CN205417916U - Electric artificial intelligent flatbed - Google Patents
Electric artificial intelligent flatbed Download PDFInfo
- Publication number
- CN205417916U CN205417916U CN201620105665.3U CN201620105665U CN205417916U CN 205417916 U CN205417916 U CN 205417916U CN 201620105665 U CN201620105665 U CN 201620105665U CN 205417916 U CN205417916 U CN 205417916U
- Authority
- CN
- China
- Prior art keywords
- flat car
- main body
- car main
- wheel
- hub motor
- 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.)
- Active
Links
Landscapes
- Motorcycle And Bicycle Frame (AREA)
Abstract
The utility model relates to an electric artificial intelligent flatbed, including flatbed main part, footboard, in -wheel motor, drive wheel and universal wheel, be equipped with weighing transducer, control mainboard and battery case in the flatbed main part, the drive wheel is installed in the bottom of flatbed main part front end both sides, and the in -wheel motor embedding is installed on the drive wheel, and the bottom rear end in the flatbed main part is installed to the universal wheel, the footboard buckle is in the upper end of flatbed main part and fix through the fastener in the flatbed main part, and weighing transducer sets up in the cavity that forms between flatbed main part and footboard and contacts with the footboard, in -wheel motor and weighing transducer pass through the wire and are connected with control mainboard electricity, are equipped with bluetooth module on the control mainboard, and the power supply battery who sets up in the battery case provides the power for in -wheel motor with the control mainboard. This flatbed overall structure design benefit, it is small, light in weight, convenient to carry, it is also relatively more nimble to ride, easily control and stationarity preferred.
Description
Technical field
The utility model belongs to technical field of transportation means, relates to a kind of short distance walking-replacing tool, and a kind of bicyclist can directly be controlled car body and run the electric intelligent flat car of balance by displacement of center of gravity.
Background technology
The economic development of society, the various vehicles emerge in an endless stream, face the most crowded urban road, contradiction between the sharp increase of road surface resource and automobile quantity is becoming increasingly acute, needing a kind of energy-saving and environmental protection badly again can be in single file in the vehicles of crowded crowd, solve these contradiction being becoming increasingly acute, the most just occur in that such as diversified short distance walking-replacing tools such as wheelbarrow, swing car, slide plate, scooters.Existing short distance walking-replacing tool respectively has pluses and minuses, and wherein the common feature of wheelbarrow and swing car is to need study, and swing car causes, because of artificial control fatigue, the defect that left and right step-out, slide plate and scooter the most do not have carrying convenience.
Therefore, it is necessary to provide, a kind of intelligence degree is higher, possess preferably steadily flexibility and electric intelligent flat car easy to carry.
Summary of the invention
The utility model is just for not enough present in existing short distance walking-replacing tool, it is provided that a kind of electric intelligent flat car, and this flat car overall construction design is ingenious, and volume is little, lightweight, easy to carry, rides also the most flexibly, it is easy to control and stationarity is preferable.
To achieve these goals, the technical solution adopted in the utility model is, a kind of electric intelligent flat car, including flat car main body, pedal, wheel hub motor, driving wheel and universal wheel, flat car main body is provided with weight sensor, controls mainboard and battery case, described driving wheel is arranged on the bottom front both sides of flat car main body, and described wheel hub motor embeds to be installed on the drive wheel, and described universal wheel is arranged on the rear end, bottom of flat car main body；Described pedal is buckled in the upper end of flat car main body and is fixed in flat car main body by securing member, in described weight sensor is arranged between flat car main body and pedal the cavity formed and contacts with pedal；Described wheel hub motor and weight sensor are electrically connected with controlling mainboard by wire, and the supplying cell being arranged in described battery case is for described wheel hub motor and controls mainboard offer power supply.
As a kind of improvement of the present utility model, the head of described flat car main body and the head of pedal use convex outward design, being provided with start button, power supply indicator, battery capacity indication lamp in the front end of described flat car main body and control indicator lamp, described start button, power supply indicator, battery capacity indication lamp and control indicator lamp all electrically connect with control mainboard.
As a kind of improvement of the present utility model, management module that described control mainboard is provided with master controller and the motor drive module being connected with master controller, electric machine speed regulation module, battery management module and vehicle are ridden, described wheel hub motor is sequentially connected with motor drive module and electric machine speed regulation module, described supplying cell is connected with battery management module, described weight sensor ride with vehicle management module be connected.
As a kind of improvement of the present utility model, being provided with bluetooth module on described control mainboard, described bluetooth module is connected with master controller, and bicyclist can be connected with controlling mainboard by the bluetooth on mobile phone, thus mobile phone can be used to control flat car.
As a kind of improvement of the present utility model, the quantity of described weight sensor is 4, four weight sensors are symmetrically distributed in flat car main body, wherein, in this example, two weight sensors are arranged between two driving wheels of flat car body front end, and two other weight sensor is arranged between two universal wheels of flat car body rear.
As a kind of improvement of the present utility model, described weight sensor uses pressure type LOAD CELLS, and described wheel hub motor uses waterproof high-energy integrated formula wheel hub motor.
