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WO2019000433A1 - 两轮平衡车 - Google Patents

两轮平衡车 Download PDF

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Publication number
WO2019000433A1
WO2019000433A1 PCT/CN2017/091272 CN2017091272W WO2019000433A1 WO 2019000433 A1 WO2019000433 A1 WO 2019000433A1 CN 2017091272 W CN2017091272 W CN 2017091272W WO 2019000433 A1 WO2019000433 A1 WO 2019000433A1
Authority
WO
WIPO (PCT)
Prior art keywords
balance vehicle
wheel
wheeled
chassis
vehicle according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/091272
Other languages
English (en)
French (fr)
Inventor
陈逸奇
刘芳
魏子涵
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2017/091272 priority Critical patent/WO2019000433A1/zh
Priority to CN201780018859.7A priority patent/CN109414814B/zh
Publication of WO2019000433A1 publication Critical patent/WO2019000433A1/zh
Priority to US16/683,733 priority patent/US11054209B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
    • F41A23/28—Wheeled-gun mountings; Endless-track gun mountings
    • F41A23/30—Wheeled-gun mountings; Endless-track gun mountings the wheels being liftable from the ground for firing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H7/00—Armoured or armed vehicles
    • F41H7/005—Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/002—Manipulators for defensive or military tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
    • F41A23/28—Wheeled-gun mountings; Endless-track gun mountings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
    • F41A23/34—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles on wheeled or endless-track vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

Definitions

  • the invention relates to a two-wheel balance car, belonging to the technical field of robots.
  • All of the current competitive robots or teaching robots are four-wheel-drive stepping vehicles, which generally include a chassis and a front axle disposed at the front end of the chassis, and a rear axle disposed at the lower rear end of the chassis. By driving the front axle, the rear axle, or both, the vehicle advances, turns, or retreats.
  • the existing four-wheel-drive stepping vehicle is relatively stable and difficult to roll over, but it is bulky and inflexible.
  • embodiments of the present invention provide a two-wheel balance vehicle.
  • a two-wheel balance vehicle comprising: a chassis, two wheel assemblies, an inertial measurement unit, and a control system; a top surface of the chassis is provided with a mounting interface for detachably mounting the robot a competitive battle module; two wheel assemblies are respectively mounted at left and right ends of the chassis, the wheel assembly comprising: a wheel, a drive motor coupled to the wheel and fixed to the chassis; the inertial measurement unit and the control system are installed On the chassis; the control system is communicatively coupled to the inertial measurement unit and the drive motor for controlling the balance state of the two-wheel balance vehicle according to the received sensing signal of the inertial measurement unit.
  • the structure is small, and it can flexibly move in the robot arena or pass through a narrow site.
  • the competitive battle module can be quickly disassembled and assembled on the chassis, and the quick and rapid reaction of the organization can be quickly and easily deployed, and deployed to the battlefield to improve the difficulty and interest of the competition.
  • FIG. 1 is a schematic structural view of a two-wheel balance vehicle according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of a two-wheel balance vehicle equipped with a shooting module according to an embodiment of the present invention.
  • 230 a storage box; 250, a transmitter;
  • FIG. 1 is a schematic structural view of a two-wheel balance vehicle provided by the embodiment.
  • the two-wheel balance vehicle 100 of the present embodiment includes a chassis 110, two wheel assemblies, an inertial measurement unit (not shown), and a control system (not shown).
  • the shape and structure of the chassis 110 can be set according to actual needs, for example, it can be a rectangular metal plate, or it can also be a plastic box with a rounded transition.
  • a mounting interface 113 is provided on the upper surface of the chassis 110 so that the robot competitive competition module can be detachably mounted in the mounting interface 113.
  • the competitive competition module may be a shooting module 200, a PTZ module (for mounting a shooting device), a sensing module (such as an infrared sensing module, a laser module), and a mechanical arm module (for example, for grasping an object).
  • a shooting module 200 for mounting a shooting device
  • a sensing module such as an infrared sensing module, a laser module
  • a mechanical arm module for example, for grasping an object.
  • the competitive competition module when it is fixed in the installation interface 113, it can be electrically connected to the detachable power source mounted on the chassis 110 through a power connection line, or can be installed through A power socket is arranged in the interface 113, and a power plug matched with the power plug is arranged on the competitive battle module to realize power supply to the competitive battle module.
