阅读说明：本技术 一种独轮双轴自平衡车 (Single-wheel double-shaft self-balancing vehicle ) 是由 王震 徐青正 周凯 杨帅 李天华 侯加林 龙晓军 于 2021-09-09 设计创作，主要内容包括：本发明涉及一种独轮双轴自平衡车,包括壳体、与壳体固接的平衡架,以及与壳体转动连接的单个轮体,轮体的两端分别设有与壳体转动连接的轮轴,壳体上安装有与至少一轮轴连接的驱动电机；平衡架上安装有两风扇,且两风扇分别位于轮轴轴线所在竖直平面的前、后两侧；还包括安装壳体上的平衡传感器,以及与平衡传感器电性连接的控制器,驱动电机和风扇均与所述控制器电性连接。本发明通过设置的独轮结构,减少了平衡车行进过程中对作物的扫覆碾压面积,同时可原地360°转向,具有极高的灵活性,并且采用电力驱动系统,实现低能耗维持机器平衡和行进的特点,提高了锂电池的使用时间和循环寿命,有利于独轮车移动机器人执行停车和对接操作。(The invention relates to a single-wheel double-shaft self-balancing vehicle which comprises a shell, a balancing stand fixedly connected with the shell and a single wheel body rotatably connected with the shell, wherein wheel shafts rotatably connected with the shell are respectively arranged at two ends of the wheel body, and a driving motor connected with at least one wheel shaft is arranged on the shell; two fans are arranged on the balance frame and are respectively positioned on the front side and the rear side of a vertical plane where the axis of the wheel shaft is positioned; the fan-type air conditioner further comprises a balance sensor arranged on the shell and a controller electrically connected with the balance sensor, and the driving motor and the fan are electrically connected with the controller. The single wheel structure reduces the sweeping and rolling area of crops in the moving process of the balance vehicle, can realize in-situ 360-degree steering, has extremely high flexibility, adopts an electric driving system, realizes the characteristics of maintaining the balance and the moving of the machine with low energy consumption, improves the service time and the cycle life of a lithium battery, and is beneficial to the execution of parking and butt joint operations of a moving robot of the single wheel vehicle.)

1. The utility model provides a single wheel biax self-balancing car which characterized in that: the balance mechanism comprises a shell (13), a balance frame (7) fixedly connected with the shell and a single wheel body (1) rotatably connected with the shell, wherein wheel shafts (14) rotatably connected with the shell are respectively arranged at two ends of the wheel body, and a driving motor (2) connected with at least one wheel shaft is arranged on the shell;

two fans (4) are arranged on the balance frame and are respectively positioned on the front side and the rear side of a vertical plane where the axis of the wheel shaft is positioned;

the fan-type air conditioner further comprises a balance sensor (11) arranged on the shell and a controller (8) electrically connected with the balance sensor, and the driving motor and the fan are electrically connected with the controller.

2. The single-wheel double-shaft self-balancing vehicle as claimed in claim 1, wherein: the two fans are symmetrical about a vertical plane in which the axis of the wheel axle lies.

3. The single-wheel double-shaft self-balancing vehicle as claimed in claim 2, wherein: the balance frame is fixedly connected with a protective cover (3) positioned at the periphery of the fan blade.

4. The single-wheel double-shaft self-balancing vehicle as claimed in claim 1, wherein: the balancing stand is located the one end of casing, and driving motor is located the one end that the balancing stand was kept away from to the casing.

5. The single-wheel double-shaft self-balancing scooter of claim 4, wherein: the balance frame comprises two vertical rods and a cross rod fixedly connected with the two vertical rods, the fan is installed on the cross rod, and the two vertical rods are fixedly connected to the front side face and the rear side face of the shell respectively.

6. The single-wheel double-shaft self-balancing vehicle as claimed in claim 1, wherein: the shell is provided with a power supply for supplying power to the driving motor, the fan, the balance sensor and the controller.

Technical Field

The invention relates to the field of balance vehicle control, in particular to a single-wheel double-shaft self-balancing vehicle.

Background

The rapid development of agricultural intelligent equipment technology and agricultural information technology provides development opportunity for the progress of modern agriculture in China, and the intelligent robot technology in the agricultural field is one of the most important components of agricultural intelligent equipment technology.