As a kind of improvement of the present utility model, described flat car main body and pedal use light aluminum alloy material to make.
Relative to prior art, advantage of the present utility model is as follows, 1) overall construction design is ingenious, and dismounting assembles convenient maintenance and replacement, and volume is little, lightweight, easy to carry, rides flexibly and security performance is good；2) i.e. enter duty after the start of this electric intelligent flat car, after weight sensor detects that someone stands up, and detect that people starts wheel-hub motor driven vehicle and moves ahead after stably standing controlling mainboard；3) the center of gravity vector position of bicyclist is detected in real time by weight sensor, and the driving force moving ahead and turning to is provided for car after these vector position data are processed, realizing adjusting the speed of car in real time according to the posture of bicyclist (specifically include and turn forward, retreat, incline to the left and to four postures of Right deviation) and turning to, this kind of regulation control mode is easily achieved and practical.
Accompanying drawing explanation
Fig. 1 is the structural representation of flat car when not comprising pedal disclosed in the utility model.
Fig. 2 is the structural representation of electric intelligent flat car disclosed in the utility model.
In figure: 1-flat car main body, 2-pedal, 3-driving wheel, 4-universal wheel, 5-weight sensor, 6-battery case, 7-start button.
Detailed description of the invention
As illustrated in fig. 1 and 2, a kind of electric intelligent flat car, using light aluminum alloy material to make including flat car main body, pedal, wheel hub motor, driving wheel and universal wheel, described flat car main body and pedal, the head of described flat car main body and the head of pedal use convex outward design.Flat car main body is provided with weight sensor, controls mainboard and battery case.Being provided with start button, power supply indicator, battery capacity indication lamp in the front end of described flat car main body and control indicator lamp, described start button, power supply indicator, battery capacity indication lamp and control indicator lamp all electrically connect with control mainboard.Described driving wheel is arranged on the bottom front both sides of flat car main body, and described wheel hub motor embeds to be installed on the drive wheel, and described universal wheel is arranged on the rear end, bottom of flat car main body.Described pedal is buckled in the upper end of flat car main body and is fixed in flat car main body by securing member, in described weight sensor is arranged between flat car main body and pedal the cavity formed and contacts with pedal.The quantity of described weight sensor is 4, four weight sensors are symmetrically distributed in flat car main body, wherein, two weight sensors are arranged between two driving wheels of flat car body front end, and two other weight sensor is arranged between two universal wheels of flat car body rear.Described wheel hub motor and weight sensor are electrically connected with controlling mainboard by wire, and the supplying cell being arranged in described battery case is for described wheel hub motor and controls mainboard offer power supply.Management module that described control mainboard is provided with master controller and the motor drive module being connected with master controller, electric machine speed regulation module, battery management module and vehicle are ridden, described wheel hub motor is sequentially connected with motor drive module and electric machine speed regulation module, described supplying cell is connected with battery management module, described weight sensor ride with vehicle management module be connected.Being additionally provided with bluetooth module on described control mainboard, described bluetooth module is connected with master controller, and bicyclist can be connected with controlling mainboard by the bluetooth on mobile phone, thus mobile phone can be used to control flat car.
Preferably, described weight sensor uses pressure type LOAD CELLS, and described wheel hub motor uses waterproof high-energy integrated formula wheel hub motor.
Operation principle: after pressing start button, all devices on flat car is turned on power supply, and then car load enters duty, and after bicyclist stands on pedal, four weight sensors record weight G1,G2,G3And G4, according to the relation of static mechanical Yu geometry, calculate the plane geometry position (x, y) of gravity center of human body, wherein, the span of x and y is 0-1.Specifically calculate process: have by the trimming moment relation of statics system:
Fore-and-aft direction:
Left and right directions:
And gross weight G=G1+G2+G3+G4
Therefore can obtain:And use Image filter arithmetic that gained x, y value is filtered, to reduce the error of gained vector position as far as possible.
Control mainboard on the basis of the control of existing motor, with k (x-1/2) for moving ahead and the throttle that slows down (speed), k (y-1/2) is for turning left and right-hand rotation throttle, and wherein k is control coefrficient, can be obtained by robust control experiment, and be a constant.Owing to universal wheel commutation process travels instability, therefore not providing traveling (i.e. falling back) backward, when bicyclist retreats, car is only decelerated to zero.
After flat car start, stable gravity center of human body's vector position is detected when controlling mainboard, and this center of gravity is in a field (in a circle with central point as the center of circle) of a central point, control mainboard and start control, when bicyclist turns forward, car moves forward, when retreating, car slows down, and (this car is not supported to fall back, because universal wheel turns to unstable.), when inclining to the left, the rotating speed of the right side drive wheel of car wheel hub motor is faster than the driving wheel on the left side, and car turns to the left, and in like manner when Right deviation, car turns to the right.And do not use bigger speed difference (namely not realizing the function of fast steering) turning velocity, i.e. high-speed cruising need to be considered when turning to arbitrarily in the case of, to prevent unexpected generation.