  • a plurality of mounting interfaces 113 are optionally disposed on the chassis 110.
  • the mounting interfaces 113 are spaced apart from the top surface of the chassis 110 so that a plurality of different competitive combat modules can be installed on the chassis 110.
  • a shooting module and a camera-mounted PTZ module can be simultaneously mounted on the chassis 110, so that the two-wheeled balancing vehicle 100 can record the battlefield environment in real time while playing the battle, so that the captured image can be displayed in real time. Play on the device, or play back to the operator or the viewer after the game is over, in order to enhance the enjoyment of the robot competition.
  • the spacing between two adjacent mounting interfaces 113 can be selectively set to an integral multiple of 8 mm or 8 mm, which can adapt to the installation requirements of the standardized module, and realize the rapid assembly and switching of the two-wheel balancing vehicle 100 competitive battle time function.
  • the wheel assembly includes a wheel and a drive motor 150 coupled to the wheel and secured to the chassis 110.
  • the drive motor 150 may be two DC motors for driving the left wheel 131 and the right wheel 133, respectively.
  • the wheel can be a plastic wheel or a Mecanum wheel. When the wheel uses the Mecanum wheel, the omnidirectional motion performance of the two-wheel balance car 100 can be improved, and also the control of the balance state of the two-wheel balance car 100 can be facilitated.
  • the chassis 110 is optionally a metal plate.
  • the two driving motors 150 are respectively fixed on the top surface of the plate metal plate through the motor fixing seat, and the left wheel 131 is drivingly connected to the left end driving motor 150 through the left wheel shaft, and the right wheel 133.
  • the drive shaft 150 is connected to the right end via a right axle.
  • the chassis 110 is also optionally a plastic case, and both drive motors 150 are housed in the cavity of the plastic case and are secured to the bottom or side walls of the case by a motor mount.
  • a through hole for the passage of the axle is respectively disposed on the left and right side walls of the casing, and the left axle passes through the through hole of the left wall to connect the left wheel 131 and the driving motor 150 at the left end, and the right axle passes through the through hole of the right wall
  • the drive connects the right wheel 133 and the drive motor 150 at the right end.
  • axle and the wheel may be separately provided and fixed together by a conventional method such as a key connection or a flange; or the axle and the wheel may be integrally formed as a single piece.
  • the inertial measurement unit and control system are mounted on the chassis 110.
  • the chassis 110 when the chassis 110 is a plastic plate, it can be fixed under the metal plate to avoid the influence of rain and snow on electronic components and circuits. Guarantee the stability of the balance function.
  • the chassis 110 when the chassis 110 is a metal case, it can be installed in the cavity of the metal case, thereby protecting the inertial measurement unit and the control system from being damaged by bumping, and affecting electronic components and circuits, such as rain and snow, and improving The service life of the two-wheel balance car 100.
  • the control system is in communication with the inertial measurement unit and the drive motor 150 for controlling the balance state of the two-wheel balance vehicle 100 according to the received sensing signal of the inertial measurement unit.
  • the control system is connected to the inertial measurement unit and the drive motor 150 by a connecting line; for example, the control system is connected to the inertial measurement unit and the drive motor 150 by wireless transmission; for example, the control system and the inertial measurement unit or One of the drive motors 150 is connected by a connection line, and the other is connected by wireless transmission.
  • the control system is also communicatively coupled to the competitive battle module.
  • An optional way is a wireless communication connection between the control system and the competitive battle module; another alternative is to connect the control system and the competitive battle module through a connection line, for example, in a competitive battle module and A mating terminal is provided in the mounting interface 113 for mating.
  • the inertial measurement unit may include: an accelerometer for measuring the acceleration of the two-wheel balance vehicle 100, and a gyroscope for measuring the angular velocity of the two-wheel balance vehicle 100.
  • the balance state of the two-wheel balance vehicle 100 can be obtained by the calculation of the acceleration and angular velocity sensed by the inertial measurement unit, that is, which of the two-wheel balance vehicle 100 is in balance, inclination, and complete fall.
  • the control system can return the two-wheel balance vehicle 100 to the equilibrium state by controlling the operating parameters of the drive motor 150.
  • the operating parameters of the drive motor 150 include one or more of steering, rotational speed, and acceleration.
  • the gyroscope of the inertial measurement unit measures the change of the angular velocity
  • the accelerometer measures the acceleration.