The price and the use cost of the current agricultural robot moving platform are high, and the operation requirements under certain special environments cannot be completely met. For example, ground wheeled machines are difficult to avoid rolling on crops, especially have large-area sweeping areas in steering operation, are seriously damaged on crops, and are not suitable for fine management of crops.

Disclosure of Invention

The invention provides a single-wheel double-shaft self-balancing vehicle aiming at the defects of the prior art, and solves the problem that the current agricultural production equipment seriously damages crops.

The invention is realized by the following technical scheme, and provides a single-wheel double-shaft self-balancing vehicle which comprises a shell, a balancing stand fixedly connected with the shell, and a single wheel body rotatably connected with the shell, wherein wheel shafts rotatably connected with the shell are respectively arranged at two ends of the wheel body, and a driving motor connected with at least one wheel shaft is arranged on the shell; two fans are arranged on the balance frame and are respectively positioned on the front side and the rear side of a vertical plane where the axis of the wheel shaft is positioned; the fan-type air conditioner further comprises a balance sensor arranged on the shell and a controller electrically connected with the balance sensor, and the driving motor and the fan are electrically connected with the controller.

Preferably, the two fans are symmetrical about a vertical plane in which the axis of the wheel axle lies. The setting of this optimization scheme makes the lateral distance between two fans and the shaft unanimous, has improved balance car self equilibrium, moves more stably.

Preferably, the balance frame is fixedly connected with a protective cover positioned on the periphery of the fan blade. This optimization scheme provides the guard action for the fan motion through setting up the safety cover.

Preferably, the balancing stand is positioned at one end of the shell, and the driving motor is positioned at one end of the shell far away from the balancing stand. The setting of this optimization scheme has improved the equilibrium of casing left and right sides, stability when further having improved the balance car and removing.

Preferably, the balancing stand comprises two vertical rods and a cross rod fixedly connected with the two vertical rods, the fan is mounted on the cross rod, and the two vertical rods are fixedly connected to the front side face and the rear side face of the shell respectively. The balancing stand of the optimized scheme has a simple structure, and the two vertical rods are respectively arranged at the end parts of the front side surface and the rear side surface of the shell, so that the balancing stand is balanced with the driving motor left and right, and the balancing stand is balanced front and back.

And as optimization, a power supply for supplying power to the driving motor, the fan, the balance sensor and the controller is arranged on the shell. This optimization scheme sets up the power on the casing, and convenient and each electric elements is connected closely, avoids laying the electric wire in the field.

The invention has the beneficial effects that: the single wheel structure reduces the sweeping and rolling area of crops in the moving process of the balance vehicle, can realize in-situ 360-degree steering, has high flexibility, adopts an electric driving system, realizes the characteristics of maintaining the balance and the moving of the machine with low energy consumption, improves the service time and the cycle life of a lithium battery, and is beneficial to the execution of parking and butt joint operations of a moving robot of the single wheel vehicle; the vehicle body has simple and light structure, high reliability, low manufacturing cost and easy maintenance; can allow carrying a plurality of working tools and sensors, and has high practicability in the operation in complicated and rugged agricultural areas.

Drawings

FIG. 1 is a schematic structural diagram of a single-wheel double-shaft balance robot device;

FIG. 2 is a front view of the present invention;

FIG. 3 is a top view of the present invention;

FIG. 4 is a left side view of the present invention;

FIG. 5 is a schematic view of the wheel and the driving motor of the present invention;

FIG. 6 is a schematic view of a fan and a balance bar according to the present invention;

FIG. 7 is a schematic view of the control system of the present invention;

shown in the figure:

1. wheel body, 2, driving motor, 3, safety cover, 4, fan, 5, fan motor, 6, switch, 7, balancing stand, 8, controller, 9, first lithium cell group, 10, second lithium cell group, 11, balanced sensor, 12, charging panel, 13, casing, 14, the shaft.

Detailed Description

In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.

As shown in fig. 1, the single-wheel double-shaft self-balancing scooter comprises a shell 13, a balancing stand 7 fixedly connected with the shell, and a single wheel body 1 rotatably connected with the shell, wherein wheel shafts 14 rotatably connected with the shell are respectively arranged at two ends of the wheel body, so that a double-shaft structure is realized. The axis of shaft extends along the left and right direction level, and the driving motor 2 of being connected with right side wheel axle is installed to the right flank of casing, and driving motor starts the back, drives the wheel body and rotates, and for convenient control, the driving motor of this embodiment is direct current servo motor. The wheel body is the rubber wheel, when reducing the vibration, is convenient for increase frictional force, prevents to skid, and rubber wheel and direct current servo motor provide power for single wheel biax self-balancing car to make the automobile body keep balance and stable, realize the walking of robot.

