Intelligent tricycle and method for realizing turning and automatic driving turning thereof

Abstract

The present invention discloses an intelligent tricycle and a method for realizing turning and automatic driving turning. The intelligent tricycle comprises a frame and two pedals arranged on both sides of the frame, a transverse axis is installed on the frame, the first head ends of the two pedals are respectively rotatably installed on the shaft head of the transverse axis, a reverse rotation structure is arranged between the first head ends of the two pedals, so as to make the two pedals rotate in the opposite direction relative to each other, and the second ends of the two pedals are respectively axially connected with rotating wheels, and when the rotating direction of the rotating wheels faces the front of the frame, the rotating wheels are arranged parallel and coaxially. The intelligent tricycle of the present invention can shorten the turning radius when turning, and because the three wheels are always in contact with the ground, the grip is stronger, the risk of rollover is reduced, the turning speed is increased, and it is suitable for drifting sports.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent tricycles, and in particular to an intelligent tricycle and a method for realizing turning and automatic driving turning thereof. Background Art

[0002] The popular smart tricycles currently on the market are popular among the public because they are easy to operate when traveling in a straight line, but they have a large turning radius, poor overall grip at high speeds, and a high risk of overturning and tipping over. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent tricycle and a method for realizing turning and automatic driving turning thereof in view of the deficiencies in the prior art.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions.

[0005] A smart tricycle comprises a frame and two pedals arranged on both sides of the frame, wherein a transverse axis is installed on the frame, and the first ends of the two pedals are respectively rotatably installed on the shaft heads of the transverse axis, and a reverse rotation structure is arranged between the first ends of the two pedals to enable the two pedals to rotate in opposite directions relative to each other, and the second ends of the two pedals are respectively axially connected to rotating wheels, and when the rotating directions of the rotating wheels are toward the front of the frame, the rotating wheels are arranged in parallel and coaxially.

[0006] Preferably, the reverse rotation structure is arranged on the frame, and the reverse rotation structure includes a horizontal axis, and the horizontal axis is rotatably connected to two sector gears arranged opposite to each other, and the first head ends of the two pedals are fixedly connected to the outer end surfaces of the two sector gears respectively; a rotatable vertical axis is passed through the direction perpendicular to the horizontal axis, and the vertical axis is rotatably sleeved with a connecting gear, and the connecting gear is meshed and connected with the two sector gears respectively; the outer end of the vertical axis is connected to the frame through an elastic member.

[0007] Preferably, a driving motor is provided in the two parallel rotating wheels, a controller with a gyroscope and a lithium battery are installed in the frame, and the driving motor and the controller are connected.

[0008] Preferably, an independent wheel is provided at the rear end of the frame, and two rotating wheels are located in front of the frame. The independent wheel is provided on the wheel frame, and the independent wheel and the wheel frame are connected by a wheel axle. The wheel frame is rotatably connected to the frame by a rotating shaft, and the axis extension line of the rotating shaft is located between the wheel axle and the independent wheel landing point.

[0009] Preferably, the connecting gear on the vertical shaft is connected to a servo motor, and the servo motor is connected to a controller.

[0010] Preferably, a head tube is provided at the front end of the frame, a seat tube is provided inside the head tube, a seat rod is provided at the upper end of the seat tube, a handle is provided at the upper end of the seat rod, the lower end of the seat tube is connected to a front fork, an independent wheel is provided on the front fork, an angle sensor is provided between the seat tube and the frame, and the angle sensor is connected to a controller; the angle sensor includes a first gear fixedly connected to the seat tube, a second gear provided in a shell and meshing with the first gear, a magnet is provided on the second gear, a sensing chip is provided on the inner wall of the shell corresponding to the magnet, and the sensing chip is connected to the controller.

[0011] A method for realizing turning of an intelligent tricycle comprises the following steps:

[0012] The traveling speed of the smart tricycle and the body tilt angle when turning are obtained. A driving motor is arranged on the axles of the two parallel wheels of the smart tricycle, and a controller with a built-in gyroscope controls the driving motor to compensate and adjust the differential speed between the two parallel wheels.

[0013] Preferably, for a smart tricycle with two rear-mounted rotating wheels, the speed ratio of the inner rotating wheel to the outer rotating wheel is first calculated according to the following formula ①:

[0014] V 内1 / V 外1 =(2R-H) / (2R+H)=(2V 2 -Hsinθ) / (2V 2 +Hsinθ) ①Wherein:

[0015] V 内1 is the adjusted inner wheel speed, V 外1 is the adjusted outer wheel speed, R is the turning radius of the middle point of the two wheels after differential adjustment, H is the distance between the two wheels, V is the average vehicle speed, θ is the inclination angle of the vehicle body, and θ is 0° when the vehicle body is perpendicular to the ground; then, the speed ratio of the inner wheel and the outer wheel is calculated according to the following formula ②:

[0016] V 内2 / V 外2 =(2R-H) / (2R+H)=(2L / tanβ-H) / (2L / tanβ+H) ②Where:

[0017] V 内2 is the adjusted inner wheel speed, V 外2 is the outer wheel speed after adjustment, R is the turning radius of the middle point of the two wheels after differential adjustment, H is the distance between the two wheels, β is the turning angle of the independent wheel, L is the wheelbase between the wheel axle and the independent wheel axle, and V is compared. 内1 / V 外1 With V 内2 / V 外2 The smaller value is taken to adjust the speed of the inner and outer wheels.

[0018] Preferably, for a smart tricycle with two front wheels, the speed ratio of the inner wheel and the outer wheel is calculated and adjusted according to the following formula ③:

[0019] V 内 / V 外 =(2R-H) / (2R+H)=(2V 2 -Hsinθ) / (2V 2 +Hsinθ) ③Wherein:

[0020] V 内 is the adjusted inner wheel speed, V 外 is the adjusted outer wheel speed, R is the turning radius of the middle point of the two wheels after differential adjustment, H is the distance between the two wheels, V is the average vehicle speed, θ is the inclination angle of the vehicle body, and θ is 0° when the vehicle body is perpendicular to the ground.

[0021] A method for automatically turning a two-wheel front intelligent tricycle comprises the following steps:

[0022] The external control signal controls the turning radius of the smart tricycle. The differential speed of the two wheels is controlled according to the turning radius according to the following formula ④, and the tilt angle of the vehicle body is controlled according to formula ⑤:

[0023] V 内 / V 外 =(2R-H) / (2R+H) ④ Where:

[0024] V 内 is the adjusted inner wheel speed, V 外 To adjust the speed of the rear outer wheel, R is the turning radius of the middle point between the two wheels, and H is the distance between the two wheels;

[0025] sinθ=V 2 / R ⑤Among which:

[0026] V is the average vehicle speed, θ is the inclination angle of the vehicle body, and θ is 0° when the vehicle body is perpendicular to the ground.

[0027] Technical Effects

[0028] 1. When the intelligent tricycle of the present invention turns left (the principle of turning right is the same), the person can tilt the center of body weight to the left, which will drive the body to tilt to the left. Under the action of the reverse rotation structure, the left and right pedals will tilt the left pedal upward and the right pedal downward, so that the relative angle of the two pedals can be controlled, and then the tilt angle of the body can be controlled, so that the turning radius of the intelligent tricycle is shortened. In addition, since the three wheels are always in contact with the ground, the grip is stronger, the risk of rollover is reduced, the turning speed is increased, and it is suitable for drifting sports;

[0029] 2. The angle sensor of the intelligent tricycle of the present invention transmits the rotation angle information of the front independent wheel to the controller. The controller controls the drive motors on the two parallel rotating wheels to perform differential compensation adjustment according to the rotation angle, thereby reducing the speed difference between the two parallel rotating wheels and the turning radius, so that the intelligent tricycle can turn smoothly and stably.

[0030] 3. The method for realizing turning of the intelligent tricycle of the present invention can reduce tire wear and reduce the difficulty of turning;

[0031] 4. The automatic driving turning method of the two-wheel front intelligent tricycle of the present invention can effectively shorten the turning radius, make the grip stronger, reduce the risk of rollover, and increase the turning speed in the automatic driving mode, which is suitable for drifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a front view schematic diagram of the overall structure of the first embodiment of the intelligent tricycle of the present invention;

[0033] Figure 2 A schematic top view of the overall structure of a first embodiment of the intelligent tricycle of the present invention;

[0034] Figure 3 It is a front view schematic diagram of the overall structure of the second embodiment of the intelligent tricycle of the present invention;

[0035] Figure 4 A schematic top view of the overall structure of a second embodiment of the intelligent tricycle of the present invention;

[0036] Figure 5 A schematic diagram of an angle sensor of a second embodiment of a smart tricycle of the present invention;

[0037] Figure 6 A schematic diagram of a turning state of the first embodiment of the intelligent tricycle of the present invention;

[0038] Figure 7 FIG. 1 is a schematic diagram of a turning state of a second embodiment of the intelligent tricycle of the present invention. DETAILED DESCRIPTION

[0039] The present invention will be described in more detail below with reference to the accompanying drawings and embodiments.

[0040] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, a smart tricycle includes a frame 1 and two pedals 2 arranged on both sides of the frame. A transverse axis 3 is installed on the frame 1. The first ends of the two pedals 2 are respectively rotatably installed on the shaft heads of the transverse axis 3. A reverse rotation structure 4 is arranged between the first ends of the two pedals 2 to make the two pedals 2 rotate in the opposite direction relative to each other. The second ends of the two pedals 2 are respectively connected to a rotating wheel 5. When the rotating direction of the rotating wheel 5 is toward the front of the frame 1, the rotating wheels 5 are arranged parallel and coaxially. A reverse rotation structure 4 is arranged between the two pedals 2. When turning, the pedal 2 on one side tilts up, and under the action of the reverse rotation structure 4, the pedal 2 on the other side swings down. The pedals 2 on both sides coordinate their actions, which can control the relative angle of the two pedals 2, and then control the tilt angle of the vehicle body, so that the turning radius of the smart tricycle is shortened, and because the three wheels are always in contact with the ground, the grip is stronger, the risk of rollover is reduced, and the turning speed is increased, which is suitable for drifting sports.

[0041] In the above scheme, the reverse rotation structure 4 is arranged on the frame 1, and the reverse rotation structure 4 includes a horizontal axis 3, on which two sector gears 41 arranged opposite to each other are rotatably connected, and the first head ends of the two pedals 2 are fixedly connected to the outer end surfaces of the two sector gears 41 respectively; a rotatable vertical axis 42 is passed through the direction perpendicular to the horizontal axis 3, and a connecting gear 43 is rotatably sleeved on the vertical axis 42, and the connecting gear 43 is respectively meshed and connected with the two sector gears 41; the outer end of the vertical axis 42 is connected to the frame 1 through an elastic member 44 rubber fixing block, and when encountering bumpy roads, the vibration of the vertical axis 42 can be reduced.

[0042] Specifically, a driving motor is provided in the two parallel rotating wheels 5 , a controller 20 with a gyroscope and a lithium battery 22 are installed in the frame 1 , and the driving motor and the controller 20 are connected.

[0043] like Figure 1 , Figure 2 As shown, in the first embodiment of the present invention, an independent wheel 6 is provided at the rear end of the frame 1, two rotating wheels 5 are located in front of the frame 1, the independent wheel 6 is provided on the wheel frame 7, the independent wheel 6 and the wheel frame 7 are connected by a wheel axle 8, the wheel frame 8 is rotatably connected to the frame 1 by a rotating shaft 9, an axial extension line 91 of the rotating shaft 9 is located between the wheel axle 8 and the landing point 61 of the independent wheel 6, when the vehicle body tilts, there is a lateral force F1 at the tire landing point to make the tire turn in the opposite direction. The reaction force F2 of the ground acts behind the axial extension line 91 of the rotating shaft 9, and the horizontal component force F3 of F2 enables the independent wheel 6 to have a self-guiding function.

[0044] Specifically, the connecting gear 43 on the vertical shaft 42 is connected to the servo motor 21, and the servo motor 21 is connected to the controller 20. In the automatic driving mode, the controller 20 controls the rotation of the connecting gear 43 through the servo motor 21, and the rotation of the connecting gear 43 drives the rotation of the bevel gear 41, thereby adjusting the coordinated rotation of the two pedals 2.

[0045] In this embodiment, the differential speed compensation during forward movement and turning is realized by driving motors provided in two parallel wheels 5. According to the vehicle speed and turning radius, the controller 20 controls the servo motor 21 to drive the connecting gear 43 to rotate, so as to achieve the vehicle body tilt and reduce the turning radius. In addition, on the inclined road surface, the tilt angle of the vehicle body can be obtained through the gyroscope signal, and the servo motor 21 is controlled to drive the connecting gear 43 to rotate, so as to achieve the vehicle body to maintain a horizontal state.