  • the change can be obtained by calculating the torque of the shooting module 200 and the car leaning forward.
  • the control system controls the driving motor of the two-wheel balancing vehicle 100 to generate the forward force and generates an acceleration for advancing the vehicle to balance the shooting module. 200 and the torque of the car dumped forward.
  • the inertial measurement unit finds that the center of gravity of the firing module 200 is tilted backward, Produce backward forces to achieve a balanced effect.
  • the two-wheeled balance vehicle 100 of the present embodiment has a compact structure and can be flexibly moved in the robot arena or through a narrow field.
  • the installation interface 113 on the chassis 110 of the two-wheeled balance vehicle 100 the competitive battle module can be quickly disassembled and assembled on the chassis 110, and the rapid and rapid organization of the reaction force can be quickly and conveniently deployed to the battlefield to improve the difficulty of the competition. And fun.
  • FIG. 2 is a two-wheel balance car equipped with a shooting module according to an embodiment of the present invention. As shown in FIG. 2, an optional configuration of the firing module 200 mounted on the two-wheel balancer 100 is provided.
  • the firing module 200 includes a mounting shaft 210, a magazine 230, and a transmitter 250.
  • the mounting shaft 210 is detachably mounted in the mounting interface 113, and may be fixed in the mounting interface 113, for example, by bolts or snap connections.
  • the mounting shaft 210 is a hollow structure to reduce the weight of the shooting module 200 and reduce the difficulty of controlling the balance of the two-wheel balancing vehicle 100.
  • a communication control line for communicating the connection of the shooting module 200 with the control system and an electrical connection for electrically connecting the shooting module 200 to the power source mounted on the chassis may also be disposed in the cavity. line.
  • the magazine 230 for storing the bullets is fixed to the mounting shaft 210, for example, as shown in FIG. 2, to the top end of the mounting shaft 210, thereby facilitating the design of the center of gravity of the entire firing module 200.
  • the bullet may be a lightweight plastic bomb such as a BB bomb, or it may be a rubber bullet, an egg or other type of bullet.
  • the transmitter 250 is rotatably mounted on the mounting shaft 210 and is in communication with the magazine 230 via a conduit.
  • weight can be reduced, flexibility and efficiency can be improved when the launching mechanism is adjusted.
  • pitch angle of the emitter 250 By rotating the emitter 250 in a vertical plane, i.e., changing the pitch angle of the emitter 250, the height of the exit of the emitter 250 can be adjusted to accommodate different targets.
  • the change in the pitch angle of the transmitter 250 can also assist in controlling the advancement, retreat, or acceleration of the two-wheel balancer 100.
  • the adjustment of the pitch angle of the transmitter 250 can be done manually.
  • a pitch motor 270 can be provided that is in driving connection with the transmitter 250.
  • the pitch motor 270 can be electrically connected to the power source of the two-wheel balance vehicle 100 through a power line, and is communicably connected to the control system of the two-wheel balance vehicle 100 through the control line, thereby passing The control system controls the speed, steering, and acceleration of the pitch motor 270 to adjust the pitch angle of the transmitter 250 as needed.
  • the pitch motor 270 can also directly accept the control of the external remote control system to adjust the pitch angle of the transmitter 250, and when the transmitting module has a built-in power supply, it does not need to be powered by the power of the two-wheel balancer 100.
  • the transmitter 250 can be rotated relative to the chassis 110 about the axis of the mounting shaft 210 in a plane parallel to the chassis 110.
  • the adjustment of the yaw angle can also be performed by manual or automatic control.
  • a yaw motor 280 can be provided that is in driving connection with the mounting shaft 210 to enable the mounting shaft 210 to rotate within the mounting interface 113.
  • an internal thread may be provided on the wall of the hole of the mounting interface 113, and an external thread may be provided at the bottom end of the mounting shaft 210 so that the mounting shaft 210 can be rotated within the mounting interface 113 to adjust the yaw angle of the transmitter 250.
  • the yaw motor 280 can also be electrically connected to the power supply of the two-wheel balance vehicle 100 through the power line, and communicated with the control system of the two-wheel balance vehicle 100 through the control line, thereby controlling the rotation speed of the yaw motor 280 through the control system.
  • the steering, acceleration and acceleration are controlled to adjust the yaw angle of the transmitter 250 as needed.
