阅读说明：本技术 一种体感车运行的控制系统及方法 (Motion sensing vehicle operation control system and method ) 是由 高强 王永涛 朱红标 杨磊 于 2021-09-07 设计创作，主要内容包括：本发明公开了一种体感车运行的控制系统及方法,控制系统包括：控制模块、第一角度检测模块、第二角度检测模块、第三角度检测模块；其中,体感车包括设置在车体一端的动力轮组件、设置在车体另一端的从动轮组件和设置在车体上的踏板组件；踏板组件包括可相对车体平面转动的第一踏板和第二踏板；动力轮组件的第一驱动电机和第二驱动电机分别与控制模块电连接；第一角度检测模块与控制模块电连接,检测并反馈第一踏板相对水平面的第一转动角度；第二角度检测模块与控制模块电连接,检测并反馈第二踏板相对水平面的第二转动角度；第三角度检测模块与控制模块电连接,检测并反馈车体相对水平面的第三转动角度。(The invention discloses a system and a method for controlling motion sensing vehicle operation, wherein the control system comprises: the device comprises a control module, a first angle detection module, a second angle detection module and a third angle detection module; the somatosensory vehicle comprises a power wheel assembly arranged at one end of a vehicle body, a driven wheel assembly arranged at the other end of the vehicle body and a pedal assembly arranged on the vehicle body; the pedal assembly comprises a first pedal and a second pedal which can rotate relative to the plane of the vehicle body; the first driving motor and the second driving motor of the power wheel assembly are respectively and electrically connected with the control module; the first angle detection module is electrically connected with the control module and is used for detecting and feeding back a first rotation angle of the first pedal relative to a horizontal plane; the second angle detection module is electrically connected with the control module and is used for detecting and feeding back a second rotation angle of the second pedal relative to the horizontal plane; the third angle detection module is electrically connected with the control module and is used for detecting and feeding back a third rotation angle of the vehicle body relative to the horizontal plane.)

1. The utility model provides a control system who feels car operation which characterized in that includes:

the device comprises a control module, a first angle detection module, a second angle detection module and a third angle detection module;

the somatosensory vehicle comprises a power wheel assembly arranged at one end of a vehicle body (10), a driven wheel assembly arranged at the other end of the vehicle body (10) and a pedal assembly;

the pedal assembly comprises a first pedal (31) and a second pedal which can rotate relative to the plane of the vehicle body (10);

the first driving motor and the second driving motor of the power wheel assembly are respectively and electrically connected with the control module;

the first angle detection module is electrically connected with the control module and is used for detecting and feeding back a first rotation angle of the first pedal (31) relative to a horizontal plane;

the second angle detection module is electrically connected with the control module and is used for detecting and feeding back a second rotation angle of the second pedal relative to the horizontal plane;

the third angle detection module is electrically connected with the control module and is used for detecting and feeding back a third rotation angle of the vehicle body (10) relative to the horizontal plane;

the control module is configured to control torque output of the first drive motor and the second drive motor based on the first rotational angle, the second rotational angle, and the third rotational angle.

2. The control system of claim 1,

the first angle detection module, the second angle detection module and the third angle detection module are gyroscopes, Hall sensors or pressure sensors.

3. The control system of claim 2, wherein the control module is configured to:

controlling the torque output of the first driving motor according to the difference value of the first rotation angle relative to the third rotation angle;

and controlling the torque output of the second driving motor according to the difference value of the second rotation angle relative to the third rotation angle.

4. The control system of claim 1, wherein the pedal assembly includes a first pedal assembly and a second pedal assembly, the first pedal assembly further comprising:

a base (32) fixed to the vehicle body (10);

the rotating shaft assembly is arranged between the base (32) and the first pedal (31), and comprises a rotating shaft seat (33) arranged on the base (32) and a rotating shaft (34) matched with the rotating shaft seat (33), the rotating shaft (34) can rotate relative to the rotating shaft seat (33), and the bottom of the first pedal (31) is fixed with the rotating shaft (34);

an elastic member (35) disposed between the first pedal (31) and the base (32), wherein the top of the elastic member (35) is connected with the bottom of the first pedal (31), and the bottom of the elastic member (35) is connected with the base (31);

wherein a gyroscope for detecting the rotation angle of the first pedal (31) relative to the horizontal plane is arranged on the surface of the body of the first pedal (31).

