CN113753164A - Motion sensing vehicle operation control system and method - Google Patents

Motion sensing vehicle operation control system and method Download PDF

Info

Publication number
CN113753164A
CN113753164A CN202111045128.6A CN202111045128A CN113753164A CN 113753164 A CN113753164 A CN 113753164A CN 202111045128 A CN202111045128 A CN 202111045128A CN 113753164 A CN113753164 A CN 113753164A
Authority
CN
China
Prior art keywords
pedal
rotation angle
relative
angle
detection module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111045128.6A
Other languages
Chinese (zh)
Inventor
高强
王永涛
朱红标
杨磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Bright Intelligent Control Technology Co ltd
Original Assignee
Shenzhen Bright Intelligent Control Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Bright Intelligent Control Technology Co ltd filed Critical Shenzhen Bright Intelligent Control Technology Co ltd
Priority to CN202111045128.6A priority Critical patent/CN113753164A/en
Publication of CN113753164A publication Critical patent/CN113753164A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/415—Inclination sensors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Control Devices (AREA)

Abstract

The invention discloses a system and a method for controlling motion sensing vehicle operation, wherein the control system comprises: the device comprises a control module, a first angle detection module, a second angle detection module and a third angle detection module; the somatosensory vehicle comprises a power wheel assembly arranged at one end of a vehicle body, a driven wheel assembly arranged at the other end of the vehicle body and a pedal assembly arranged on the vehicle body; the pedal assembly comprises a first pedal and a second pedal which can rotate relative to the plane of the vehicle body; the first driving motor and the second driving motor of the power wheel assembly are respectively and electrically connected with the control module; the first angle detection module is electrically connected with the control module and is used for detecting and feeding back a first rotation angle of the first pedal relative to a horizontal plane; the second angle detection module is electrically connected with the control module and is used for detecting and feeding back a second rotation angle of the second pedal relative to the horizontal plane; the third angle detection module is electrically connected with the control module and is used for detecting and feeding back a third rotation angle of the vehicle body relative to the horizontal plane.