It should be noted that above-described embodiment, be not used for limiting protection domain of the present utility model, equivalents done on the basis of technique scheme or replacement each fall within the utility model scope of the claimed protection.
Claims (7)
1. an electric intelligent flat car, it is characterized in that: include flat car main body, pedal, wheel hub motor, driving wheel and universal wheel, flat car main body is provided with weight sensor, controls mainboard and battery case, described driving wheel is arranged on the bottom front both sides of flat car main body, described wheel hub motor embeds to be installed on the drive wheel, and described universal wheel is arranged on the rear end, bottom of flat car main body；Described pedal is buckled in the upper end of flat car main body and is fixed in flat car main body by securing member, in described weight sensor is arranged between flat car main body and pedal the cavity formed and contacts with pedal；Described wheel hub motor and weight sensor are electrically connected with controlling mainboard by wire, and the supplying cell being arranged in described battery case is for wheel hub motor and controls mainboard offer power supply.
2. a kind of electric intelligent flat car as claimed in claim 1, it is characterised in that the quantity of described weight sensor is 4, and four weight sensors are symmetrically distributed in flat car main body.
3. a kind of electric intelligent flat car as claimed in claim 1, it is characterised in that described weight sensor uses pressure type LOAD CELLS, and described wheel hub motor uses waterproof high-energy integrated formula wheel hub motor.
4. a kind of electric intelligent flat car, it is characterized in that, management module that described control mainboard is provided with master controller and the motor drive module being connected with master controller, electric machine speed regulation module, battery management module and vehicle are ridden, described wheel hub motor is sequentially connected with motor drive module and electric machine speed regulation module, described supplying cell is connected with battery management module, described weight sensor ride with vehicle management module be connected.
5. a kind of electric intelligent flat car as claimed in claim 4, it is characterised in that being provided with bluetooth module on described control mainboard, described bluetooth module is connected with master controller.
6. a kind of electric intelligent flat car as claimed in claim 5, it is characterized in that, the head of described flat car main body and the head of pedal use convex outward design, being provided with start button, power supply indicator, battery capacity indication lamp in the front end of described flat car main body and control indicator lamp, described start button, power supply indicator, battery capacity indication lamp and control indicator lamp all electrically connect with control mainboard.
7. a kind of electric intelligent flat car as claimed in claim 5, it is characterised in that described flat car main body and pedal use light aluminum alloy material to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620105665.3U CN205417916U (en) | 2016-02-02 | 2016-02-02 | Electric artificial intelligent flatbed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620105665.3U CN205417916U (en) | 2016-02-02 | 2016-02-02 | Electric artificial intelligent flatbed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205417916U true CN205417916U (en) | 2016-08-03 |
Family
ID=56539731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620105665.3U Active CN205417916U (en) | 2016-02-02 | 2016-02-02 | Electric artificial intelligent flatbed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205417916U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314201A (en) * | 2016-08-24 | 2017-01-11 | 深圳市踏路科技有限公司 | Platform lorry control method and device |
-
2016
- 2016-02-02 CN CN201620105665.3U patent/CN205417916U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314201A (en) * | 2016-08-24 | 2017-01-11 | 深圳市踏路科技有限公司 | Platform lorry control method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203255325U (en) | Scooter with movement controlled by utilization of center-of-gravity shift | |
| CN105083432B (en) | A kind of the Double-wheel self-balancing car and its balance control method of seating two-way type of standing | |
| CN110217332B (en) | Three-wheeled vehicle | |
| US8706331B2 (en) | Two wheeled vehicle with all wheel drive system | |
| CN203427959U (en) | Driving system for electric tricycle | |
| CN105083460A (en) | Portable pocket type intelligent electric vehicle | |
| CN103587618B (en) | Light-load electric bicycle | |
| CN105966510A (en) | Self-balance double-wheel vehicle | |
| CN104890529B (en) | Electric car | |
| CN205417916U (en) | Electric artificial intelligent flatbed | |
| Sumiya et al. | Range extension control system for electric vehicle with active front steering and driving/braking force distribution on curving road | |
| CN204726252U (en) | One is ridden instead of walk electronlmobil | |
| CN104859769A (en) | Combined single-wheel balance bike | |
| CN205819401U (en) | The balance boxcar of Tape movement power supply | |
| CN106043536A (en) | Self-balancing electric two-wheel vehicle | |
| CN201863984U (en) | Control drive circuit of self-balancing parallel two-wheeled electric vehicle | |
| CN216546503U (en) | Front-drive type swing kart | |
| CN102285413A (en) | Closed type tricycle system with variable rear wheel tread | |
| CN206466094U (en) | A kind of automatic skateboard car of self-balancing | |
| CN201872557U (en) | Amphibious electromobile with three inverted wheels | |
| CN213677035U (en) | Bicycle intelligence helping hand wheel hub | |
| CN204998686U (en) | Portable electric bicycle | |
| CN208181303U (en) | A kind of Two-wheeled standing Automatic Vehicle with navigation | |
| CN103112509A (en) | Self-balance power-driven double-track vehicle | |
| CN2887656Y (en) | Environment-friendly electric tricycle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |