A double-handle balancing car

Abstract

The present invention belongs to the technical field of means of transport, and relates to a two-handle balancing vehicle, comprising a frame, two wheels respectively mounted on both sides of the bottom of the frame along the length direction, each wheel respectively driven by a motor, and characterized in that: a handrail for controlling the turning movement of the balancing vehicle is respectively arranged on both sides of the upper part of the frame along the length direction; a linear sensor for detecting the shaking data of the handrail and a controller for controlling the balancing vehicle to go straight or turn are also included, the controller receives the swing data of the handrail detected by the linear sensor, and feeds back the received swing data to the corresponding motor, so as to realize the control of the turning direction and turning speed of the balancing vehicle. The balancing vehicle realizes effective control of the turning movement through the handrails respectively arranged on both sides of the vehicle body.

Description

Technical Field

[0001] The invention belongs to the technical field of means of transport, and relates to a two-handle balancing vehicle. Background Art

[0002] A self-balancing scooter is a device that relies on a gyroscope to determine the center of gravity of the human body and thus control the direction. It does not have a special brake device. When the user leans forward, the self-balancing scooter moves forward. When the user leans backward, the self-balancing scooter brakes and moves backward by reducing the wheel speed and then rotating in the opposite direction.

[0003] There are two main types of balancing cars at present. 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 relative to each other. Because the two wheel shafts can rotate relative to each other, a gyroscope is installed on each axis to sense their respective postures, and the purpose of controlling the motor to move forward, backward, turn left, and turn right is achieved through calculation. This type of car is called a "twist car" or "drift car". The second type: the two wheels are coaxial and fixed on a metal frame, without a coupling in the middle. The shafts of the two wheels are fixed and cannot rotate relative to each other. In order to achieve control balance, a gyroscope is installed on the metal frame, which can be balanced through calculation control. In order to control its steering, a steering handle is installed in the center of the frame, and it is turned by shaking the handle left and right. Although the above two models can achieve the balance control function, they both have shortcomings.

[0004] The problems with the first model are as follows: 1. Because the two axes can rotate relative to each other, it is difficult for the pedals on both sides to maintain the same posture, so the direction is easy to deviate when driving fast, and it is difficult to control straight-line driving. 2. The user relies entirely on his feet to control the forward, backward, and turning movements, which is prone to safety accidents. The problems with the second model are as follows: 1. Because the steering handle is installed in the center of the frame, the forward and backward directions of the balance car are fixed. If the user gets on the car in the opposite direction, the turning direction is opposite to the direction controlled by the steering handle, which is prone to safety accidents. 2. If the vehicle breaks down while the user is riding, the user cannot get off the balance car from the front due to the installation position of the steering handle, which is prone to safety accidents. Summary of the invention

[0005] In view of the above problems, the present invention provides a two-handle balancing vehicle, which can effectively control the turning movement by means of handrails respectively arranged on both sides of the vehicle body.

[0006] According to the technical solution of the present invention: a two-handed balance vehicle comprises a frame, two wheels respectively mounted on both sides of the bottom of the frame along the length direction, each wheel is driven by a motor, and is characterized in that: a handrail for controlling the turning movement of the balance vehicle is respectively arranged on both sides of the upper part of the frame along the length direction;

[0007] It also includes a linear sensor for detecting the shaking data of the handrail and a controller for controlling the balance vehicle to go straight or turn. The controller receives the handrail swing data detected by the linear sensor and feeds back the received swing data to the corresponding motor to achieve control of the turning direction and turning speed of the balance vehicle.

[0008] As a further improvement of the present invention, each of the handrails is perpendicular to the frame in a natural state, and the linear sensor is used to detect the swing data of the center point of the handrail.

[0009] As a further improvement of the present invention, the handrail can swing at the connection portion with the vehicle frame.

[0010] As a further improvement of the present invention, when the handrail on one side swings forward, the wheel on the same side rotates forward; when the handrail on one side swings backward, the wheel on the same side rotates backward.

[0011] As a further improvement of the present invention, the handrails on both sides swing in the same direction, and the balancing vehicle maintains the original working state.

[0012] As a further improvement of the present invention, the greater the swing amplitude of the handrail is, the greater the wheel rotation speed is.

[0013] As a further improvement of the present invention, the controller has a built-in attitude sensor, and the attitude sensor is used to detect the angle of the vehicle body to control the balance vehicle to move straight or backward.

[0014] As a further improvement of the present invention, the linear sensor is arranged at the lower part of the handrail.

[0015] As a further improvement of the present invention, the controller is built into the vehicle frame.

[0016] The technical effect of the present invention is as follows: the present invention increases the safety of getting on the vehicle and reduces the learning difficulty of the user by arranging handrails on both sides of the vehicle body; at the same time, the user can effectively get on the vehicle without distinguishing between the front and the back; the frame is an integral body and will not rotate relative to each other, and is not prone to deflection when driving in a straight line; the accuracy of turning can be achieved by relying on the stable shaking data of the handrails. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the explosion of the present invention. DETAILED DESCRIPTION

[0019] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 , 2The vehicle body 4 includes an upper cover 1, a lower cover 2, a wheel 3, a vehicle body 4, a handrail 5, a rocker upper cover 6, a pressure contact switch pressing piece 7, a pressure contact switch 8, a first rocker shaft 9, a second rocker shaft 10, a third rocker shaft 11, a rocker spring 12, a wheel fixing pressing piece 13, a battery 14, a controller 15, a bolt 16, etc.

[0021] like Figure 1 , 2 As shown, the present invention is a two-handed balance vehicle, which realizes effective control of the turning of the balance vehicle by respectively arranging handrails 5 on both sides of the frame. The specific implementation scheme is as follows: the frame includes an upper cover 1, a lower cover 2 and a vehicle body 4 encapsulated between the upper cover 1 and the lower cover 2. After the upper cover 1 and the lower cover 2 are aligned, they are locked by bolts 16. Wheels 3 are respectively installed on both sides after the upper cover 1 and the lower cover 2 are connected. In order to achieve a reliable connection between the wheel 3 and the vehicle body 4, a wheel fixing pressure sheet 13 is arranged at the connection between the wheel 3 and the vehicle body 4 to limit the connecting axis of the wheel 3. A motor is respectively arranged corresponding to each wheel 3 to drive the wheel 3 to rotate. It can be understood that in order to realize power supply to the motor, batteries 14 are respectively arranged in the battery slots on both sides of the lower cover 2, and positioning grooves are arranged on the lower cover 2 to cooperate with the convex grooves on the bottom surface of the vehicle body 4 to achieve effective positioning of the vehicle body 4.

[0022] Each of the handrails 5 is perpendicular to the frame in a natural state, and the linear sensor is used to detect the swing data of the center point of the handrail 5. The two handrails 5 extend to the body 4 through the grooves opened along the front and rear directions on both sides of the upper cover 1, and pass through the rocker upper cover 6 to connect with the rocker shaft assembly to achieve the mutual linkage between the handrail 5 and the rocker shaft assembly. In order to effectively detect the swing position of the handrail 5, a Hall linear sensor is installed on the rocker upper cover 6, and the upper cover 6 is fixed to the body 4. The position of the Hall linear sensor does not change relative to the body 4. The magnet is installed on the shaft 10 and rotates with the swing of the handrail. Therefore, when the handrail drives the rocker shaft assembly to swing, the magnetic field changes relative to the Hall linear sensor. Through the Hall effect, the Hall linear sensor can convert the magnetic field change value into a voltage change to facilitate the control system to calculate. In the specific setting, the rocker shaft assembly includes a second rocker shaft 10, the connecting shaft at the lower end of the handrail 5 is connected to the connecting hole on the second rocker shaft 10, and the axial ends of the second rocker shaft 10 are respectively connected to the first rocker shaft 9 and the second rocker shaft 11, and the linear sensor is installed on the second rocker shaft 10; the rocker shaft assembly is rotatably set on the mounting seats at both ends of the upper surface of the vehicle body 4, and each mounting seat has a built-in rocker shrapnel 12, and the rocker shrapnel 12 cooperates with the rocker shaft assembly. The model of the linear sensor or Hall linear sensor is SS49E.

[0023] In order to realize the above-mentioned operation mode of the handrail 5, the present invention further sets a controller 15 between the vehicle body 4 and the lower cover 2. The linear sensor feeds back the detection data of the handrail 5 to the controller 15. The controller 15 sends instructions to the motor of the corresponding wheel 3 according to the data of the linear sensor to realize the control of the wheel 3 to move forward or backward, thereby realizing the turning operation of the balance vehicle. The specific working process is as follows: when the handrail 5 on one side is swung forward, the corresponding wheel 3 rotates forward. At this time, the handrail 5 on the other side is swung backward, and the corresponding wheel 3 rotates backward; at this time, the balance vehicle realizes the turning movement; conversely, the handrail 5 on one side is swung backward, and the corresponding wheel 3 rotates backward. At this time, the handrail on the other side is swung forward, and the corresponding wheel 3 rotates forward, realizing the corresponding turning movement of the balance vehicle. The rotation speed of the balance car when turning is determined by the swing amplitude of the handrail 5. The larger the swing amplitude of the handrail 5, the faster the rotation speed of the wheel 3. The principle of implementation is that the larger the swing amplitude of the handrail 5, the greater the voltage change detected by the linear sensor, and the greater the difference between the voltage value calculated by the controller 15 and the center point when the handrail is vertical and not shaking. At this time, a command is issued to the corresponding motor to drive the motor to rotate. The controller 15 in the present invention uses a chip with the model number of STM32F030C8T6.

[0024] Since there are two other combinations of the swinging of the handrails 5 on both sides, that is, the handrails 5 on both sides swing forward or backward at the same time, in order to ensure the safety of the vehicle, when the handrails 5 on both sides swing in the same direction, the linear sensor detects the above data signal and feeds the signal back to the controller 15. At this time, the controller 15 will send a signal to keep the motor in the original working state, that is, the balancing vehicle keeps the original working state.

[0025] It is understandable that, in addition to swinging in the front-to-back direction relative to the upper cover 1, the handrail 5 can also swing in the left-to-right direction relative to the upper cover 1. When the swing direction of the handrail 5 is set to the left-to-right direction, the setting direction of the mounting seat at the bottom of the handrail 5 is adjusted accordingly so that the handrail 5 can swing in the corresponding direction. Of course, during specific production and manufacturing, the swing direction of the handrail 5 can also be set accordingly according to the needs of the customer. These settings of the handrail 5 are consistent with the control method of the turning control of the balance car when the handrail 5 swings back and forth. The model of the posture sensor in the present invention adopts MPU6050 or MPU6887.

[0026] In order to achieve effective control of the forward and backward movement of the balance vehicle, a standing position pedal area corresponding to the human foot shape is also provided on the upper cover 1, and a pressure contact switch pressing piece 7 is provided below the vehicle body 4 corresponding to the standing position pedal area. A pressure contact switch 8 is provided at the front and rear ends below the pressure contact switch pressing piece 7, respectively. Each pressure contact switch 8 is connected to a posture sensor built into the controller 15. The posture sensor is used to detect the angle of the balance vehicle. When the user is on the balance vehicle and leans forward, the pressure detected by the front pressure contact switch 8 through the pressure contact switch pressing piece 7 is relatively large, and the posture sensor 8 feeds back the detected signal to the controller 15. The controller 15 sends a signal to the motor, so that the motor drives the wheel 3 to rotate forward, and the balance vehicle moves forward at this time; otherwise, the balance vehicle moves backward. In specific production, the shape of the pressure contact switch pressing piece 7 is I-shaped. Correspondingly, corresponding I-shaped mounting grooves are respectively arranged on both sides of the upper surface of the vehicle body 4 to effectively accommodate the pressure contact switch pressing piece 7. A pressure contact switch 8 is respectively arranged on the bottom surfaces of the front and rear ends of the I-shaped pressure contact switch pressing piece 7.

Claims

1. A two-handed balance vehicle, comprising a frame, two wheels (3) respectively mounted on both sides of the bottom of the frame along the length direction, each wheel (3) being driven by a motor, characterized in that: A handrail (5) for controlling the turning movement of the balance vehicle is respectively arranged on both sides of the upper part of the frame along the length direction; It also includes a linear sensor for detecting shaking data of the handrail (5) and a controller (15) for controlling the self-balancing vehicle to move straight or turn. The controller (15) receives the shaking data of the handrail (5) detected by the linear sensor, and feeds back the received shaking data to the corresponding motor to realize the control of the turning direction and turning speed of the self-balancing vehicle. The vehicle frame comprises an upper cover (1) and a lower cover (2) which are connected to each other, and a vehicle body (4) enclosed between the upper cover (1) and the lower cover (2); A standing position stepping area corresponding to the shape of a human foot is also provided on the upper cover (1), and a pressure contact switch pressing piece (7) is provided below the standing position stepping area on the vehicle body (4), and a pressure contact switch (8) is provided at the front and rear ends below the pressure contact switch pressing piece (7), respectively. Each pressure contact switch (8) is connected to a posture sensor built into the controller (15), and the posture sensor is used to detect the angle of the self-balancing vehicle. When the user is on the self-balancing vehicle and leans forward, the pressure detected by the front pressure contact switch (8) through the pressure contact switch pressing piece (7) is relatively large, and the posture sensor feeds back the detected signal to the controller (15). The controller (15) sends a signal to the motor, so that the motor drives the wheel (3) to rotate forward, and the self-balancing vehicle moves forward at this time; otherwise, the self-balancing vehicle moves backward. The handrail (5) is capable of swinging at a connection position with the vehicle frame: when the handrail (5) on one side swings forward, the wheel (3) on the same side rotates forward; when the handrail (5) on one side swings backward, the wheel (3) on the same side rotates backward; The handrails (5) on both sides swing in the same direction, and the balancing vehicle maintains the original working state.

2. The two-handed balance vehicle according to claim 1, characterized in that: Each of the handrails (5) is perpendicular to the vehicle frame in a natural state, and the linear sensor is used to detect the swing data of the center point of the handrail (5).

3. The two-handed balance vehicle according to any one of claims 1 to 2, characterized in that: The greater the amplitude of shaking of the handrail (5), the greater the rotation speed of the wheel (3).

4. The two-handed balance vehicle according to claim 1, characterized in that: The controller (15) has a built-in attitude sensor, which is used to detect the angle of the vehicle body to control the balancing vehicle to move forward or backward.

5. The two-handed balance vehicle according to claim 1, characterized in that: The linear sensor is arranged at the lower part of the handrail (5).

6. The two-handed balance vehicle according to claim 1, characterized in that: The controller (15) is built into the vehicle frame.

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