5. A control method for motion sensing vehicle operation is characterized by comprising the following steps:

step 1: acquiring a first rotation angle of a first pedal (31) relative to a horizontal plane;

step 2: acquiring a second rotation angle of the second pedal relative to the horizontal plane;

and step 3: acquiring a third rotation angle of the vehicle body (10) relative to the horizontal plane;

and 4, step 4: and controlling a first driving motor and a second driving motor of the somatosensory vehicle to rotate according to the first rotating angle, the second rotating angle and the third rotating angle.

6. The control method according to claim 5, wherein the step 4 is specifically:

step 4-1: controlling the torque output of the first driving motor according to the difference value of the first rotation angle relative to the third rotation angle;

step 4-2: and controlling the torque output of the second driving motor according to the difference value of the second rotation angle relative to the third rotation angle.

7. The control method according to claim 5,

controlling the output torque of the first driving motor driving the first wheel (21) to be larger when the difference value of the first rotation angle relative to the third rotation angle is larger;

when the difference value of the second rotation angle relative to the third rotation angle is larger, the output torque of the second driving motor for driving the second wheel (22) is controlled to be larger.

8. A computer readable storage medium containing one or more program instructions for executing, by a somatosensory vehicle operation control system, the somatosensory vehicle operation control method according to any one of claims 5-7.

9. The utility model provides a control method that car operation is felt to single footboard, its characterized in that includes: acquiring a first rotation angle of the single pedal relative to a horizontal plane;

acquiring a second corner of the vehicle body of the single-pedal somatosensory vehicle relative to a horizontal plane;

and controlling a first driving wheel motor and a second driving wheel motor of the single-pedal body sensing vehicle to rotate according to the difference value of the first rotating angle and the second rotating angle.

10. The method for controlling the operation of the single-pedal motion sensing vehicle according to claim 9, further comprising:

acquiring a steering signal triggered by an operator;

and controlling a first driving wheel motor and a second driving wheel motor of the single-pedal body sensing vehicle to output different torques.

Technical Field

The embodiment of the invention relates to the field of motion sensing vehicles, in particular to a system and a method for controlling motion sensing vehicle operation.

Background

The somatosensory vehicle or the balance vehicle in the prior art is complex in structure, is limited by road conditions when climbing a slope or descending a slope due to the limitation of a vehicle body structure and a control method, and cannot be effectively accelerated and decelerated.

Disclosure of Invention

Therefore, the embodiment of the invention provides a system and a method for controlling the operation of a motion sensing vehicle, so as to solve the problems that the motion sensing vehicle or a balance vehicle in the prior art is complex in structure, is limited by road conditions when climbing a slope or descending a slope, and cannot effectively accelerate and decelerate.

In order to achieve the above object, an embodiment of the present invention provides the following:

in one aspect of an embodiment of the present invention, there is provided a control system for motion sensing vehicle operation, including:

the device comprises a control module, a first angle detection module, a second angle detection module and a third angle detection module;

the somatosensory vehicle comprises a power wheel assembly arranged at one end of a vehicle body, a driven wheel assembly arranged at the other end of the vehicle body and a pedal assembly;

the pedal assembly comprises a first pedal and a second pedal which can rotate relative to the plane of the vehicle body;

the first driving motor and the second driving motor of the power wheel assembly are respectively and electrically connected with the control module;

the first angle detection module is electrically connected with the control module and is used for detecting and feeding back a first rotation angle of the first pedal relative to a horizontal plane;

the second angle detection module is electrically connected with the control module and is used for detecting and feeding back a second rotation angle of the second pedal relative to the horizontal plane;

and the third angle detection module is electrically connected with the control module and is used for detecting and feeding back a third rotation angle of the vehicle body relative to a horizontal plane.

Further, the first angle detection module, the second angle detection module and the third angle detection module are gyroscopes, hall sensors or pressure sensors.

Further, the control module is configured to control torque output of the first drive motor and the second drive motor based on the first rotational angle, the second rotational angle, and the third rotational angle.

Further, the control module is configured to:

controlling the torque output of the first driving motor according to the difference value of the first rotation angle relative to the third rotation angle;

and controlling the torque output of the second driving motor according to the difference value of the second rotation angle relative to the third rotation angle.

Further, the pedal assembly includes a first pedal assembly and a second pedal assembly, the first pedal assembly further including:

the base is fixedly arranged with the vehicle body;

the rotating shaft assembly is arranged between the base and the first pedal, and comprises a rotating shaft seat arranged on the base and a rotating shaft matched with the rotating shaft seat, the rotating shaft can rotate relative to the rotating shaft seat, and the bottom of the first pedal is fixed with the rotating shaft;

the elastic piece is arranged between the first pedal and the base, the top of the elastic piece is connected with the bottom of the first pedal, and the bottom of the elastic piece is connected with the base;

the gyroscope for detecting the rotation angle of the first pedal relative to the horizontal plane is arranged on the surface of the main body of the first pedal.

In an aspect of the embodiment of the present invention, there is also provided a method for controlling motion sensing vehicle operation, including:

step 1: acquiring a first rotation angle of a first pedal relative to a horizontal plane;

step 2: acquiring a second rotation angle of the second pedal relative to the horizontal plane;

and step 3: acquiring a third rotation angle of the vehicle body relative to the horizontal plane;

and 4, step 4: and controlling a first driving motor and a second driving motor of the somatosensory vehicle to rotate according to the first rotating angle, the second rotating angle and the third rotating angle.

Further, the step 4 specifically includes:

step 4-1: controlling the torque output of the first driving motor according to the difference value of the first rotation angle relative to the third rotation angle;

step 4-2: and controlling the torque output of the second driving motor according to the difference value of the second rotation angle relative to the third rotation angle.

Further, when the difference value of the first rotation angle relative to the third rotation angle is larger, the output torque of the first driving motor for driving the first wheel is controlled to be larger;

and when the difference value of the second rotation angle relative to the third rotation angle is larger, the output torque of the second driving motor for driving the second wheel is controlled to be larger.

In an aspect of the embodiment of the present invention, a computer-readable storage medium is further provided, where the computer storage medium contains one or more program instructions, and the one or more program instructions are used by a control system for motion sensing vehicle operation to execute the control method for motion sensing vehicle operation described above.

In an aspect of the embodiment of the present invention, there is also provided a method for controlling an operation of a single-pedal motion sensing vehicle, including:

acquiring a first rotation angle of the single pedal relative to a horizontal plane;

acquiring a second corner of the vehicle body of the single-pedal somatosensory vehicle relative to a horizontal plane;

and controlling a first driving wheel motor and a second driving wheel motor of the single-pedal body sensing vehicle to rotate according to the difference value of the first rotating angle and the second rotating angle.

Further, the control method for the operation of the single-pedal motion sensing vehicle further comprises the following steps:

acquiring a steering signal triggered by an operator;

and controlling a first driving wheel motor and a second driving wheel motor of the single-pedal body sensing vehicle to output different torques.

The embodiment of the invention has the following advantages:

the embodiment of the invention discloses a system and a method for controlling operation of a body sensing vehicle.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions for implementing the present invention, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the functions and purposes of the present invention, should still fall within the scope covered by the contents disclosed in the present invention.

Fig. 1 is a schematic flow chart of a method for controlling motion sensing vehicle operation according to an embodiment of the present invention;

fig. 2 is a schematic overall structure diagram of a motion sensing vehicle according to an embodiment of the present invention;

fig. 3 is a schematic partial structure diagram of a motion sensing vehicle according to an embodiment of the present invention;

fig. 4 is another partial schematic structural diagram of a motion sensing vehicle according to an embodiment of the present invention.

