Balance car control system

Abstract

The invention discloses a control system for a balancing vehicle, including a joystick disposed at the front or rear end of the vehicle body, a transmission shaft disposed along the center line of the vehicle body, the transmission shaft having a first end connected to the joystick and a second end located in the vehicle body, the second end being connected to a secondary gyroscope capable of rotating forward and backward around the vehicle body through a gear mechanism, so as to correspond to the superposition information of the left and right deflection angle information of the vehicle body and the steering information of the joystick or the superposition information of the front and rear deflection angle information and the steering information of the joystick, a controller is disposed in the vehicle body, and a main gyroscope is disposed on the controller to detect the front and rear deflection angle information of the vehicle body, as well as the left and right deflection angle information. In the above manner, the invention has a reasonable design and a simple structure, and by arranging the main gyroscope and the secondary gyroscope to detect the deflection angle information, the controller determines the user's intention based on the information of the two and issues a control instruction to adjust the steering.

Description

Technical Field

[0001] The invention relates to the field of balancing vehicles, and in particular to a balancing vehicle control system. Background Art

[0002] As people's living standards continue to improve, means of transportation are becoming more and more diverse. As a new type of means of transportation, balance bikes are deeply loved by young people for their stylish appearance and convenient operation. This type of bike is based on a basic principle of "dynamic stability". It uses the gyroscope and accelerometer inside the body to detect changes in the body's posture, and through the servo system installed in the body, it accurately drives the motor to make corresponding adjustments, thereby maintaining the balance of the balance bike.

[0003] The prior art discloses a new type of two-wheeled electric balancing vehicle, which includes a vehicle body and wheels connected to the vehicle body. A gyroscope, an accelerometer and a controller for detecting the inclination of the vehicle body are installed in the vehicle body. Left and right pedals that rotate relative to the vehicle body are arranged at the top of the vehicle body. An annular magnet and a Hall sensor are respectively arranged at the near end of the left and right pedals. The Hall sensor extends into the annular magnet. The controller is electrically connected to the gyroscope, accelerometer, Hall sensor and the motor of the wheel.

[0004] Although this technology can achieve steering through the characteristics of linear Hall sensors, the magnetic poles of the magnet and the Hall element must correspond to each other during installation of this steering control system, otherwise the steering will be opposite to the control direction, which increases the difficulty of assembly. At the same time, since the turning signal requires information conversion, the turning is not accurate enough.

[0005] Therefore, it is necessary to design a balance vehicle control system which is simple in structure, easy to install and has precise control. Summary of the invention

[0006] In order to overcome the problems of complex structure, cumbersome installation and insufficient control of existing balance vehicle control systems, the invention provides a balance vehicle control system, which fixes a controller in the vehicle body, arranges a main gyroscope on the controller, and connects a transmission shaft connected to a joystick at one end to a secondary gyroscope that can rotate around the vehicle body forward and backward at the other end to detect left and right deflection angle information or front and rear deflection angle information of the vehicle body. The controller issues control instructions according to the deflection information of the main gyroscope and the secondary gyroscope.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the invention is:

[0008] A control system for a balancing vehicle comprises a joystick arranged at the front end or rear end of a vehicle body and a transmission shaft arranged along the center line of the vehicle body, wherein a controller is arranged in the vehicle body, and a main gyroscope is arranged on the controller to detect front and rear deflection information of the vehicle body and left and right deflection information, the transmission shaft comprises a first end connected to the joystick and a second end located in the vehicle body, the second end is connected to a secondary gyroscope capable of rotating around the vehicle body front and back through a transmission mechanism, so as to correspond to the superposition information of the left and right deflection information of the vehicle body and the steering information of the joystick or the superposition information of the front and rear deflection information and the steering information of the joystick, the transmission mechanism is a gear mechanism, the gear mechanism comprises a first bevel gear connected to the second end, a second bevel gear meshed with the first bevel gear and arranged in a direction perpendicular to the transmission shaft, and the secondary gyroscope is connected to the second bevel gear.

