阅读说明：本技术 一种两轮高尔夫球包车导航平衡控制系统及球包车 (two-wheeled golf cart navigation balance control system and golf cart ) 是由 龚家雄 龚倩 于 2019-12-03 设计创作，主要内容包括：本发明涉及一种两轮高尔夫球包车导航平衡控制系统及球包车,包括用于感应球包车的倾斜角度和移动方向的陀螺仪、用于驱动球包车车轮的旋转的行走控制模块、用于收放、调整并固定球包车全地形支撑架的位置的驻车控制模块,以及用于接收陀螺仪的信号,并为行走控制模块和驻车控制模块提供控制信号的控制芯片。本发明公开的控制系统能够实现两轮球包车的自动平衡以及导航功能,智能化程度高,而且球包车整体体积小,灵活性好,适用范围更广。(The invention relates to a two-wheeled golf trolley navigation balance control system and a golf trolley, which comprise a gyroscope for sensing the inclination angle and the moving direction of the golf trolley, a walking control module for driving the wheels of the golf trolley to rotate, a parking control module for receiving, adjusting and fixing the position of an all-terrain support frame of the golf trolley, and a control chip for receiving the signal of the gyroscope and providing a control signal for the walking control module and the parking control module.)

1, A navigation balance control system for a two-wheeled golf trolley, which is characterized by comprising

The gyroscope (20) is used for sensing the inclination angle and the moving direction of the ball bag cart;

the walking control module (21) is used for driving the ball-covered vehicle wheels (3) to rotate;

the parking control module (22) is used for retracting, adjusting and fixing the position of the all-terrain support frame (5) of the ball-covered vehicle;

and the control chip (23) is used for receiving the signal of the gyroscope (20) and providing a control signal for the walking control module (21) and the parking control module (22).

2. The two-wheeled golf trolley navigation balance control system according to claim 1, wherein the walking control module (21) comprises a motor driver I connected with a control chip (23), and a walking motor (4) connected with the motor driver I and used for driving wheels (3) of the golf trolley to rotate.

3. The two-wheeled golf trolley navigation balance control system according to claim 1, wherein the walking motor (4) is provided with a rotation speed sensor connected with the control chip (23).

4. The two-wheeled golf trolley navigation balance control system according to claim 1, wherein the parking control module (22) comprises a motor driver II connected with the control chip (23) and a retraction motor (6) connected with the motor driver II and used for driving the all-terrain supporting frame (5) to rotate.

5. The two-wheeled golf trolley navigation balance control system according to claim 4, wherein the parking control module (22) further comprises a motor driver III connected with the control chip (23), and a locking motor (7) connected with the motor driver III and used for fixing the position of the all-terrain supporting frame (5).

6. The two-wheeled golf trolley navigation balance control system according to claim 5, wherein the circuits of the locking motor (7) and the retraction motor (6) are respectively provided with a current sensor connected with the control chip (23).

7. A two-wheeled golf trolley navigation and balance control system according to claim 1, wherein the control chip (23) is mounted on a control panel (2), and the control panel (2) is connected with a manual operator (24) fixed on the trolley and wirelessly connected with a remote controller (25).

A golf trolley including the navigation balance control system of the two-wheeled golf trolley according to claim 1, comprising a housing (1), a control panel (2), a traveling mechanism and an all-terrain supporting mechanism, wherein the traveling mechanism comprises pairs of wheels (3) mounted on both sides of the housing (1), and a traveling motor (4) connected to each wheel (3) respectively, and the all-terrain supporting mechanism comprises pairs of all-terrain supporting frames (5), a retracting motor (6) for controlling the rotation of the all-terrain supporting frames (5), and a locking motor (7) for fixing the all-terrain supporting frames (5).

9. The ball bag trolley according to claim 8, wherein a support frame (9) is installed in the housing (1), and the two sets of wheels (3) and the traveling motor (4) are respectively installed at the left end and the right end of the support frame (9).

10. Ball and socket vehicle according to claim 9, characterised in that the bottom of the support frame (9) is provided with a hinged seat (10), the all-terrain support frame (5) is mounted on the hinged seat (10), and two all-terrain support frames (5) and the hinged seat (10) are hinged two by two.

11. The ball bag cart according to claim 10, wherein the retracting motor (6) is installed at side of all-terrain supports (5), the output end of the retracting motor (6) is provided with a screw rod (11), the screw rod (11) is matched and connected with screw sleeves (12) installed on another all-terrain supports (5), and the retracting motor (6) can drive the two all-terrain supports (5) to rotate towards or away from each other.

12. A ball bag cart according to claim 11, wherein the locking motor (7) is installed on the side of the hinge base (10), and a locking nut (13) is connected to the output shaft of the locking motor (7) in a threaded manner, and the locking nut (13) can pass through the hinge base (10) to be locked with the all-terrain supporting frame (5).

Technical Field

The invention belongs to the technical field of golf trolley, and particularly relates to an two-wheeled golf trolley navigation balance control system and a golf trolley.

Background

world-wide sports are popular in golf, which has become the Olympic game in the 31 st summer Olympic game in 2016. the essence of golf is not limited by age, and makes people naturally and completely contact with each other, and blends in and fully enjoys the endless fun brought by the sports.

The golf bag cart is a transportation device for bearing the golf bag, and the existing golf bag carts are various, including four-wheel golf bag carts capable of carrying people and bags and three-wheel golf bag carts special for carrying bags. The two ball bags have larger volume and are easy to limit flexibility in use.

Disclosure of Invention

The invention aims to provide two-wheeled golf trolley navigation balance control systems and golf trolleys, which are used for solving the problems of large volume and poor flexibility of the golf trolleys.

The navigation balance control system of the two-wheeled golf trolley is realized by the following steps:

A navigation balance control system for a two-wheeled golf cart comprises

The gyroscope is used for sensing the inclination angle and the moving direction of the buggy ladle;

the walking control module is used for driving the wheels of the ball covering vehicle to rotate;

the parking control module is used for retracting, adjusting and fixing the position of the all-terrain support frame of the ball-covered vehicle;

and the control chip is used for receiving the signal of the gyroscope and providing a control signal for the walking control module and the parking control module.

Step , the walking control module comprises a motor driver I connected with the control chip and a walking motor connected with the motor driver I and used for driving the ball-packed vehicle to rotate.

And , a rotating speed sensor connected with the control chip is installed on the walking motor.

, the parking control module comprises a motor driver II connected with the control chip and a retracting motor connected with the motor driver II and used for driving the all-terrain support frame to rotate.

, the parking control module further comprises a motor driver III connected with the control chip and a locking motor connected with the motor driver III and used for fixing the position of the all-terrain supporting frame.

And , arranging current sensors connected with the control chip on the circuits of the locking motor and the retracting motor respectively.

And , the control chip is arranged on the control board, and the control board is connected with a manual operator fixed on the ball bag vehicle and is wirelessly connected with a remote controller.

The invention further provides an ball bag vehicle which comprises a shell, a control panel, a traveling mechanism and an all-terrain supporting mechanism, wherein the traveling mechanism comprises pairs of wheels arranged on two sides of the shell, and a traveling motor respectively connected with each wheel, and the all-terrain supporting mechanism comprises pairs of all-terrain supporting frames, a retracting motor used for controlling the rotation of the all-terrain supporting frames, and a locking motor used for fixing the all-terrain supporting frames.

, a support frame is arranged in the shell, and two groups of wheels and a walking motor are respectively arranged at the left end and the right end of the support frame.

, the bottom of the support frame is provided with a hinged seat, the all-terrain support frame is arranged on the hinged seat, and two all-terrain support frames and the hinged seat are hinged in pairs.