Description

Motion sensing vehicle operation control system and method
Technical Field
The embodiment of the invention relates to the field of motion sensing vehicles, in particular to a system and a method for controlling motion sensing vehicle operation.
Background
The somatosensory vehicle or the balance vehicle in the prior art is complex in structure, is limited by road conditions when climbing a slope or descending a slope due to the limitation of a vehicle body structure and a control method, and cannot be effectively accelerated and decelerated.
Disclosure of Invention
Therefore, the embodiment of the invention provides a system and a method for controlling the operation of a motion sensing vehicle, so as to solve the problems that the motion sensing vehicle or a balance vehicle in the prior art is complex in structure, is limited by road conditions when climbing a slope or descending a slope, and cannot effectively accelerate and decelerate.
In order to achieve the above object, an embodiment of the present invention provides the following:
in one aspect of an embodiment of the present invention, there is provided a control system for motion sensing vehicle operation, including:
the device comprises a control module, a first angle detection module, a second angle detection module and a third angle detection module;
the somatosensory vehicle comprises a power wheel assembly arranged at one end of a vehicle body, a driven wheel assembly arranged at the other end of the vehicle body and a pedal assembly;
the pedal assembly comprises a first pedal and a second pedal which can rotate relative to the plane of the vehicle body;
the first driving motor and the second driving motor of the power wheel assembly are respectively and electrically connected with the control module;
the first angle detection module is electrically connected with the control module and is used for detecting and feeding back a first rotation angle of the first pedal relative to a horizontal plane;
the second angle detection module is electrically connected with the control module and is used for detecting and feeding back a second rotation angle of the second pedal relative to the horizontal plane;
and the third angle detection module is electrically connected with the control module and is used for detecting and feeding back a third rotation angle of the vehicle body relative to a horizontal plane.
Further, the first angle detection module, the second angle detection module and the third angle detection module are gyroscopes, hall sensors or pressure sensors.
Further, the control module is configured to control torque output of the first drive motor and the second drive motor based on the first rotational angle, the second rotational angle, and the third rotational angle.
Further, the control module is configured to:
controlling the torque output of the first driving motor according to the difference value of the first rotation angle relative to the third rotation angle;
and controlling the torque output of the second driving motor according to the difference value of the second rotation angle relative to the third rotation angle.
Further, the pedal assembly includes a first pedal assembly and a second pedal assembly, the first pedal assembly further including:
the base is fixedly arranged with the vehicle body;
the rotating shaft assembly is arranged between the base and the first pedal, and comprises a rotating shaft seat arranged on the base and a rotating shaft matched with the rotating shaft seat, the rotating shaft can rotate relative to the rotating shaft seat, and the bottom of the first pedal is fixed with the rotating shaft;
the elastic piece is arranged between the first pedal and the base, the top of the elastic piece is connected with the bottom of the first pedal, and the bottom of the elastic piece is connected with the base;
the gyroscope for detecting the rotation angle of the first pedal relative to the horizontal plane is arranged on the surface of the main body of the first pedal.
In an aspect of the embodiment of the present invention, there is also provided a method for controlling motion sensing vehicle operation, including:
step 1: acquiring a first rotation angle of a first pedal relative to a horizontal plane;
step 2: acquiring a second rotation angle of the second pedal relative to the horizontal plane;
and step 3: acquiring a third rotation angle of the vehicle body relative to the horizontal plane;
and 4, step 4: and controlling a first driving motor and a second driving motor of the somatosensory vehicle to rotate according to the first rotating angle, the second rotating angle and the third rotating angle.
Further, the step 4 specifically includes:
step 4-1: controlling the torque output of the first driving motor according to the difference value of the first rotation angle relative to the third rotation angle;
step 4-2: and controlling the torque output of the second driving motor according to the difference value of the second rotation angle relative to the third rotation angle.
Further, when the difference value of the first rotation angle relative to the third rotation angle is larger, the output torque of the first driving motor for driving the first wheel is controlled to be larger;
and when the difference value of the second rotation angle relative to the third rotation angle is larger, the output torque of the second driving motor for driving the second wheel is controlled to be larger.
In an aspect of the embodiment of the present invention, a computer-readable storage medium is further provided, where the computer storage medium contains one or more program instructions, and the one or more program instructions are used by a control system for motion sensing vehicle operation to execute the control method for motion sensing vehicle operation described above.
In an aspect of the embodiment of the present invention, there is also provided a method for controlling an operation of a single-pedal motion sensing vehicle, including:
acquiring a first rotation angle of the single pedal relative to a horizontal plane;
acquiring a second corner of the vehicle body of the single-pedal somatosensory vehicle relative to a horizontal plane;
and controlling a first driving wheel motor and a second driving wheel motor of the single-pedal body sensing vehicle to rotate according to the difference value of the first rotating angle and the second rotating angle.
Further, the control method for the operation of the single-pedal motion sensing vehicle further comprises the following steps:
acquiring a steering signal triggered by an operator;
and controlling a first driving wheel motor and a second driving wheel motor of the single-pedal body sensing vehicle to output different torques.
The embodiment of the invention has the following advantages:
the embodiment of the invention discloses a system and a method for controlling operation of a body sensing vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions for implementing the present invention, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the functions and purposes of the present invention, should still fall within the scope covered by the contents disclosed in the present invention.
Fig. 1 is a schematic flow chart of a method for controlling motion sensing vehicle operation according to an embodiment of the present invention;
fig. 2 is a schematic overall structure diagram of a motion sensing vehicle according to an embodiment of the present invention;
fig. 3 is a schematic partial structure diagram of a motion sensing vehicle according to an embodiment of the present invention;
fig. 4 is another partial schematic structural diagram of a motion sensing vehicle according to an embodiment of the present invention.
In the figure: 10-vehicle body, 21-first wheel, 22-second wheel, 30-first pedal assembly, 31-first pedal, 32-base, 33-rotating shaft seat, 34-rotating shaft, 35-elastic piece, 36-angle limiting block, 361-buffer pad, 51-universal wheel, 61-supporting rod, 62-cushion, 71-baffle, 72-armrest and 73-knee pad.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the present specification, the terms "upper", "lower", "left", "right", "middle", and the like are used for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications in the relative relationship may be made without substantial changes in the technical content.
Examples
Referring to fig. 1, 2, 3, and 4, an embodiment of the present invention provides a motion sensing vehicle operation control system, including: the device comprises a control module, a first angle detection module, a second angle detection module and a third angle detection module.