In the figure: 10-vehicle body, 21-first wheel, 22-second wheel, 30-first pedal assembly, 31-first pedal, 32-base, 33-rotating shaft seat, 34-rotating shaft, 35-elastic piece, 36-angle limiting block, 361-buffer pad, 51-universal wheel, 61-supporting rod, 62-cushion, 71-baffle, 72-armrest and 73-knee pad.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the present specification, the terms "upper", "lower", "left", "right", "middle", and the like are used for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications in the relative relationship may be made without substantial changes in the technical content.

Examples

Referring to fig. 1, 2, 3, and 4, an embodiment of the present invention provides a motion sensing vehicle operation control system, including: the device comprises a control module, a first angle detection module, a second angle detection module and a third angle detection module.

As shown in fig. 2, the motion sensing vehicle includes a power wheel assembly disposed at one end of the vehicle body 10, a driven wheel assembly disposed at the other end of the vehicle body 10, and a pedal assembly, and optionally, the pedal assembly is disposed on the vehicle body (10) or a driving motor of the motion sensing vehicle. The pedal assembly includes a first pedal 31 and a second pedal that are rotatable relative to the plane of the vehicle body 10. And the first driving motor and the second driving motor of the power wheel assembly are respectively electrically connected with the control module. The first angle detection module is electrically connected with the control module and detects and feeds back a first rotation angle of the first pedal 31 relative to a horizontal plane. The second angle detection module is electrically connected with the control module and is used for detecting and feeding back a second rotation angle of the second pedal relative to the horizontal plane. The third angle detection module is electrically connected with the control module and is used for detecting and feeding back a third rotation angle of the vehicle body 10 relative to the horizontal plane.

As shown in fig. 2 and 3, the pedal assembly of the present invention includes a first pedal assembly 30 and a second pedal assembly. The first drive motor is connected to drive the first wheel 21 and the second drive motor is connected to drive the second wheel 22.

Optionally, the first angle detection module, the second angle detection module and the third angle detection module are all gyroscopes, hall sensors or pressure sensors.

Wherein the control module is configured to control torque output of the first drive motor and the second drive motor based on the first rotational angle, the second rotational angle, and the third rotational angle.

Specifically, the control module is configured to:

and controlling the torque output of the first driving motor according to the difference value of the first rotation angle relative to the third rotation angle. And controlling the torque output of the second driving motor according to the difference value of the second rotation angle relative to the third rotation angle. Therefore, by adopting the control system and the control method of the invention, inaccuracy caused by road condition change of the rotation angle of the pedal relative to the plane of the vehicle body 10, which is acquired by the control module, can be avoided. For example, when ascending a slope, the vehicle body 10 tilts up to cause angular rotation between the pedals and the plane of the vehicle body 10, and the influence of the climbing can be eliminated by detecting the included angle between the pedals and the vehicle body 10 with respect to the horizontal plane and subtracting the climbing angle of the vehicle body 10. Similarly, the same operation is adopted when the slope descends.

As shown in fig. 3 and 4, the first pedal assembly 30 further includes: a base 32, a spindle assembly and a resilient member 35.

Specifically, the base 32 is fixedly disposed with the vehicle body 10, and in the embodiment of the present invention, a groove is disposed on the vehicle body 10, and the base 32 is mounted in the groove.

The rotating shaft assembly is arranged between the base 32 and the first pedal 31 and comprises a rotating shaft seat 33 arranged on the base 32 and a rotating shaft 34 matched with the rotating shaft seat 33, the rotating shaft 34 can rotate relative to the rotating shaft seat 33, and the bottom of the first pedal 31 is fixed with the rotating shaft 34.

Elastic member 35 is disposed between first step 31 and base 32, the top of elastic member 35 is connected to the bottom of first step 31, and the bottom of elastic member 35 is connected to base 31. Optionally, the number of the elastic members 35 is multiple, the elastic members 35 are springs, and due to the limitation of the springs, when the rotation angle of the first pedal 31 reaches the limit value of the springs, the first pedal 31 cannot rotate any more, and the springs also limit the range of the rotation angle of the first pedal 31.