, the retractable motor is installed on the side of all-terrain supporting frames, the output end of the retractable motor is provided with a screw rod, the screw rod is connected with a thread sleeve installed on another all-terrain supporting frames in a matched manner, and the retractable motor can drive the two all-terrain supporting frames to rotate oppositely or back to back.

And , installing the locking motor on the side surface of the hinged seat, wherein the output shaft of the locking motor is in threaded connection with a locking nut, and the locking nut can penetrate through the hinged seat to be locked with the all-terrain support frame.

After the technical scheme is adopted, the invention has the beneficial effects that:

(1) the control system of the two-wheeled golf trolley provided by the invention can realize the automatic balance and linear walking functions of the two-wheeled golf trolley, and has high intelligent degree;

(2) the two-wheeled golf trolley provided by the invention is small in size, good in flexibility and wider in application range of .

Drawings

The invention is further illustrated in the following description with reference to the figures and examples.

FIG. 1 is a schematic diagram of a navigation balance control system for a two-wheeled golf cart in accordance with a preferred embodiment of the present invention;

FIG. 2 is a block diagram of a ball cart in accordance with a preferred embodiment of the present invention;

FIG. 3 is a block diagram of the wheel and the inner portion of the outer shell of the cart for ball games in accordance with the preferred embodiment of the present invention;

FIG. 4 is an enlarged view of portion A of FIG. 3;

FIG. 5 is a block diagram of the all terrain support mechanism of the cart for ball bags of the preferred embodiment of the invention;

FIG. 6 is a right side view of the all-terrain support mechanism of the cart for ball bags of the preferred embodiment of the invention;

FIG. 7 is a cross-sectional view taken along line B-B of FIG. 6;

FIG. 8 is a block diagram of the engagement of the full ground support mechanism locking motor and the full ground support bracket of the cart for ball bags of the preferred embodiment of the present invention;

FIG. 9 is a view showing a state of use of the ball cart according to the preferred embodiment of the present invention;

in the figure: the device comprises a shell 1, a control panel 2, wheels 3, a walking motor 4, an all-terrain support frame 5, a retracting motor 6, a locking motor 7, a ball bag 8, a support frame 9, a hinged seat 10, a screw rod 11, a threaded sleeve 12, a locking nut 13, a protrusion 14, a fixing nut 15, a vertical rod 16, a handle 17, a support leg 18, a power box 19, a deflection motor 110, a swinging chassis 111, a guide groove 112, a threaded sleeve II 113, a screw rod II 114, a gyroscope 20, a walking control module 21, a parking control module 22, a control chip 23, a manual operator 24, a remote controller 25, a power module 26, a USB interface 27 and a GPS module 28.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are partial embodiments, but not all embodiments, of the .

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

As shown in FIG. 1, an two-wheeled golf cart navigation balance control system comprises

The gyroscope 20 is used for sensing the inclination angle and the moving direction of the ball bag vehicle;

the walking control module 21 is used for driving the ball-covered vehicle wheels 3 to rotate;

the parking control module 22 is used for retracting, adjusting and fixing the position of the all-terrain support frame 5 of the ball-covered vehicle;

and the control chip 23 is used for receiving the signal of the gyroscope 20 and providing a control signal for the walking control module 21 and the parking control module 22.

The control chip 23 may be, but not limited to, a single chip.

The single chip microcomputer is used for achieving the master control function of the whole navigation balance control system, and can be selected from STM32F103RCT6 but is not limited to the selection.

The gyroscope 20 can realize the sensing action of the balance and the moving direction of the two-wheeled ball bag vehicle, ensure the balance and the linearity of the ball bag vehicle in the moving process, and can be selected but not limited to MPU-6050.

The gyroscope 20 can monitor the moving direction and whether the buggy ladle is inclined or not in real time, and transmits a moving direction signal and an inclination signal to the control chip 23, so that the control chip 23 can process and analyze the moving direction signal and the inclination signal and send an instruction signal.

In order to realize the walking control of the ball bag vehicle, the walking control module 21 comprises a motor driver I connected with the control chip 23 and a walking motor 4 connected with the motor driver I and used for driving the ball bag vehicle wheels 3 to rotate.

Specifically, two wheels 3 of ball chartered plane car divide into left wheel and right wheel, and the walking motor 4 of being connected with two wheels respectively then is left walking motor and right walking motor to every walking motor 4 is connected motor driver I respectively, is left motor driver I and right motor driver I promptly, so that to every wheel 3 independent control, thereby realize turning to of ball chartered plane car.

In order to monitor the rotating speed of the wheel 3 in real time and adjust the rotating speed in time, a rotating speed sensor connected with the control chip 23 is installed on the walking motor 4.

The rotation speed sensor can monitor the rotation speed and the rotation direction of the wheel 3 in real time, and transmit the signal to the control chip 23, the control chip 23 and the driving control module 21 are connected to form closed-loop systems, if the rotation speed or the rotation direction of the wheel 3 deviates from a set value, the control chip 23 can send a control signal to the motor driver I in time, and the rotation speed or the rotation direction of the wheel 3 is adjusted by the walking motor 4.

The rotating speed sensor can be selected from but not limited to a Hall sensor, a photoelectric sensor and an encoder. In the present embodiment, the rotation speed sensor is a hall type SC 22526H.

When the ball bag vehicle moves, the balance of the ball bag vehicle is controlled through the cooperation of the gyroscope 20 and the walking control module 21, when the ball bag vehicle is parked, in order to reduce energy consumed by balance control, the parking control module 22 can be used for realizing balance during parking, and the parking control module 21 comprises a motor driver II connected with a control chip 23 and a retracting motor 6 connected with the motor driver II and used for driving the all-terrain support frame 5 to rotate.

When the golf cart is parked, the control chip 23 transmits a signal to the motor driver II under the state that the golf cart is kept balanced, is placed on the all-terrain support frame 5 by the motor driver II, the lower end of the support frame is supported on the ground, the support frame is matched with the wheels 3 to support the golf cart, the gyroscope 20 and the part of the walking control module 21 can be closed at the moment, and the consumption of electric quantity is reduced.

In order to ensure the stability of the ball bag vehicle during parking, the parking control module 22 further comprises a motor driver III connected with the control chip 23, and a locking motor 7 connected with the motor driver III and used for fixing the position of the all-terrain supporting frame 5.

Before locking motor 7 starts, all-terrain supporting frame 5 can receive and release the adjustment of angle through receiving and releasing motor 6, and when two all-terrain supporting frame 5 bottoms and wheel 3 bottoms were in with the planes, angular adjustment can be accomplished, and control chip 23 sends the signal for motor driver III this moment, and motor driver III then starts locking motor 7, with all-terrain supporting frame 5's rigidity, makes it unable continuation rotation to guarantee the stability of ball chartered vehicle parking.

In order to facilitate monitoring of the motion states of the locking motor 7 and the retracting motor 6, current sensors connected with the control chip 23 are respectively arranged on circuits where the locking motor 7 and the retracting motor 6 are located.

Taking the locking motor 7 as an example, when the locking motor 7 rotates to fix the all-terrain supporting frame 5, the locking motor cannot rotate continuously, at this time, the circuit of the circuit where the locking motor 7 is located is rapidly increased, and after the control chip 23 receives a signal of current increase, the rotation of the locking motor 7 is stopped.

The function of the current sensor can be realized by adopting, but not limited to, a sampling resistor and an operational amplifier.

The rotation positioning modes of the retraction motor 6 and the locking motor 7 are not limited to the monitoring of a current sensor, and the position rotation position can be limited by adopting a mechanical limiting structure.

In order to realize two using modes of the ball bag vehicle, the control chip 23 is installed on the control panel 2, and the control panel 2 is connected with a manual operator 24 fixed on the ball bag vehicle and is wirelessly connected with a remote controller 25.

The manual operator 24 can directly operate the ball bag cart on the ball bag cart, the remote controller 25 can remotely control the ball bag cart, and the control panel 2 is provided with an antenna module wirelessly connected with the remote controller 25.

Specifically, the ball-in-bag vehicle acts in a manner including, but not limited to, forward, reverse, left turn, right turn, and stop, as well as acceleration and deceleration.

Preferably, in order to adjust the moving state of the chartered vehicle according to the ground condition, a GPS module 28 connected to the control chip 23 is installed on the control board 2 to provide the control chip 23 with the ground condition information.

Preferably, the control system further comprises a power module for supplying power to the control chip 23, the gyroscope 20, the control board 2 and the GPS module 28, and the power module 26 is provided with a USB interface 27 for charging the power module 26.

Referring to fig. 2-9, on the basis of the above, the present embodiment further provides an buggy ladle, which includes a housing 1, a control panel 2, a traveling mechanism and an all-terrain supporting mechanism, where the traveling mechanism includes pairs of wheels 3 installed on two sides of the housing, and a traveling motor 4 connected to each wheel 3, respectively, and the all-terrain supporting mechanism includes pairs of all-terrain supporting frames 5, a retracting motor 6 for controlling the rotation of the all-terrain supporting frames 5, and a locking motor 7 for fixing the all-terrain supporting frames 5.

The th of shell 1 is used for placing ball bag 8, and then plays the guard action to its inside structure in addition, wherein control panel 2, walking motor 4, receive and release motor 6 and locking motor 7 all install in the shell.

The shell 1 can be body structure, also can adopt the structure of assembling from top to bottom.

A power box 19 for supplying power to the entire buggy ladle is provided in the casing 1.

In order to realize the supporting function of the whole ball bag vehicle, a supporting frame 9 is arranged in the shell 1, and the two groups of wheels 3 and the walking motor 4 are respectively arranged at the left end and the right end of the supporting frame 9.

Specifically, the support frame 9 is of a cross structure, and can fix the position of the wheel 3 and the traveling motor 4.

During parking, in order to adjust the angle of two all-terrain support frames 5 according to the gradient of the ground conveniently to guarantee the balance of the ball package vehicle, the bottom of the support frame 9 is provided with a hinged seat 10, the all-terrain support frames 5 are installed on the hinged seat 10, and two all-terrain support frames 5 and the hinged seat 10 are hinged in pairs.

Two all-terrain support frames 5 set up forward, set up backward in addition, when parking, can realize four-point support with two wheel 3 cooperations to guarantee the stability of ball package car parking.

In order to provide power for the rotation of the all-terrain supporting frames 5, the retractable motors 6 are installed on the sides of all-terrain supporting frames 5, the output ends of the retractable motors 6 are provided with screw rods 11, the screw rods 11 are connected with thread sleeves 12 installed on another all-terrain supporting frames 5 in a matched mode, and the retractable motors 6 can drive the two all-terrain supporting frames 5 to rotate in the opposite direction or in the opposite direction.

Before parking, two all-terrain supporting frames 5 are in a retracted state, namely, in a state of tending to the horizontal, and cannot be contacted with the ground, when parking, the retracting motor 6 rotates, the driving screw rod 11 rotates, the screw rod 11 is matched with the thread of the screw sleeve 12, the two all-terrain supporting frames 5 rotate oppositely, and are placed down, and the two all-terrain supporting frames 5 are hinged with the hinged seat 10, when all-terrain supporting frames 5 contact the ground first, the locking motor 7 continues to rotate, another all-terrain supporting frames 5 can be adjusted by hinging the all-terrain supporting frames 5 and the hinged seat 10, so that the all-terrain supporting frames are also contacted with the ground, the bottom ends of the two all-terrain supporting frames 5 and the bottom surfaces of the wheels 3 are located on the same plane, and the balance of the ball bag vehicle during parking is ensured.