[0009] Furthermore, a gear shaft is extended from the second bevel gear, a second bevel gear is arranged at one end of the gear shaft, and the other end of the gear shaft is connected to the auxiliary gyroscope.

[0010] Furthermore, the gear shaft is sleeved with at least one supporting member, and the supporting member is used to support the gear shaft.

[0011] Furthermore, there are two support members.

[0012] Furthermore, the main gyroscope and the auxiliary gyroscope are both electrically connected to the controller, and the controller is used to collect detection information of the main gyroscope and the auxiliary gyroscope.

[0013] Furthermore, the controller is also electrically connected to a drive system disposed in the vehicle body to control the operation of the drive system, and the drive system has a left motor and a right motor that respectively drive wheels located on both sides of the vehicle body.

[0014] Furthermore, the vehicle body is also provided with a battery assembly located at the center of the vehicle body and providing power for the driving system, and the controller is located on one side of the battery assembly and fixed to the bottom plate of the vehicle body.

[0015] Furthermore, the balance vehicle control system is also provided with a Hall sensor, an acceleration sensor, a Bluetooth module, a buzzer module, and an indicator light module connected to the controller.

[0016] Furthermore, a left pedal and a right pedal are symmetrically arranged above the vehicle body, and the bottom ends of the left pedal and the right pedal are both provided with induction switches connected to the controller.

[0017] Furthermore, a display screen fixed to the vehicle body upper cover is provided in the middle of the left pedal and the right pedal, and the display screen is connected to the controller.

[0018] Compared with the prior art, the invention has the following beneficial effects:

[0019] 1. The invention provides a controller in a vehicle body, and provides a main gyroscope on the controller that can detect the front and rear and left and right angle information of the vehicle body. The controller can issue forward and backward instructions according to the front and rear angle information of the vehicle body detected by the main gyroscope.

[0020] 2. The invention connects a secondary gyroscope to the other end of a transmission shaft connected to a joystick at one end through a transmission system, so that the secondary gyroscope can rotate forward and backward around the vehicle body as the joystick rotates left and right, and a controller issues a steering command based on the numerical deviation detected by the main gyroscope and the secondary gyroscope.

[0021] 3. The invention detects the posture change of the vehicle body through two different gyroscopes, and the information obtained is more reliable and the control is more precise. At the same time, compared with the commonly used Hall sensor and magnet control system, it does not need to install magnets, the installation is convenient and trouble-free, and the internal structure is simpler. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural diagram of the invented balance vehicle control system;

[0023] Figure 2 It is a schematic diagram of the exploded structure of the invented balance car control system;

[0024] Figure 3 This is a schematic diagram of the body structure of the invented balance car control system

[0025] Figure 4 It is a connection diagram of the control system of the invention;

[0026] The components in the accompanying drawings are marked as follows: 1. Vehicle body; 2. Joystick; 3. Transmission shaft; 31. First bevel gear 32; Second bevel gear; 33. Gear shaft; 34. Support member; 4. Auxiliary gyroscope; 5. Connector; 6. Induction switch; 7. Left pedal; 8. Right pedal; 9. Display screen; 10. Controller; 11. Main gyroscope; 12. Battery assembly. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the invention more clear, the invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] It should also be noted that, in order to avoid obscuring the invention due to unnecessary details, only structures and / or processing steps closely related to the invention are shown in the drawings, while other details that are not closely related to the invention are omitted.

[0029] In addition, it should be noted that the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

[0030] Example

[0031] like Figures 1 to 3 As shown, a control system for a balancing vehicle includes a joystick 2 arranged at the front end of a vehicle body 1, a transmission shaft 3 arranged along the center line of the vehicle body 1 and connected to the joystick 2 at one end, and the other end of the transmission shaft 3 is connected to a secondary gyroscope 4 that can rotate around the vehicle body 1 forward and backward through a transmission mechanism to detect the superposition information of the left and right deflection information of the vehicle body 1 and the steering information of the joystick 2 or the superposition information of the front and rear deflection information and the steering information of the joystick 2; a controller 10 is arranged in the vehicle body 1, and the controller 10 is preferably fixed on the bottom plate of the vehicle body 1, and a main gyroscope 11 is arranged on the controller 10 to detect the front and rear deflection information of the vehicle body 1, as well as the left and right deflection information. Those skilled in the art should understand that in other embodiments, the joystick 2 can also be arranged at the rear end of the vehicle body 1, and it is not limited to this.

[0032] In this embodiment, the transmission mechanism is a gear mechanism, which includes a first bevel gear 31 connected to one end of the transmission shaft 3 located in the vehicle body 1, a second bevel gear 32 meshing with the first bevel gear 31 and arranged in a direction perpendicular to the transmission shaft 3, and the auxiliary gyroscope 4 is connected to the second bevel gear 32. The second bevel gear 32 extends with a gear shaft 33, one end of the gear shaft 33 is provided with the second bevel gear 32, and the other end of the gear shaft 33 is connected to the auxiliary gyroscope 4. The gear shaft 33 is sleeved with two support members 34, and the support members 34 are used to support the gear shaft 33, so that it is more stable during operation and the deflection information transmission is more accurate.

[0033] The joystick 2 drives the transmission shaft 3 to rotate, thereby driving the first bevel gear 31 to rotate and driving the second bevel gear 33 meshing therewith to rotate, thereby driving the gear shaft 33 to rotate, so that the auxiliary gyroscope 4 connected to the gear shaft 66 can rotate back and forth around the vehicle body 1.

[0034] Among them, when the joystick 2 is in a vertical position with respect to the vehicle body 1, the deflection information detected by the secondary gyroscope 4 is consistent with the left and right deflection information detected by the main gyroscope 11; when the joystick 2 rotates to the left, the secondary gyroscope 4 also rotates forward. The information detected by the secondary gyroscope 4 is the left and right deflection information of the vehicle body 1 superimposed on the steering information of the joystick 2. Therefore, the controller 10 can distinguish the user's intention to use and control the steering.

[0035] In this embodiment, the controller 10 is electrically connected to the main gyroscope 11 and the auxiliary gyroscope 4 to collect detection information of the main gyroscope 11 and the auxiliary gyroscope 4, and controls the steering according to the comparison of the information between the two.

[0036] In this embodiment, the controller 10 is also electrically connected to a drive system disposed in the vehicle body 1 to control the operation of the drive system. The drive system includes a left motor and a right motor for respectively driving the wheels located on both sides of the vehicle body 1. By adopting a dual-motor mode of a left motor and a right motor, the corresponding wheels can be controlled individually, thereby better controlling the steering of the vehicle body 1.

[0037] In this embodiment, the vehicle body 1 is also provided with a battery assembly 12 located at the center of the vehicle body 1 and providing power for the driving system. The controller 10 is located on one side of the battery assembly 12 and fixed to the bottom plate of the vehicle body 1, and the controller 10 is connected to the battery assembly 12 through a power management module.

[0038] like Figure 4 As shown, in this embodiment, the controller 10 is also connected to a Hall sensor, an acceleration sensor, a Bluetooth module, a buzzer module, and an indicator light module. The Hall sensor and the acceleration sensor are used to collect the posture change signal of the vehicle body 1. By adding a Bluetooth module, a buzzer module, and an indicator light module, the functions that the balance vehicle can achieve are enriched.

[0039] In this embodiment, a left pedal 7 and a right pedal 8 are symmetrically arranged above the vehicle body 1, and a sensing switch 6 connected to the controller 10 is provided at the bottom of the left pedal 7 and the right pedal 8. When the user acts on the left pedal 7 and the right pedal 8, the sensing switch 6 transmits the detected signal to the controller 10 according to the descent and rise of the pedal, thereby controlling the movement of the balancing vehicle.

[0040] In this embodiment, a display screen 9 fixed to the upper cover of the vehicle body 1 is provided between the left pedal 7 and the right pedal 8, and the display screen 9 is connected to the controller 10 to display the current status information of the balancing vehicle in real time.

[0041] The working principle of the balance car control system is explained below:

[0042] In this embodiment, the main gyroscope 11 detects the front and rear or left and right angle information of the vehicle body 1, and the controller 10 issues forward and backward instructions based on the front and rear angle information of the vehicle body 1 detected by the main gyroscope 11. The auxiliary gyroscope 4 detects the front and rear angle information of the vehicle body 1 and superimposes the steering information of the joystick 2. The controller 10 issues a steering instruction based on the numerical deviation detected by the main gyroscope 11 and the auxiliary gyroscope 4 to control the steering.

[0043] According to the understanding of the technical solution of the invention by those skilled in the art, the gear mechanism in the invention can be adjusted as needed, for example, the transmission mechanism can be set as a connecting rod mechanism, so the above-mentioned equivalent structure can be understood as an equivalent implementation method using the solution of the invention.

[0044] The above is only used to illustrate the technical solution of the invention, rather than to limit it. Although the invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solution described in the aforementioned embodiments can still be modified, or part or all of the technical features can be replaced by equivalents. Any equivalent structure or equivalent process transformation made using the contents of the invention description and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the invention.

Claims

1. A control system for a self-balancing vehicle, comprising a joystick (2) arranged at the front end or the rear end of a vehicle body (1), and a transmission shaft (3) arranged along the center line of the vehicle body (1), characterized in that: The vehicle body (1) is provided with a controller (10), and the controller (10) is provided with a main gyroscope (11) to detect front and rear deflection information and left and right deflection information of the vehicle body (1); the transmission shaft (3) has a first end connected to the joystick (2) and a second end located in the vehicle body (1); the second end is connected to a secondary gyroscope (4) capable of rotating forward and backward around the vehicle body (1) through a transmission mechanism to detect the superposition information of the left and right deflection information of the vehicle body (1) and the steering information of the joystick (2) or the front and rear deflection information and the steering information of the joystick (2). The transmission mechanism is a gear mechanism, which comprises a first bevel gear (31) connected to the second end, a second bevel gear (32) meshing with the first bevel gear (31) and arranged in a direction perpendicular to the transmission shaft (3), and the auxiliary gyroscope (4) is connected to the second bevel gear (32); the second bevel gear (32) is extended with a gear shaft (33), one end of the gear shaft (33) is provided with a second bevel gear, and the other end of the gear shaft (33) is connected to the auxiliary gyroscope (4).

2. The self-balancing vehicle control system according to claim 1, characterized in that: The gear shaft (33) is sleeved with at least one support member (34), and the support member (34) is used to support the gear shaft (33).

3. The self-balancing vehicle control system according to claim 2, characterized in that: There are two supporting members (34).

4. The self-balancing vehicle control system according to claim 1, characterized in that: The main gyroscope (11) and the auxiliary gyroscope (4) are both electrically connected to the controller (10), and the controller (10) is used to collect detection information of the main gyroscope (11) and the auxiliary gyroscope (4).

5. The self-balancing vehicle control system according to claim 1, characterized in that: The controller (10) is also electrically connected to a drive system disposed in the vehicle body (1) to control the operation of the drive system, wherein the drive system comprises a left motor and a right motor for respectively driving wheels located on both sides of the vehicle body (1).

6. The self-balancing vehicle control system according to claim 5, characterized in that: The vehicle body (1) is also provided with a battery assembly (12) located at the center of the vehicle body (1) and providing power for the drive system. The controller (10) is located on one side of the battery assembly (12) and is fixed to the bottom plate of the vehicle body (1).

7. The self-balancing vehicle control system according to claim 1, characterized in that: The balancing vehicle control system is also provided with a Hall sensor, an acceleration sensor, a Bluetooth module, a buzzer module, and an indicator light module which are connected to the controller (10).

8. The self-balancing vehicle control system according to claim 1, characterized in that: A left pedal (7) and a right pedal (8) are symmetrically arranged above the vehicle body (1), and the bottom ends of the left pedal (7) and the right pedal (8) are both provided with induction switches (6) connected to the controller (10).

9. The self-balancing vehicle control system according to claim 8, characterized in that: A display screen (9) fixed to the upper cover of the vehicle body (1) is provided between the left pedal (7) and the right pedal (8), and the display screen (9) is connected to the controller (10).

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