The rubber wheel controlled motor selects the servo motor, has high control precision, is provided with the encoder, can feed back the state of the motor in real time, avoids the problem of losing rotation under the condition of high load, has high motor rotating speed and good rotating performance, can bear large torque, has stable rotating speed when operating at low speed, obviously reduces vibration noise, has small heat productivity and strong comfort.

Two fans 4 are installed on the balance frame and are respectively located on the front side and the rear side of a vertical plane where the axis of the wheel shaft is located, the two fans of the embodiment are symmetrical about the vertical plane where the axis of the wheel shaft is located, and the fans 4 and the fan motor 5 provide balanced power for the single-wheel double-shaft self-balancing vehicle, so that the balance vehicle is kept balanced and stable. The balance frame is fixedly connected with a protective cover 3 positioned on the periphery of the fan blades of the fan, and the protective cover provides a protective effect for the movement of the fan. The fan motor is a direct current motor, has strong overload capacity and can resist certain electromagnetic interference; the starting is rapid, the speed regulation range is wide, the speed regulation is smooth, and the rotating torque is relatively larger in a low-speed state.

The balancing stand is located the one end of casing, and driving motor is located the casing and keeps away from the one end of balancing stand, and is concrete, and the balancing stand includes two montants to and the horizontal pole with two montant rigid couplings, the fan is installed on the horizontal pole, two montants rigid couplings in leading flank, the trailing flank of casing respectively.

Still including installing power and the control system on the casing, control system includes balanced sensor 11 to and with balanced sensor electric connection's controller 8, be equipped with charging panel 12 on the casing, conveniently charge, driving motor and fan all with controller electric connection, the controller of this embodiment is the ESP32 singlechip, and balanced sensor is MPU6050 attitude sensor, and the power includes first lithium cell group 9 and second lithium cell group 10 for provide the electric energy for driving motor, fan, balanced sensor, singlechip. The battery, the motor and the control panel are uniformly distributed and have certain rigidity.

The working principle of the embodiment is as follows: firstly, a power switch 6 is started to supply power to the singlechip and the sensor; then, the direct current motor starts to run, the rubber wheel rotates along with the direct current motor, and the fan starts to rotate at the same time; and finally, calculating by the ESP32 single chip microcomputer through a PID algorithm, enabling a calculation result to act on the self-balancing vehicle through motor driving, and completing the balancing motion by the balancing vehicle.

The single-wheel double-shaft balance vehicle is an unbalanced system, and is decoupled into balance in two directions of pitching and rolling in order to simplify the analysis process, and the balance in each direction can be regarded as a first-order inverted pendulum model.

This design uses ESP32 singlechip as the core, utilizes its interior IIC interface of taking and IO mouth collection attitude sensor data, when detecting that there is the error in robot gesture and expectation gesture, calculates the output quantity through the PID algorithm, utilizes IO mouth output PWM signal, and the actuating mechanism that control actuating system drive comprises driving motor, fan and wheel body makes driving motor drive the wheel body and rotates, finally acts on to the machinery body in order to keep balance or offset attitude error.

Meanwhile, the BLE transmission function on the ESP32 single-chip microcomputer development board is utilized to realize communication with the mobile terminal APP, data transmission is established, the mobile terminal APP is utilized as a man-machine interaction interface to carry out data display and remote control, and therefore reading and operation and motion control of data can be realized more conveniently.

Specifically, during operation, the MPU6050 sensor performs data fusion filtering processing through a digital attitude processor (DMP) integrated therein, and transmits information such as an angle and acceleration measured by the gyro sensor to the single chip microcomputer. The ESP32 single chip microcomputer calculates through a PID algorithm, the calculation result is driven to the self-balancing robot through a motor, data transmission, motion control and mechanical gravity center calculation are carried out through low-power Bluetooth (BLE), and the fan is driven through a direct current motor to enable the single-wheel double-shaft self-balancing vehicle to keep balance.

Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.