[0046] like Figure 3 , Figure 4 and Figure 5 In the second embodiment of the present invention, a head tube 10 is provided at the front end of a frame 1, a seat tube 11 is provided inside the head tube 10, a seat rod 12 is provided at the upper end of the seat tube 11, a handle 13 is provided at the upper end of the seat rod 12, the lower end of the seat tube 11 is connected to a front fork 23, an independent wheel 6 is provided on the front fork 23, an angle sensor 14 is provided between the seat tube 11 and the frame 1, the angle sensor 14 is connected to a controller 20, and the angle sensor 14 is used to detect the turning angle of the independent wheel 6.

[0047] In the above scheme, the angle sensor 14 includes a first gear 15 fixedly connected to the vertical pipe 11, a second gear 17 arranged in the shell 16 and meshing with the first gear 15, a magnet 18 is arranged on the second gear 17, and a sensing chip 19 is arranged on the inner wall of the shell 16 corresponding to the magnet 18, and the sensing chip 19 is connected to the controller 20.

[0048] In this embodiment, the differential speed compensation during forward movement and turning is achieved by installing drive motors in the two parallel rotating wheels 5 .

[0049] A method for realizing turning of an intelligent tricycle comprises the following steps:

[0050] The traveling speed of the smart tricycle and the body tilt angle when turning are obtained. A driving motor is arranged on the axles of the two parallel wheels of the smart tricycle, and a controller with a built-in gyroscope controls the driving motor to compensate and adjust the differential speed between the two parallel wheels.

[0051] like Figure 7 As shown, for a smart tricycle with two rear wheels, firstly, the speed ratio of the inner wheel and the outer wheel is calculated according to the following formula ①:

[0052] V 内1 / V 外1 =(2R-H) / (2R+H)=(2V 2 -Hsinθ) / (2V 2 +Hsinθ) ①

[0053] Where: V 内1 is the adjusted inner wheel speed, V 外1is the outer wheel speed after adjustment, R is the turning radius of the middle point of the two wheels after differential adjustment, H is the distance between the two wheels, V is the average vehicle speed, θ is the inclination angle of the vehicle body, and θ is 0° when the vehicle body is perpendicular to the ground (the meaning of θ is shown in Figure 6 ); then, the speed ratio of the inner wheel and the outer wheel is calculated according to the following formula ②:

[0054] V 内2 / V 外2 =(2R-H) / (2R+H)=(2L / tanβ-H) / (2L / tanβ+H) ②

[0055] Where: V 内2 is the adjusted inner wheel speed, Vout2 is the adjusted outer wheel speed, R is the turning radius of the middle point of the two wheels after differential adjustment, H is the distance between the two wheels, β is the turning angle of the independent wheel, L is the wheelbase between the wheel axle and the independent wheel axle, and Vout2 is the adjusted outer wheel speed. 内1 / V 外1 With V 内2 / V 外2 The smaller value is taken to adjust the speed of the inner and outer wheels.

[0056] like Figure 6 As shown, for a smart tricycle with two front wheels, the speed ratio of the inner wheel and the outer wheel is calculated and adjusted according to the following formula ③:

[0057] V 内 / V 外 =(2R-H) / (2R+H)=(2V 2 -Hsinθ) / (2V 2 +Hsinθ) ③

[0058] Where: V 内 is the adjusted inner wheel speed, V 外 is the adjusted outer wheel speed, R is the turning radius of the middle point of the two wheels after differential adjustment, H is the distance between the two wheels, V is the average vehicle speed, θ is the inclination angle of the vehicle body, and θ is 0° when the vehicle body is perpendicular to the ground.

[0059] like Figure 6 As shown, a method for automatic turning of a two-wheel front smart tricycle includes the following steps: an external control signal controls the turning radius of the smart tricycle, controls the differential speed of the two wheels according to the turning radius according to the following formula ④, and controls the tilt angle of the vehicle body according to the formula ⑤:

[0060] V 内 / V 外 =(2R-H) / (2R+H) ④

[0061] Where: V内 is the adjusted inner wheel speed, V 外 To adjust the speed of the rear outer wheel, R is the turning radius of the middle point between the two wheels (see Figure 7 ), H is the distance between the two wheels;

[0062] sinθ=V 2 / R ⑤

[0063] Wherein: V is the average vehicle speed, θ is the tilt angle of the vehicle body, and θ is 0° when the vehicle body is perpendicular to the ground. In the first example, the controller 20 controls the rotation of the connecting gear 43 through the servo motor 21, and the rotation of the connecting gear 43 drives the rotation of the bevel gear 41, thereby adjusting the rotation angle of the two pedals 2 to achieve the tilt of the vehicle body.

