy expended is large.The present invention utilizes the speed discrepancy of two electro-motors (it is slow that another wheel fast that wheel turns turns) to turn, and easily realizes.
Accompanying drawing explanation
Below in conjunction with accompanying drawing and example, the invention will be further described:
Fig. 1 a-1b is side view and the front view of the Segway Human Transporter with pressure sensitive system according to a first embodiment of the present invention;
Fig. 2 is the electric scooter system operation logic figure with pressure sensitive system according to a second embodiment of the present invention.
Detailed description of the invention
According to the first embodiment of the present invention, with reference to Fig. 1 a-1b, provide a kind of Segway Human Transporter with pressure sensitive system,
Comprise scooter car body 1, pedal 2, the left and right driving wheel 6 of scooter front end and the left and right universal wheel 7 of rear end, also comprise the left and right pressure sensor 3, controller 4 and the battery 5 that are arranged on vehicle body, be wherein respectively arranged with in the left and right sides of described scooter: left and right driving wheel 6; Left and right universal wheel 7; And left and right pressure sensor 3; Left and right pressure sensor 3 is connected to controller 4 respectively, and controller 4 is connected to battery 5 and left and right driving wheel 6.
After people steps on pedal 2, the pressure sensor 3 that pedal 2 is installed below can sense, it sends signal to controller 4, and controller 4 connects driving wheel 6, and driving wheel 6 is rotated forward, thus drives people's walking.Battery 5 connection control device 4 and driving wheel 6, for system provides energy, and be configured to pluggable form, be convenient for carrying and change.
With reference to Fig. 2, have two-way to drive the motor driven respectively in two driving wheels 6 inside controller 4, the signal of controller 4 CD-ROM drive motor exports according to the signal being exactly pressure sensor 3.Body weight due to people is that left and right is roughly the same, so the signal magnitude that two, left and right pressure sensor 3 induces also is roughly the same, if and inside controller 4, be provided with left and right pressure difference value (this difference is set to SP) in certain scope, then do not think human body inclination deliberately.If time drivers does not deliberately go the centre of body weight of oneself toward which limit to tilt like this, scooter is kept straight on.
Want to turn when standing in the driver on scooter, beyond he can want the centre of body weight of oneself deflection to turn himself (namely pin step on heavy a bit another pin step on light a bit), so, two pressure sensors 3 can produce two different signal SL and SN.These two different signal SL and SN are input to inside single-chip microcomputer, and then do subtraction process again after these two signals conversions, i.e. SL-SN, gets SL-SN=ST.
Then have: as ST>0 and | ST|>SP, i.e. SL>SN, then Single-chip Controlling left side driving wheel slow down, the right driving wheel accelerate, from realization turn left.And | ST| is larger, and what turn is also faster.
As ST<0 and | ST|>SP, i.e. SL<SN, then Single-chip Controlling left side driving wheel accelerate, the right driving wheel slow down, thus realize turn right.And the absolute value of ST is larger, what turn is also faster.
When human body stops center of gravity tilting time, scooter recovers again to keep straight on.
Refer again to Fig. 1 a, the car body of scooter is provided with driving switch 8 (the car body button corresponding in Fig. 2), and for switching the different speed of a motor vehicle, described gear is divided and is set to 1,2,3 and 4 grade, wherein 1,2,3 grade is set to the corresponding different speed of a motor vehicle, 1 grade of speed is minimum, and 2 grades medium, and 3 grades the highest, and 4 grades are set to weigh shelves, this is owing to having installed pressure sensor 3 above this car body, Gu energy sensed pressure size, uses so this Segway Human Transporter can also work as electronic scale.
Car, in the process travelled, when human body jumps off from car, because car perceives distress resolves, makes driving wheel 6 stop operating and brake automatically.
In addition, described controller 4 is configured with wireless signal receiver, in order to receive the external control signal sent from mobile device.Mobile device comprises remote controller or Bluetooth of mobile phone etc., by external control signal directly control scooter driving, turn to and gear switch.The operation principle of its scooter, with described in above, no longer here to describe more.
According to a second embodiment of the present invention, provide a kind of Segway Human Transporter driving method with pressure sensitive system, comprising:
S1: Initialize installation, to make scooter left and right signal difference zero;
S2: obtain the absolute value respectively by the left and right signal difference of left and right pressure sensor input control device and compare with a preset value;
S3: if described absolute value is greater than 0 and be less than described preset value, then controller controls to drive left and right driving wheel speed equal, realizes scooter and keeps straight on;
S4: if described absolute value is greater than described preset value and left signal is greater than right signal, then controller drives left driving wheel to slow down, and right driving wheel accelerates, and realizes; If described absolute value is greater than described preset value and left signal is less than right signal, then controller drives left driving wheel to accelerate, and right driving wheel slows down, and realizes turning right.
In addition, described step S1 is also configurable for realizing function of weighing.With reference to Fig. 1 a, the lower driving switch 8 of car dead ship condition switches to 4 grades (shelves of weighing), and then the object that will weigh (or people) is put on the footrests, the controller on car can calculate weight.Then the mobile device (mobile phone or other devices) being wirelessly sent to outside shows.
More than that better enforcement of the present invention is illustrated, but the invention is not limited to described embodiment, those of ordinary skill in the art also can make all equivalent variations or replacement under the prerequisite without prejudice to spirit of the present invention, and these equivalent modification or replacement are all included in the application's claim limited range.
Unless required step needs the input produced by preceding step, otherwise the particular order of step described herein is only for exemplary illustration, and unrestricted.