Because the articulated active state of full topography support frame 5 and articulated seat 10 department, after the ball package car is in balanced state, need fix full topography support frame 5 and guarantee the stability that the ball package car stood, consequently locking motor 7 installs in the side of articulated seat 10, just threaded connection has lock nut 13 on the output shaft of locking motor 7, lock nut 13 can pass articulated seat 10 and the closure of full topography support frame 5.

Specifically, the locking nut 13 is towards the side of articulated seat 10 is provided with the arch 14 that the surface has the plane tooth, and arch 14 can pass the lateral wall of articulated seat 10, and the top of all-terrain support frame 5 is provided with the plane tooth towards the side of arch 14 equally, and locking motor 7 is rotatory, drives locking nut 14 and moves towards articulated seat 10, and arch 14 passes through the through-hole on the lateral wall of articulated seat 10 and passes through the plane tooth meshing with all-terrain support frame 5 to fix all-terrain support frame 5, can't continue to rotate.

Preferably, a vertical rod 16 is installed at the rear side of the housing 1, and the vertical rod 16 is provided with a foldable handle 17 and a leg 18.

The upright stanchion 16 can support the side surface of the ball bag 8, and can facilitate the fixing of the upper end of the ball bag 8, the handle 17 can facilitate the manual pushing of the ball bag vehicle, and the support legs 18 can facilitate the supporting of the ball bag vehicle, thereby ensuring the standing stability of the ball bag vehicle.

The handle 17 and the legs 18 can be folded directly into abutment with the uprights 16 when not in use.

When the two-wheeled ball bag vehicle is used, after the ball bag 8 is fixed on the shell 1, the ball bag vehicle is electrified, the running motor is controlled by utilizing the matching of the gyroscope 20 and the control chip 23, the balance adjustment is carried out, the all-terrain support frame 5 is folded after the balance state is kept, and then the ball bag vehicle can move forwards, backwards or turn and the like according to instructions.

Taking the ball-bag vehicle as an example, in the initial state, the control chip 23 will give a backward signal of 4 walking motors through the motor driver i to perform instantaneous reverse movement, and the ball bag 8 will incline forward under the effect of this reverse movement, at this time, the gyroscope 20 can monitor the inclination angle of the gravity center of the ball bag 8, and then transmit the inclination angle to the control chip 23, and the control chip 23 can control the walking motor 4 to drive the wheels 3 to advance according to the signal, wherein, the inclination angle of the gravity center of the ball bag 8 is related to the advancing speed of the ball-bag vehicle, and the larger the inclination angle, the larger the moving speed of the ball-bag vehicle.

If the advancing speed of the ball bag cart needs to be adjusted in the advancing process of the ball bag cart, the two conditions can be divided into two conditions:

(1) the speed can be accelerated by adopting two modes, wherein is that the rotating speed of the walking motor 4 is reduced, the ball bag 8 increases the forward tilting angle under the action of inertia, the gyroscope 20 monitors in real time, after the set angle is reached, the walking motor 4 also accelerates under the action of the control chip 23 to increase the rotating speed to reach the set speed, and the second mode is that the control chip 23 gives 4 backward instantaneous signals to the walking motor 4, at the moment, the ball bag 8 also increases the forward tilting angle under the action of inertia, and finally the walking motor 4 also accelerates.

(2) And (3) slowing down, 4 instantaneous forward acceleration signals can be given to the walking motor 4, the inclination angle of the ball bag 8 can be adjusted backwards under the action of inertia, and finally the effect of slowing down the walking motor 4 is achieved.

When the speed of the ball bag vehicle is beyond the set range in the advancing process, the speed is adjusted in the same manner to be kept within the set speed range.

The ball bag vehicle retreats in the same way as the ball bag vehicle advances, and the gravity center adjustment direction of the ball bag 8 is opposite to the advancing process.

When the ball bag vehicle needs to be parked, the ball bag vehicle is firstly adjusted to be in a balanced state, then the all-terrain support frame 5 is put down, the position of the all-terrain support frame 5 is locked, and then the driving part of each motor is powered off.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.