[0064] Figure 6 The turning state shown in the middle C position indicates that if the independent wheel 6 does not rotate during turning, lateral friction will be generated during turning, hindering the turning and causing wear on the tire; Figure 6 The turning state shown at the middle D position indicates that the independent wheel 6 rotates during turning, making the turning smoother while reducing the wear on the tire.

[0065] The above-mentioned method for realizing turning of the intelligent tricycle and the method for automatic turning of the two-wheel front intelligent tricycle effectively reduce the turning radius of the intelligent tricycle and ensure the stability and smoothness of the turning.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the technical scope of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent tricycle, comprising a frame and two pedals arranged on both sides of the frame, characterized in that: A horizontal axis is installed on the frame, and the first head ends of the two pedals are respectively rotatably installed on the axis head of the horizontal axis. A reverse rotation structure is provided between the first head ends of the two pedals to enable the two pedals to rotate in opposite directions relative to each other. The second ends of the two pedals are respectively axially connected with rotating wheels. When the rotating direction of the rotating wheels is toward the front of the frame, the rotating wheels are parallel and coaxially arranged, and the two rotating wheels are located at the rear of the frame; the reverse rotation structure is arranged on the frame, and the reverse rotation structure includes a horizontal axis, and the horizontal axis is respectively rotatably connected to two fan-shaped gears arranged opposite to each other, and the first head ends of the two pedals are respectively fixedly connected to the outer end surfaces of the two fan-shaped gears; a rotatable vertical axis is passed through in the direction perpendicular to the horizontal axis, and a connecting gear is rotatably sleeved on the vertical axis, and the connecting gear is respectively meshed and connected with the two fan-shaped gears; the outer end of the vertical axis is connected to the frame through an elastic member; the connecting gear on the vertical axis is connected to a servo motor, and the servo motor is connected to a controller; first, the speed ratio of the inner rotating wheel and the outer rotating wheel is calculated according to the following formula ①: V 内1 / V 外1 =(2R-H) / (2R+H)=(2V2-Hsinθ) / (2V2+Hsinθ)①Where: V 内1 is the adjusted inner wheel speed, V 外1 is the speed of the outer wheel after adjustment, R is the turning radius of the middle point of the two wheels after differential adjustment, H is the distance between the two wheels, V is the average vehicle speed, θ is the inclination angle of the vehicle body, and θ is 0° when the vehicle body is perpendicular to the ground; then, the speed ratio of the inner wheel and the outer wheel is calculated according to the following formula ②: V 内2 / V 外2 =(2R-H) / (2R+H)=(2L / tanβ-H) / (2L / tanβ+H)②Where: V 内2 is the adjusted inner wheel speed, Vout2 is the adjusted outer wheel speed, R is the turning radius of the middle point of the two wheels after differential adjustment, H is the distance between the two wheels, β is the turning angle of the independent wheel, L is the wheelbase between the wheel axle and the independent wheel axle, and Vout2 is the adjusted outer wheel speed. 内1 / V 外1 With V 内2 / V 外2 The smaller value is used to adjust the speed of the inner and outer wheels.

2. The intelligent tricycle according to claim 1, characterized in that: A driving motor is arranged inside the two parallel rotating wheels, a controller with a gyroscope and a lithium battery are installed in the frame, and the driving motor is connected to the controller.

3. The intelligent tricycle according to claim 2, characterized in that: A head tube is arranged at the front end of the frame, a seat tube is arranged inside the head tube, a seat rod is arranged at the upper end of the seat tube, a handle is arranged at the upper end of the seat rod, the lower end of the seat tube is connected to a front fork, an independent wheel is arranged on the front fork, an angle sensor is arranged between the seat tube and the frame, and the angle sensor is connected to a controller; the angle sensor includes a first gear fixedly connected to the seat tube, a second gear arranged in a shell and meshing with the first gear, a magnet is arranged on the second gear, a sensing chip is arranged on the inner wall of the shell corresponding to the magnet, and the sensing chip is connected to the controller.

4. The intelligent tricycle according to any one of claims 1 to 3, characterized in that: The traveling speed of the smart tricycle and the body tilt angle when turning are obtained. A driving motor is arranged on the axles of the two parallel wheels of the smart tricycle, and a controller with a built-in gyroscope controls the driving motor to compensate and adjust the differential speed between the two parallel wheels.

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