Claims (10)
1. the Segway Human Transporter with pressure sensitive system, it is characterized in that, comprise scooter car body, pedal, the left and right driving wheel of scooter front end and the left and right universal wheel of rear end, also comprise the left and right pressure sensor, controller and the battery that are arranged on vehicle body, be wherein respectively arranged with in the left and right sides of described scooter: left and right driving is taken turns; Left and right universal wheel; And left and right pressure sensor; Left and right pressure sensor is connected to controller respectively, and controller is connected to battery and left and right driving wheel.
2. a kind of Segway Human Transporter with pressure sensitive system according to claim 1, is characterized in that, described controller is configured with two-way and drives, and drives left and right driving wheel respectively, and controls two-way driver output in the following manner:
A: obtain the absolute value respectively by the left and right signal difference of left and right pressure sensor input control device and compare with a preset value;
B: if described absolute value is greater than 0 and be less than described preset value, then controller controls to drive left and right driving wheel speed equal, realizes scooter and keeps straight on;
C: if described absolute value is greater than described preset value and left signal is greater than right signal, then controller drives left driving wheel to slow down, and right driving wheel accelerates, and realizes; If described absolute value is greater than described preset value and left signal is less than right signal, then controller drives left driving wheel to accelerate, and right driving wheel slows down, and realizes turning right.
3. a kind of Segway Human Transporter with pressure sensitive system according to claim 1, it is characterized in that, described cell arrangement is plug form, so that carry and change.
4. a kind of Segway Human Transporter with pressure sensitive system according to claim 1, it is characterized in that, described car body is also configured with a driving switch, arranges different gears, to realize the different speed of a motor vehicle by switching described driving switch.
5. a kind of Segway Human Transporter with pressure sensitive system according to claim 4, is characterized in that, described gear is divided and is set to 1,2,3 and 4 grade, and wherein 1,2,3 grade is set to the corresponding different speed of a motor vehicle, and 4 grades are set to shelves of weighing.
6. a kind of Segway Human Transporter with pressure sensitive system according to claim 1, it is characterized in that, described controller is configured with wireless signal receiver, in order to receive the external control signal sent from mobile device.
7. a kind of Segway Human Transporter with pressure sensitive system according to claim 6, is characterized in that, described mobile device is remote controller or mobile phone.
8. a kind of Segway Human Transporter with pressure sensitive system according to claim 6, is characterized in that, described external control signal control to comprise scooter driving, turn to and gear switch.
9., with a driving method for the Segway Human Transporter of pressure sensitive system, for driving Segway Human Transporter according to claim 1, it is characterized in that, comprising step:
S1: Initialize installation, to make scooter left and right signal difference zero;
S2: obtain the absolute value respectively by the left and right signal difference of left and right pressure sensor input control device and compare with a preset value;
S3: if described absolute value is greater than 0 and be less than described preset value, then controller controls to drive left and right driving wheel speed equal, realizes scooter and keeps straight on;
S4: if described absolute value is greater than described preset value and left signal is greater than right signal, then controller drives left driving wheel to slow down, and right driving wheel accelerates, and realizes; If described absolute value is greater than described preset value and left signal is less than right signal, then controller drives left driving wheel to accelerate, and right driving wheel slows down, and realizes turning right.
10. the driving method of a kind of Segway Human Transporter with pressure sensitive system according to claim 9, is characterized in that, described step S1 is also configurable for realizing function of weighing.
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| CN105381593A (en) * | 2015-12-29 | 2016-03-09 | 程恩广 | Gravity sensing scooter |
| CN105727547A (en) * | 2016-02-26 | 2016-07-06 | 汪灵敏 | Electric skateboard based on pressure induction control mode |
| CN106975798A (en) * | 2017-05-11 | 2017-07-25 | 钦州学院 | Pincers worker filing surface posture-correcting unit |
| CN107890660A (en) * | 2017-12-18 | 2018-04-10 | 北京美思安科技有限公司 | A kind of anti-skidding guard method of Segway Human Transporter, control method, apparatus and system |
| CN108407944A (en) * | 2018-01-16 | 2018-08-17 | 广州乐比计算机有限公司 | A kind of four-wheel body-sensing vehicle control method and four-wheel body-sensing vehicle |
| CN108434709A (en) * | 2018-06-05 | 2018-08-24 | 北京小米移动软件有限公司 | Skateboard control method and slide plate |
| CN108479048A (en) * | 2018-04-28 | 2018-09-04 | 纳恩博（北京）科技有限公司 | A kind of control method, skidding equipment and storage medium |
| CN108721860A (en) * | 2017-04-18 | 2018-11-02 | 鲁苑凯 | Dynamometry fist target |
| CN110893892A (en) * | 2018-09-12 | 2020-03-20 | 杭州骑客智能科技有限公司 | Somatosensory scooter and control method thereof |
| CN113164809A (en) * | 2018-11-29 | 2021-07-23 | 金抗来 | Electric scooter |
| CN114832362A (en) * | 2022-04-21 | 2022-08-02 | 浙江九为电子科技有限公司 | Electric skateboard control method, control device therefor, and electric skateboard |
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| CN110893892A (en) * | 2018-09-12 | 2020-03-20 | 杭州骑客智能科技有限公司 | Somatosensory scooter and control method thereof |
| CN113164809A (en) * | 2018-11-29 | 2021-07-23 | 金抗来 | Electric scooter |
| CN114832362A (en) * | 2022-04-21 | 2022-08-02 | 浙江九为电子科技有限公司 | Electric skateboard control method, control device therefor, and electric skateboard |
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