Further, as shown in fig. 3, the first pedal assembly 30 further includes: an angle limiting block 36. An angle stopper 36 is disposed between the base 32 and the first step 31 for limiting a forward or backward rotation angle of the first step 31. Optionally, the angle stopper assembly 36 is a cube block disposed below the first pedal 31, and due to the edge limitation of the cube block, when the first pedal 31 is rotated to a certain angle, it cannot be rotated downward, and thus, the limitation is performed.

As shown in fig. 2, the driven wheel assembly includes a universal wheel 51, and the universal wheel 51 is rotatably connected to the vehicle body 10.

The somatosensory vehicle shown in fig. 2 further comprises: a support bar 61 with adjustable length and a cushion 62. The support bar 61 is provided on the vehicle body 10 between the pedal assembly and the power wheel assembly. The seat cushion 62 is provided on top of the support bar 61.

The somatosensory vehicle shown in fig. 2 further comprises: a barrier 71, a handrail 72 and a knee pad 73. A barrier 71 is provided on the vehicle body 10 between the pedal assembly and the driven wheel assembly. The handrail 72 is disposed on top of the baffle 71. Wherein, a knee protection pad 73 is arranged on the side wall of the baffle plate 71 close to the pedal assembly.

As shown in fig. 1, an embodiment of the present invention further provides a method for controlling operation of a motion sensing vehicle, including: step 1: a first rotation angle of the first pedal 31 with respect to the horizontal plane is acquired.

Step 2: and acquiring a second rotation angle of the second pedal relative to the horizontal plane.

And step 3: a third rotation angle of the vehicle body 10 with respect to the horizontal plane is acquired.

And 4, step 4: and controlling a first driving motor and a second driving motor of the somatosensory vehicle to rotate according to the first rotating angle, the second rotating angle and the third rotating angle.

Wherein, the step 4 is specifically as follows:

step 4-1: controlling the torque output of the first driving motor according to the difference value of the first rotation angle relative to the third rotation angle; step 4-2: and controlling the torque output of the second driving motor according to the difference value of the second rotation angle relative to the third rotation angle.

In the embodiment of the invention, the larger the difference of the first rotation angle with respect to the third rotation angle, the larger the output torque of the first drive motor that controls to drive the first wheel 21.

The larger the difference between the second rotation angle and the third rotation angle, the larger the output torque of the second drive motor that controls to drive the second wheel 22.

The embodiment of the invention also provides a computer-readable storage medium, wherein the computer storage medium contains one or more program instructions, and the one or more program instructions are used for a control system for the operation of the somatosensory vehicle to execute the control method for the operation of the somatosensory vehicle.

In another embodiment of the present invention, a method for controlling an operation of a single-pedal motion sensing vehicle is further provided, including:

acquiring a first rotation angle of the single pedal relative to a horizontal plane;

acquiring a second corner of the vehicle body of the single-pedal somatosensory vehicle relative to a horizontal plane;

and controlling a first driving wheel motor and a second driving wheel motor of the single-pedal body sensing vehicle to rotate according to the difference value of the first rotating angle and the second rotating angle. And controlling the torque output by the first driving wheel motor and the torque output by the second driving wheel motor to be consistent according to the difference value of the two rotation angles.

Further, the control method for the operation of the single-pedal motion sensing vehicle further comprises the following steps:

acquiring a steering signal triggered by an operator;

and controlling a first driving wheel motor and a second driving wheel motor of the single-pedal body sensing vehicle to output different torques, so that the steering of the single-pedal body sensing vehicle is realized.

The invention discloses a control method for the running of a single-pedal body-sensing vehicle, and discloses control operation aiming at two motors when the body-sensing vehicle runs linearly and turns when a three-wheel or four-wheel body-sensing vehicle only has one pedal.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.