CN115892317A

CN115892317A - Vehicle contact detection control system

Info

Publication number: CN115892317A
Application number: CN202211618333.1A
Authority: CN
Inventors: 颜俊; 李由诚; 胡新涛; 徐恩惠
Original assignee: Zhejiang Qike Robot Technology Co ltd
Current assignee: Zhejiang Qike Robot Technology Co ltd
Priority date: 2022-12-15
Filing date: 2022-12-15
Publication date: 2023-04-04

Abstract

The application relates to a vehicle contact detection control system, which comprises a handle rod, a touch control induction module arranged on the handle rod, a controller and an electric drive module, wherein the touch control detection module comprises a detection switch, the electric drive module comprises a drive motor connected with wheels, and the touch control induction module is used for sending a trigger signal to the controller when detecting that a preset trigger action is executed on the touch control induction module from the outside; the controller is used for executing a preset operation mode after receiving a trigger signal sent by the touch detection module, wherein the preset operation mode comprises a power-assisted mode and/or a riding mode, and under the power-assisted mode, the controller controls the electric drive module to enable the vehicle to operate at a preset speed. The scheme is additionally provided with a power-assisted mode, and power is provided through the motor in the power-assisted mode; and providing contact detection at a specific location of the vehicle to trigger the boost mode to facilitate towing of the vehicle.

Description

Vehicle contact detection control system

Technical Field

The invention relates to the field of vehicle control, in particular to a vehicle contact detection control system.

Background

The electric balance car (or balance car) in the prior art only has a single riding mode, namely, the electric balance car controls straight running and turning by detecting posture change of a user, or controls straight running by a car body, and then controls the turning of the car by adjusting a steering rod through legs or hands. The balance car is different from a scooter and an electric bicycle, the balance car at least needs the human body posture to control the advancing and retreating of the car body, and the self-balance of the car body is realized through the output of the driving motor. Therefore, the steering rod in the prior art is generally only used for operating the turning of the balance car or further operating the forward and backward movement of the balance car by means of a button or a rocker. When the user needs to pull or drag, for example, the user is difficult to ride normally, or the body feeling of riding is not good, or the riding risk is high on an uphill road section, or the user carries a child with the balance car for a long time to walk, the existing balance car wastes time and labor, and the safety is low. In particular, the balance car with the steering rod turning through the leg operation usually needs a user to bend down to lift the whole balance car to pass through the road section because the leg control sensing position is low, or the balance car steering rod is controlled to advance through the road section by bending down. It is laborious, time-consuming and inconvenient to bend over. When the manual control steering rod balance car with higher height meets the requirement of dragging by a user, the balance car is difficult to drag if the balance car is in an uphill road section because the user can be in front of the car, and if a car riding mode is started, on one hand, for the riding safety of the balance car, most of the balance cars need to stand on the car to trigger when the balance car runs straight, and the riding safety of the balance car can not be guaranteed if the balance car normally stands on the balance car; on the other hand, the existing steering rod of the balance car only has a steering operation function and does not have a function of controlling forward and backward movement, and if the balance car is operated by a button or a rocker to move forward and backward, a tractor is positioned in the front or the front side of the car, so that the control is difficult and the control is difficult.

Disclosure of Invention

In order to solve the above problems, an object of the present invention is to provide a vehicle contact detection control system, which adds a power-assisted mode in which power is provided by a motor; and providing contact detection at a specific location of the vehicle to trigger the boost mode to facilitate towing of the vehicle.

In order to achieve the purpose, the invention adopts the following technical scheme:

a vehicle contact detection control system comprises a handle bar, a touch sensing module arranged on the handle bar, a controller and a motor driving module, wherein the touch sensing module comprises a detection switch, the motor driving module comprises a driving motor connected with wheels,

the touch sensing module is used for sending a trigger signal to the controller when detecting that a preset trigger action is executed on the touch sensing module from the outside;

the controller is used for executing a preset operation mode after receiving a trigger signal sent by the touch sensing module, wherein the preset operation mode comprises a power-assisted mode, and the controller controls the motor driving module to enable the vehicle to operate at a preset speed in the power-assisted mode.