As shown in fig. 2, the motion sensing vehicle includes a power wheel assembly disposed at one end of the vehicle body 10, a driven wheel assembly disposed at the other end of the vehicle body 10, and a pedal assembly, and optionally, the pedal assembly is disposed on the vehicle body (10) or a driving motor of the motion sensing vehicle. The pedal assembly includes a first pedal 31 and a second pedal that are rotatable relative to the plane of the vehicle body 10. And the first driving motor and the second driving motor of the power wheel assembly are respectively electrically connected with the control module. The first angle detection module is electrically connected with the control module and detects and feeds back a first rotation angle of the first pedal 31 relative to a horizontal plane. The second angle detection module is electrically connected with the control module and is used for detecting and feeding back a second rotation angle of the second pedal relative to the horizontal plane. The third angle detection module is electrically connected with the control module and is used for detecting and feeding back a third rotation angle of the vehicle body 10 relative to the horizontal plane.
As shown in fig. 2 and 3, the pedal assembly of the present invention includes a first pedal assembly 30 and a second pedal assembly. The first drive motor is connected to drive the first wheel 21 and the second drive motor is connected to drive the second wheel 22.
Optionally, the first angle detection module, the second angle detection module and the third angle detection module are all gyroscopes, hall sensors or pressure sensors.
Wherein the control module is configured to control torque output of the first drive motor and the second drive motor based on the first rotational angle, the second rotational angle, and the third rotational angle.
Specifically, the control module is configured to:
and controlling the torque output of the first driving motor according to the difference value of the first rotation angle relative to the third rotation angle. And controlling the torque output of the second driving motor according to the difference value of the second rotation angle relative to the third rotation angle. Therefore, by adopting the control system and the control method of the invention, inaccuracy caused by road condition change of the rotation angle of the pedal relative to the plane of the vehicle body 10, which is acquired by the control module, can be avoided. For example, when ascending a slope, the vehicle body 10 tilts up to cause angular rotation between the pedals and the plane of the vehicle body 10, and the influence of the climbing can be eliminated by detecting the included angle between the pedals and the vehicle body 10 with respect to the horizontal plane and subtracting the climbing angle of the vehicle body 10. Similarly, the same operation is adopted when the slope descends.
As shown in fig. 3 and 4, the first pedal assembly 30 further includes: a base 32, a spindle assembly and a resilient member 35.
Specifically, the base 32 is fixedly disposed with the vehicle body 10, and in the embodiment of the present invention, a groove is disposed on the vehicle body 10, and the base 32 is mounted in the groove.
The rotating shaft assembly is arranged between the base 32 and the first pedal 31 and comprises a rotating shaft seat 33 arranged on the base 32 and a rotating shaft 34 matched with the rotating shaft seat 33, the rotating shaft 34 can rotate relative to the rotating shaft seat 33, and the bottom of the first pedal 31 is fixed with the rotating shaft 34.
Elastic member 35 is disposed between first step 31 and base 32, the top of elastic member 35 is connected to the bottom of first step 31, and the bottom of elastic member 35 is connected to base 31. Optionally, the number of the elastic members 35 is multiple, the elastic members 35 are springs, and due to the limitation of the springs, when the rotation angle of the first pedal 31 reaches the limit value of the springs, the first pedal 31 cannot rotate any more, and the springs also limit the range of the rotation angle of the first pedal 31.
Further, as shown in fig. 3, the first pedal assembly 30 further includes: an angle limiting block 36. An angle stopper 36 is disposed between the base 32 and the first step 31 for limiting a forward or backward rotation angle of the first step 31. Optionally, the angle stopper assembly 36 is a cube block disposed below the first pedal 31, and due to the edge limitation of the cube block, when the first pedal 31 is rotated to a certain angle, it cannot be rotated downward, and thus, the limitation is performed.
As shown in fig. 2, the driven wheel assembly includes a universal wheel 51, and the universal wheel 51 is rotatably connected to the vehicle body 10.
The somatosensory vehicle shown in fig. 2 further comprises: a support bar 61 with adjustable length and a cushion 62. The support bar 61 is provided on the vehicle body 10 between the pedal assembly and the power wheel assembly. The seat cushion 62 is provided on top of the support bar 61.
The somatosensory vehicle shown in fig. 2 further comprises: a barrier 71, a handrail 72 and a knee pad 73. A barrier 71 is provided on the vehicle body 10 between the pedal assembly and the driven wheel assembly. The handrail 72 is disposed on top of the baffle 71. Wherein, a knee protection pad 73 is arranged on the side wall of the baffle plate 71 close to the pedal assembly.
As shown in fig. 1, an embodiment of the present invention further provides a method for controlling operation of a motion sensing vehicle, including: step 1: a first rotation angle of the first pedal 31 with respect to the horizontal plane is acquired.
Step 2: and acquiring a second rotation angle of the second pedal relative to the horizontal plane.
And step 3: a third rotation angle of the vehicle body 10 with respect to the horizontal plane is acquired.
And 4, step 4: and controlling a first driving motor and a second driving motor of the somatosensory vehicle to rotate according to the first rotating angle, the second rotating angle and the third rotating angle.
Wherein, the step 4 is specifically as follows:
step 4-1: controlling the torque output of the first driving motor according to the difference value of the first rotation angle relative to the third rotation angle; step 4-2: and controlling the torque output of the second driving motor according to the difference value of the second rotation angle relative to the third rotation angle.
In the embodiment of the invention, the larger the difference of the first rotation angle with respect to the third rotation angle, the larger the output torque of the first drive motor that controls to drive the first wheel 21.
The larger the difference between the second rotation angle and the third rotation angle, the larger the output torque of the second drive motor that controls to drive the second wheel 22.
The embodiment of the invention also provides a computer-readable storage medium, wherein the computer storage medium contains one or more program instructions, and the one or more program instructions are used for a control system for the operation of the somatosensory vehicle to execute the control method for the operation of the somatosensory vehicle.
In another embodiment of the present invention, a method for controlling an operation of a single-pedal motion sensing vehicle is further provided, including:
acquiring a first rotation angle of the single pedal relative to a horizontal plane;
acquiring a second corner of the vehicle body of the single-pedal somatosensory vehicle relative to a horizontal plane;
and controlling a first driving wheel motor and a second driving wheel motor of the single-pedal body sensing vehicle to rotate according to the difference value of the first rotating angle and the second rotating angle. And controlling the torque output by the first driving wheel motor and the torque output by the second driving wheel motor to be consistent according to the difference value of the two rotation angles.
Further, the control method for the operation of the single-pedal motion sensing vehicle further comprises the following steps:
acquiring a steering signal triggered by an operator;
and controlling a first driving wheel motor and a second driving wheel motor of the single-pedal body sensing vehicle to output different torques, so that the steering of the single-pedal body sensing vehicle is realized.
The invention discloses a control method for the running of a single-pedal body-sensing vehicle, and discloses control operation aiming at two motors when the body-sensing vehicle runs linearly and turns when a three-wheel or four-wheel body-sensing vehicle only has one pedal.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (10)

