Balance car and control method thereof

Abstract

The invention relates to a balance car and a control method thereof. The balance car comprises a frame, wheels, sensors mounted in the middle position of the frame for sensing the reversing degrees ofthe left and right ends of the frame opposite to the middle position, and a control module for controlling the balance car to turn or go straight according to data information acquired by the sensors. The wheels are mounted on the left and right sides of the frame, and the control module is mounted on the lower side of the frame. The balance car provided by the invention can turn conveniently, and is stable and safe to operate and convenient to operate.

Description

technical field [0001] The invention relates to a balance car and a control method thereof. Background technique [0002] At present, there are two main types of balance bikes. The first type: the two wheels are connected by a coupling. The centers of the two wheels are on the same axis, and the two wheel shafts can rotate relatively. Because the two wheel shafts can rotate relatively, Therefore, a gyroscope is installed on each of the two axes to sense their respective attitudes, and through a calculation to achieve the purpose of controlling the motor to move forward, backward, turn left, and turn right. This type of car is called "twisting car" or "drifting car" car". The second type: The two wheels are coaxial and fixed on a metal frame. There is no coupling in the middle. The shafts of the two wheels are fixed and cannot rotate relative to each other. In order to achieve the control balance, install a gyroscope on the metal frame and calculate The control can make it ...

AI Technical Summary

Problems solved by technology

[0004] Problem 1, because the two shafts can rotate relative to each other, it is difficult to maintain the same posture of the pedals on both sides, so the direction is easy to deflect when driving fast, and it is difficult to control straight driving

[0005] Question 2, because the axes on both sides need to be equipped with gyroscopes, but the distances are relatively far apart. By relying on digital transmission signals, under high-frequency transmission, the motor FOC (Field Oriented Control) control will be better, but due to large interference, High bit error rate, transmission at low frequency, low bit error rate, but poor flexibility of motor operation

[0006] Question 3, because no matter how it is integrated, two control boards with MCU (Micro controller Unit) are needed, so the cost is high

[0008] Question 1, because the two shafts are fixed, in order to steer, the steering device must be loaded, and the steering rod is usually relatively long, so it is not conducive to portability

[0009] Question 2. At present, in order to facilitate transportation, the current car with steering requires customers to install screws to fix the steering after receiving the goods, which increases trouble. Secondly, the steering rod will wear and loose during use, and steering errors will occur.

[0010] Most of the other balance vehicles that steer based on pressure sensors set the pressure sensor at the position of the pedals to realize steering and straight travel according to the change of the center of gravity of the person, which is difficult to control and prone to safety accidents

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