Preferably, the handle bar comprises a steering wheel, and the touch sensing module is arranged on the steering wheel.

Preferably, the touch sensing module includes an induction coil, and the induction coil surrounds the entire steering wheel from the inside of the steering wheel.

Preferably, the preset trigger action is an action of touching the steering wheel, the touch sensing module continuously detects the preset trigger action from the outside after sending the trigger signal, and sends an end signal to the controller after not detecting the preset trigger action; and after receiving the ending signal, the controller controls the vehicle to end the current running mode and controls the motor driving module to stop outputting.

Preferably, the touch sensing module is arranged at a designated position on the steering wheel, and an indication mark is arranged at a corresponding position.

Preferably, the vehicle is a balance car including a riding mode in which a rider gesture is detected by a gesture sensor and a direction and/or acceleration of the vehicle is controlled based on the rider gesture.

Preferably, the controller is further configured to detect a current operating mode of the vehicle, and if the vehicle is currently in a riding mode, the controller maintains the current operating mode after receiving the trigger signal sent by the touch sensing module; otherwise, controlling the vehicle to enter the boosting mode.

Preferably, the vehicle comprises a support frame, a pressure detection device is arranged on the support frame, and the controller controls the vehicle to enter a riding mode after the pressure detection device detects a pressure change signal.

Preferably, the vehicle is provided with an operation mode control switch, and the operation mode control switch is operated in a preset operation mode to control the vehicle to enter a preset operation mode, wherein the preset operation mode comprises a riding mode and a power assisting mode.

Preferably, the vehicle is a straddle type balance car, and comprises a saddle, a group of wheels which are arranged symmetrically left and right, and a steering mechanism connected with a handlebar.

Preferably, in the power-assisted mode, the controller controls the motor driving module to enable the vehicle to run at a preset speed by acquiring a signal of wheel movement detected by a hall sensor in a wheel hub motor of the vehicle.

Optionally, the preset speed is a constant speed.

Optionally, the preset speed is a speed running in a forward direction of the vehicle.

Preferably, a tilt angle detection module is included for detecting a tilt angle of the vehicle body, and the controller controls the motor drive module to output a driving force for balancing the vehicle according to a detection signal of the tilt angle detection module in the assist mode. .

Preferably, the center of gravity of the vehicle is located in a front half portion of the vehicle body, and the vehicle has a self-balancing mode in which the controller controls the motor drive module to output a driving force for tending to balance the vehicle according to the position of the center of gravity of the vehicle.

By adopting the technical scheme, the invention provides a quick operation mode for quickly triggering the vehicle to enter a specific running mode by arranging the touch sensing module, and an additional power-assisted mode is provided, wherein in the power-assisted mode, the motor driving module can drive the vehicle to run at a preset speed, and through setting a reasonable running speed, a user can conveniently and laborsavingly drag the vehicle to go forward in the power-assisted mode.

Drawings

FIG. 1 is a schematic block diagram of a system according to the present application;

FIG. 2 is a schematic control flow diagram of the present application;

fig. 3 is a schematic structural view of the straddle-type balance car according to the embodiment of the present application.

Reference numerals:

the vehicle comprises wheels 1, a support rod 21, a seat rod 22, a steering mechanism 3 and a seat 4.

Detailed Description

The following describes embodiments of the present invention in detail.

As shown in fig. 1-2, the present disclosure provides a vehicle contact detection control system, which includes a handle bar, a touch sensing module disposed on the handle bar, a controller, and a motor driving module, wherein the touch sensing module includes a detection switch, the motor driving module includes a driving motor connected to a wheel,

and after receiving the trigger signal sent by the touch detection module, the controller controls the vehicle to execute a preset operation mode, wherein the preset operation mode comprises a power-assisted mode, and in the power-assisted mode, the controller controls the motor driving module to enable the vehicle to operate at a preset speed.

In one embodiment, the controller controls the driving module to operate the vehicle at a predetermined speed, wherein the predetermined speed may be a constant speed. Alternatively, the controller controls the driving force output from the driving motor according to the degree of inclination of the vehicle body so as to compensate for the different speeds, instead of the constant speed.

Optionally, the controller controls the driving force output by the driving motor according to the degree of inclination of the vehicle body, and includes:

the posture detecting device for detecting the posture of the vehicle body is provided on the vehicle body, and in the embodiment, since the step part can directly reflect the change of the posture of the vehicle body, the posture detecting device is provided on the step part, and the posture detecting device comprises a gyroscope and an angular velocity sensor for detecting the inclination of the step part, and the posture of the vehicle body is reflected by the inclination of the step part. In the power-assisted mode, the controller controls the motor driving module to output driving force for driving the vehicle to tend to be balanced according to the detection result of the attitude detection device, and the driving force drives the vehicle to move at a certain speed. The balancing of the vehicle described in this application means, for example, that when it is detected that the footrest inclination angle is larger than 0 and the vehicle body is inclined to the front side or the rear side, the driving force is output in a direction in which the inclination angle of the vehicle body is 0 °, and the vehicle is displaced forward or backward.

As a preferred embodiment, the controller controls the driving force output from the driving motor according to the degree of inclination of the vehicle body, including:

the vehicle is provided with a self-balancing mode, and the controller controls the motor driving module to output driving force for enabling the vehicle to tend to be balanced according to the position of the vehicle gravity center. Because the gravity center of the vehicle is arranged according to the above, the vehicle tilts forwards without external force, and in a self-balancing mode, the vehicle is driven to move forwards automatically only according to the gravity center of the vehicle without additional triggering.

The self-balancing mode can be self-balancing when the computer is started, and can also be triggered to enter the self-balancing mode through a key. Namely, when the vehicle is parked, the vehicle is started to realize self-balance, and the vehicle directly adjusts the balance vehicle in other states into a balance mode. And in a balance mode of starting self-balancing, if the inclination angle of the pedal is 0, the user is ready to stand for operation. In this mode, if the vehicle handle according to the scheme is long and is controlled by hands, the rod is long and is not parked before self-balancing, and when the vehicle handle is in the self-balancing mode, the rod may run for a long distance, so that a great safety risk exists for people around and nearby. The key is triggered to enter a self-balancing mode, namely, the engine is powered on first, a person can right the balance car, then the key is switched to a power-assisted mode, namely, the self-balancing mode is entered, and the safety risk is low. Further specifically to on striding the formula balance car of riding, the people right the balance car, and the people sits on the saddle, and during the self-balancing, handlebar working distance is littleer, and is safer.

Above-mentioned scheme provides a swift operation mode that triggers the vehicle fast and get into specific operational mode through setting up touch-control response module to the helping hand mode of addding, under the helping hand mode, motor drive module can drive the vehicle and according to presetting speed operation, through setting up its reasonable functioning speed, under the helping hand mode, the laborsaving vehicle that drags that the user can be convenient gos forward. And the touch sensing module is arranged at the handle bar, so that the touch sensing module is positioned at a certain height above the ground, and the operation of a user is facilitated.

Example 1:

the vehicle in this embodiment includes a steering wheel, and the touch-control induction module includes an induction coil, carries out contact detection through induction coil. The induction coil is arranged on the steering wheel, so that contact with the steering wheel can trigger the vehicle to enter a boost mode. Because the power-assisted mode is mainly used for a dragging scene of a vehicle, and according to the habit of a user, the user generally holds the steering wheel to drag the vehicle so as to control the running direction of the vehicle in the dragging process, and therefore the touch sensing module is arranged on the steering wheel to accord with the operation habit of the user.

In an embodiment, the continuous touch contact detection sensor may be configured to maintain the vehicle in the current operating mode, and the vehicle may be configured to exit the current operating mode upon detecting a contact loss with the contact detection sensor. Or, the current operation mode can be maintained after the touch detection sensor is triggered to enter the corresponding operation mode once, and the current operation mode is exited after the ending signal or the operation mode switching signal is received.

In this embodiment, the induction coil surrounds the entire steering wheel from inside the steering wheel. By the arrangement, the trigger action can be detected at any position contacting with the steering wheel, so that the operation of a user is facilitated. In this embodiment, the preset triggering action is an action of touching the steering wheel, and the preset action is used to trigger the vehicle to operate in the power-assisted mode. The touch sensing module continuously detects a preset trigger action from the outside after sending a trigger signal, and sends an end signal to the controller after not detecting the preset trigger action; and after receiving the ending signal, the controller controls the vehicle to end the current running mode and controls the motor driving module to stop outputting. According to the setting, because the user is used to hold the steering wheel to tow the vehicle, the touch control steering wheel is directly used as a preset action for triggering the power-assisted mode, the power-assisted mode is controlled to run in a continuous detection mode, and the operation habit of the user is met.

Example 2:

different from embodiment 1, the touch sensing module in this embodiment is disposed at a designated position on the steering wheel. For example, when the touch sensing module includes an induction coil, the induction coil is wound at a specific position of the steering wheel, and the entire steering wheel is not wound. Preferably, an indication mark is arranged at a position on the steering wheel corresponding to the touch sensing module. Or, the touch sensing module may also be a touch panel disposed at an appointed position of the steering wheel, and the touch panel provides an indication icon to prompt an operation corresponding position to send a touch signal so as to trigger a corresponding operation mode.

In other embodiments, a mechanical switch may be disposed on a steering wheel or other position of the vehicle to control the vehicle to enter the boost mode or other operation modes, and end the current operation mode, or perform mode switching among a plurality of operation modes.

In the embodiment, a vehicle power switch is further arranged, and the touch sensing module, the controller and the motor driving module work and realize corresponding functions under the condition that the power supply is turned on.

Example 3:

the vehicle in the embodiment is a balance vehicle, and the vehicle contact detection control system is applied to the balance vehicle. The operating modes of the vehicle also include a ride mode in which the rider's attitude, typically the rider's center of gravity direction, is detected by an attitude sensor and the direction and/or acceleration of the vehicle is controlled based on the center of gravity direction. The control mode of the riding mode of the balance car is a conventional arrangement in the field, and the specific control mode is not described herein.

The scheme focuses on the coordination relationship or the operation priority relationship of multiple operation modes. In this embodiment, the trigger information from the touch detection module is used to control the vehicle to operate in the boost mode. The controller also detects the current running mode of the vehicle, and the controller still maintains the current running mode after receiving the trigger signal sent by the touch sensing module; otherwise, controlling the vehicle to enter the boosting mode. Because set up the helping hand mode in this application and mainly be applied to and drag the state of going, do not have the demand of opening the helping hand mode under the mode of riding, consequently, detect not triggering the helping hand mode under the mode of riding through above-mentioned scheme, the above-mentioned setting more accords with user operation custom, can prevent to trigger the helping hand mode by mistake under the mode of riding. Especially to the balance car through steering wheel control vehicle traffic direction, because need operate the steering wheel and carry out direction control at the in-process of riding, if set up touch-control induction module according to embodiment 1's mode, then can frequently trigger the helping hand mode at the balance car normal riding in-process, influence normal riding, can avoid this kind of condition through above-mentioned setting.

The frame of the vehicle includes a support frame for mounting a wheel and a footrest, and the support frame receives pressure from a rider when the rider rides the vehicle, and thus, the pressure received by the support frame is different according to whether the rider rides the vehicle or not. Therefore, in an alternative embodiment, a pressure detection device is arranged on the support frame, and the vehicle is controlled to enter the riding mode after the pressure detection device detects a pressure signal. Above-mentioned scheme, the intention that it had the ride is confirmed to ride according to riding the vehicle of passerby, and then control vehicle gets into the mode of riding, need not carry out other operations, and the control mode is simple direct. In other optional embodiments, an operation mode control switch is disposed on the vehicle, and a preset operation is performed on the operation mode control switch to control the vehicle to enter a preset operation mode, where the preset operation mode includes a riding mode and a power-assisted mode.

Example 4:

the present embodiment further defines the vehicle as a straddle type balance vehicle, as shown in fig. 3, the straddle type balance vehicle includes a set of bilaterally symmetrically disposed wheels 1, the wheels 1 are mounted through a vehicle frame, the vehicle frame includes a support rod 21 and a seat rod 22, a steering mechanism 3 is disposed at an upper end of the support rod 21, the seat rod 22 is supported through the support rod 21, and a seat 4 is mounted at an upper end of the seat rod 22. The straddle type balance car can be ridden in a sitting posture state, and the riding direction is controlled through the steering mechanism, so that the riding control mode of the balance car with the novel structure is provided.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims

1. A vehicle contact detection control system is characterized by comprising a handle rod, a touch sensing module arranged on the handle rod, a controller and an electric drive module, wherein the touch sensing module comprises a detection switch, the electric drive module comprises a drive motor connected with wheels, and the touch sensing module is used for sending a trigger signal to the controller when detecting that a preset trigger action is executed on the touch sensing module from the outside;

the controller is used for executing a preset operation mode after receiving a trigger signal sent by the touch detection module, wherein the preset operation mode comprises a power-assisted mode and/or a riding mode, and the controller controls the electric drive module to enable the vehicle to operate at a preset speed in the power-assisted mode.

2. The vehicle contact detection control system of claim 1, wherein the handle bar includes a steering wheel, and the touch sensing module is disposed on the steering wheel.

3. The vehicle contact detection control system of claim 2, wherein the touch detection module comprises an induction coil that surrounds the entire steering wheel from inside the steering wheel.

4. The vehicle contact detection control system according to claim 3, wherein the preset trigger action is an action of touching the steering wheel, the touch sensing module continuously detects the preset trigger action from the outside after sending the trigger signal, and sends an end signal to the controller after not detecting the preset trigger action; and after receiving the ending signal, the controller controls the vehicle to end the current running mode and controls the motor driving module to stop outputting.

5. The vehicle contact detection control system according to claim 2, wherein the touch sensing module is disposed at a designated position on a steering wheel, and an indication mark is disposed at the corresponding position.

6. The vehicle contact detection control system of claim 1, wherein the vehicle is a balance car comprising a ride mode in which a rider gesture is detected by a gesture sensor and a direction and/or acceleration of the vehicle is controlled based on the rider gesture.

7. The vehicle contact detection control system according to claim 6, wherein the controller is further configured to detect a current operating mode of the vehicle, and if the vehicle is currently in the riding mode, the controller maintains the current operating mode after receiving the trigger signal sent by the touch sensing module; otherwise, controlling the vehicle to enter the boosting mode.

8. The vehicle contact detection control system of claim 6, wherein the vehicle comprises a support frame, a pressure detection device is disposed on the support frame, and the controller controls the vehicle to enter a riding mode after the pressure detection device detects a pressure signal.

9. The vehicle contact detection control system according to claim 6, wherein a running mode control switch is provided on the vehicle, and a preset operation is performed on the running mode control switch to control the vehicle to enter a preset running mode, wherein the preset running mode includes a riding mode and a power-assisted mode.

10. The vehicle contact detection control system according to any one of claims 1 to 9, wherein the vehicle is a straddle-type balance car including a seat, a set of wheels arranged in bilateral symmetry, and a steering mechanism connected to a handlebar.

11. The vehicle contact detection control system according to claim 1, wherein in the boost mode, the controller controls the motor driving module to operate the vehicle at a preset speed by acquiring a signal of wheel movement detected by a hall sensor in a wheel hub motor of the vehicle.

12. A vehicle contact detection control system as claimed in claim 1, wherein said predetermined speed is a constant speed.

13. A vehicle contact detection control system as claimed in claim 1, wherein the preset speed is a speed running in a forward direction of the vehicle.

14. The vehicle contact detection control system according to claim 1, comprising a tilt angle detection module for detecting a tilt angle of the vehicle body, wherein in the assist mode, the controller controls the motor drive module to output a driving force for making the vehicle tend to be balanced based on a detection signal of the tilt angle detection module.

15. The vehicle contact detection control system according to claim 1, wherein the vehicle has a self-balancing mode in which the controller controls the motor drive module to output a driving force for tending to balance the vehicle according to a position of a center of gravity of the vehicle itself, the center of gravity of the vehicle itself being located in a front half portion of a vehicle body.