1. The utility model provides a control system who feels car operation which characterized in that includes:
the device comprises a control module, a first angle detection module, a second angle detection module and a third angle detection module;
the somatosensory vehicle comprises a power wheel assembly arranged at one end of a vehicle body (10), a driven wheel assembly arranged at the other end of the vehicle body (10) and a pedal assembly;
the pedal assembly comprises a first pedal (31) and a second pedal which can rotate relative to the plane of the vehicle body (10);
the first driving motor and the second driving motor of the power wheel assembly are respectively and electrically connected with the control module;
the first angle detection module is electrically connected with the control module and is used for detecting and feeding back a first rotation angle of the first pedal (31) relative to a horizontal plane;
the second angle detection module is electrically connected with the control module and is used for detecting and feeding back a second rotation angle of the second pedal relative to the horizontal plane;
the third angle detection module is electrically connected with the control module and is used for detecting and feeding back a third rotation angle of the vehicle body (10) relative to the horizontal plane;
the control module is configured to control torque output of the first drive motor and the second drive motor based on the first rotational angle, the second rotational angle, and the third rotational angle.
2. The control system of claim 1,
the first angle detection module, the second angle detection module and the third angle detection module are gyroscopes, Hall sensors or pressure sensors.
3. The control system of claim 2, wherein the control module is configured to:
controlling the torque output of the first driving motor according to the difference value of the first rotation angle relative to the third rotation angle;
and controlling the torque output of the second driving motor according to the difference value of the second rotation angle relative to the third rotation angle.
4. The control system of claim 1, wherein the pedal assembly includes a first pedal assembly and a second pedal assembly, the first pedal assembly further comprising:
a base (32) fixed to the vehicle body (10);
the rotating shaft assembly is arranged between the base (32) and the first pedal (31), and comprises a rotating shaft seat (33) arranged on the base (32) and a rotating shaft (34) matched with the rotating shaft seat (33), the rotating shaft (34) can rotate relative to the rotating shaft seat (33), and the bottom of the first pedal (31) is fixed with the rotating shaft (34);
an elastic member (35) disposed between the first pedal (31) and the base (32), wherein the top of the elastic member (35) is connected with the bottom of the first pedal (31), and the bottom of the elastic member (35) is connected with the base (31);
wherein a gyroscope for detecting the rotation angle of the first pedal (31) relative to the horizontal plane is arranged on the surface of the body of the first pedal (31).
5. A control method for motion sensing vehicle operation is characterized by comprising the following steps:
step 1: acquiring a first rotation angle of a first pedal (31) relative to a horizontal plane;
step 2: acquiring a second rotation angle of the second pedal relative to the horizontal plane;
and step 3: acquiring a third rotation angle of the vehicle body (10) relative to the horizontal plane;
and 4, step 4: and controlling a first driving motor and a second driving motor of the somatosensory vehicle to rotate according to the first rotating angle, the second rotating angle and the third rotating angle.
6. The control method according to claim 5, wherein the step 4 is specifically:
step 4-1: controlling the torque output of the first driving motor according to the difference value of the first rotation angle relative to the third rotation angle;
step 4-2: and controlling the torque output of the second driving motor according to the difference value of the second rotation angle relative to the third rotation angle.
7. The control method according to claim 5,
controlling the output torque of the first driving motor driving the first wheel (21) to be larger when the difference value of the first rotation angle relative to the third rotation angle is larger;
when the difference value of the second rotation angle relative to the third rotation angle is larger, the output torque of the second driving motor for driving the second wheel (22) is controlled to be larger.
8. A computer readable storage medium containing one or more program instructions for executing, by a somatosensory vehicle operation control system, the somatosensory vehicle operation control method according to any one of claims 5-7.
9. The utility model provides a control method that car operation is felt to single footboard, its characterized in that includes: acquiring a first rotation angle of the single pedal relative to a horizontal plane;
acquiring a second corner of the vehicle body of the single-pedal somatosensory vehicle relative to a horizontal plane;
and controlling a first driving wheel motor and a second driving wheel motor of the single-pedal body sensing vehicle to rotate according to the difference value of the first rotating angle and the second rotating angle.
10. The method for controlling the operation of the single-pedal motion sensing vehicle according to claim 9, further comprising:
acquiring a steering signal triggered by an operator;
and controlling a first driving wheel motor and a second driving wheel motor of the single-pedal body sensing vehicle to output different torques.
CN202111045128.6A 2021-09-07 2021-09-07 Motion sensing vehicle operation control system and method Pending CN113753164A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111045128.6A CN113753164A (en) 2021-09-07 2021-09-07 Motion sensing vehicle operation control system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111045128.6A CN113753164A (en) 2021-09-07 2021-09-07 Motion sensing vehicle operation control system and method

Publications (1)

Publication Number Publication Date
CN113753164A true CN113753164A (en) 2021-12-07

Family

ID=78793547

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111045128.6A Pending CN113753164A (en) 2021-09-07 2021-09-07 Motion sensing vehicle operation control system and method

Country Status (1)

Country Link
CN (1) CN113753164A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114872820A (en) * 2022-06-24 2022-08-09 深圳市怡康乐科技有限公司 Limit scooter
CN115863090A (en) * 2022-12-21 2023-03-28 以诺康医疗科技（苏州）有限公司 Foot switch

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105730574A (en) * 2016-02-03 2016-07-06 深圳市高斯拓普科技有限公司 Pedal connecting mechanism and electric balanceable scooter employing same
CN205499186U (en) * 2016-01-14 2016-08-24 常州爱尔威智能科技有限公司 Electrodynamic balance car
CN106275170A (en) * 2016-08-29 2017-01-04 李丽芳 Attitude car
CN106892039A (en) * 2017-03-09 2017-06-27 深圳市亮点智控科技有限公司 Self balancing device and electric vehicle
CN206813194U (en) * 2017-03-09 2017-12-29 深圳市亮点智控科技有限公司 Two wheel scooters
CN207000688U (en) * 2017-04-25 2018-02-13 深圳市动平衡科技有限公司 Electronic posture car
CN108016550A (en) * 2017-11-15 2018-05-11 深圳市卓越智尚科技有限公司 A kind of scooter that course changing control is carried out based on potentiometer
US20180148120A1 (en) * 2016-11-25 2018-05-31 Better Wheels, Llc. Balancing vehicle
WO2018161947A1 (en) * 2017-03-09 2018-09-13 深圳市亮点智控科技有限公司 Self-balancing device, electric vehicle, posture vehicle, manned trunk and two-wheeled skateboard
CN108891517A (en) * 2018-07-18 2018-11-27 深圳市亮点智控科技有限公司 Body-sensing vehicle and electric vehicle
CN209833887U (en) * 2019-02-25 2019-12-24 深圳市动平衡科技有限公司 Balance car auxiliary bracket
CN213735366U (en) * 2020-10-20 2021-07-20 深圳车泰斗科技有限公司 Double-wheel balance vehicle with steering controlled by foot pedal

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205499186U (en) * 2016-01-14 2016-08-24 常州爱尔威智能科技有限公司 Electrodynamic balance car
CN105730574A (en) * 2016-02-03 2016-07-06 深圳市高斯拓普科技有限公司 Pedal connecting mechanism and electric balanceable scooter employing same
CN106275170A (en) * 2016-08-29 2017-01-04 李丽芳 Attitude car
US20180148120A1 (en) * 2016-11-25 2018-05-31 Better Wheels, Llc. Balancing vehicle
CN106892039A (en) * 2017-03-09 2017-06-27 深圳市亮点智控科技有限公司 Self balancing device and electric vehicle
CN206813194U (en) * 2017-03-09 2017-12-29 深圳市亮点智控科技有限公司 Two wheel scooters
WO2018161947A1 (en) * 2017-03-09 2018-09-13 深圳市亮点智控科技有限公司 Self-balancing device, electric vehicle, posture vehicle, manned trunk and two-wheeled skateboard
CN207000688U (en) * 2017-04-25 2018-02-13 深圳市动平衡科技有限公司 Electronic posture car
CN108016550A (en) * 2017-11-15 2018-05-11 深圳市卓越智尚科技有限公司 A kind of scooter that course changing control is carried out based on potentiometer
CN108891517A (en) * 2018-07-18 2018-11-27 深圳市亮点智控科技有限公司 Body-sensing vehicle and electric vehicle
CN209833887U (en) * 2019-02-25 2019-12-24 深圳市动平衡科技有限公司 Balance car auxiliary bracket
CN213735366U (en) * 2020-10-20 2021-07-20 深圳车泰斗科技有限公司 Double-wheel balance vehicle with steering controlled by foot pedal

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114872820A (en) * 2022-06-24 2022-08-09 深圳市怡康乐科技有限公司 Limit scooter
CN114872820B (en) * 2022-06-24 2023-08-25 深圳市怡康乐科技有限公司 Limit scooter
CN115863090A (en) * 2022-12-21 2023-03-28 以诺康医疗科技（苏州）有限公司 Foot switch
CN115863090B (en) * 2022-12-21 2023-10-13 以诺康医疗科技（苏州）有限公司 Foot switch

Similar Documents

Publication Publication Date Title
US8285474B2 (en) Vehicle
CN101687528B (en) Vehicle
US8016060B2 (en) Vehicle
CN113753164A (en) Motion sensing vehicle operation control system and method
CN104494750B (en) A kind of self-balancing two-wheeled vehicle
CN104494749B (en) A kind of electronic self-balancing type two-wheel car
EP3184406A1 (en) Two-wheel electric vehicle
CN101772436A (en) Vehicle
WO2010116641A1 (en) Vehicle
CN105346651B (en) Electric balance car
CN105416484B (en) electric balance car
KR101663676B1 (en) Apparatus for protecting a slip of electric-scooter and controlmethod thereof
JP2012153349A (en) Vehicle
WO2022059714A1 (en) Two-wheeled vehicle
CN205589405U (en) Balance car
CN104527878B (en) Self-balancing electric double-wheel vehicle
CN112124481A (en) Novel electrodynamic balance car of two-wheeled
CN216374833U (en) Vehicle body
JP5110416B2 (en) vehicle
CN213502746U (en) Novel electrodynamic balance car of two-wheeled
CN113771996A (en) Vehicle body
CN205345226U (en) Electronic wheel barrow of self -balancing with auxiliary wheel
CN208248336U (en) A kind of coaxial two wheels robot with multi-motion modes
CN206563577U (en) Compass in ancient China turntable
CN219651333U (en) Chassis device of somatosensory vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20211207