  • the yaw motor 280 can also directly accept the control of the external remote control system to adjust the yaw angle of the transmitter 250, and when the transmitting module has a built-in power supply, it does not need to be powered by the power of the two-wheel balancer 100. It should be noted that the speed, direction, and the like of the two-wheel balance vehicle 100 can be assisted by adjusting the yaw angle.
  • the firing module 200 optionally further includes two friction wheels 290 disposed opposite the entrance opening of the emitter 250 and formed between the two friction wheels 290.
  • a launch channel for launching bullets By squeezing the bullet by the friction wheel 290, the initial velocity of the bullet entering the emitter 250 can be increased, thereby increasing the firing speed, and the adjustment of the launching route by the two friction wheels 290 can also make each bullet basically capable.
  • the entrance and exit ports of the transmitter 250 are passed along the same route. Specifically, how to set the friction coefficient between the two friction wheels 290 and the bullet can be designed according to the shooting requirements, and is not specifically limited herein.
  • the two-wheeled balance vehicle 100 of the present embodiment may further include a referee system (not shown) for sensing the signal of the two-wheeled balance vehicle 100 being attacked by the other two-wheeled balancer 100 or the stepping vehicle during the battle.
  • the referee system may include armor mounted on the two-wheel balancer 100.
  • the armor is provided with a pressure sensor that can sense the armor including but not limited to the striking strength, the hitting position, and the type of hitting. signal.
  • the striking strength can be distinguished by the different pressures felt by the pressure sensor, and the striking position can be set by the different positions.
  • a pressure sensor is implemented, and the type of hitting can be realized by how many pressure sensors disposed at different positions can sense the pressure when hitting.
  • the control system and the referee system are communicatively connected by wire or wirelessly, and can receive sensing signals of the referee system, such as the hitting strength, the hitting position, and the type of hitting detected by the pressure sensor.
  • the control system receives the sensing signal of the referee system, it can send an alarm command to the alarm device, thereby alerting the outside world through the alarm device.
  • the manner in which the alarm device alerts the outside world may be any form such as sound, light, electricity, or the like.
  • a light pole reflecting the blood volume of the two-wheel balance vehicle 100 may be disposed on the two-wheel balance vehicle 100 or an external display screen, and when the pressure sensor senses the hit, the hitting strength and the hitting position are And the signal of the hit type is transmitted to the control system, and after the calculation system calculates, the command is sent to the lamp post to adjust one or more of the light and darkness, the color and the length of the light bar of the lamp post, thereby realizing the external An alarm, which in turn indicates that the two-wheeled balancer 100 has been hit, and the degree of hazard of the hit.
  • the received sensing signal may be analyzed to determine the extent to which the two-wheeled balancing vehicle 100 is hit. Then, according to the degree of hitting of the two-wheel balance vehicle 100 and the sensing signal of the inertial measurement unit, the two-wheel balance vehicle 100 is controlled to tilt to visually reflect that the two-wheel balance vehicle 100 is hit.
  • the control system receives the sensing signal of the referee system, analyzes the hitting position, the striking strength, and the hitting type carried in the sensing signal, and calculates the damage value of the hit, and then according to the damage value.
  • the tilting direction and the tilting angle of the two-wheel balancer 100 are determined to calculate the tilting direction and the tilting angle, and the driving motor 150 includes the first operating parameter including the rotational speed, the steering, and the acceleration.
  • the second operational parameter including the rotational speed, the steering, and the acceleration of the drive motor 150 at that time is calculated.
  • the first working parameter and the second working parameter are superimposed as the third working parameter required to drive the motor 150.
  • control system controls the drive motor 150 based on the third operational parameter described above such that the damage experienced by the two-wheel balancer 100 matches its tilt and tilt angles.
  • the two-wheeled balance vehicle 100 is subjected to a small degree of damage, it is only necessary to tilt a small angle in the corresponding direction, and when the degree of damage to the two-wheeled balance vehicle 100 is fatal, the two-wheel balance can be directly balanced. The car 100 is completely down.
  • the above describes a method for actively controlling the angle at which the two-wheeled balance vehicle 100 is tilted in the preset direction to match the degree of damage when the referee system senses that the two-wheeled balance vehicle 100 is hit, and should It is understood that other methods may be used when performing specific control.
  • the degree of damage may be calculated according to the sensing signal when the corresponding damage is received, and the angle at which the tilt is required may be determined, and then the angle is defined as a new center of gravity.
  • the reference line of the shaft so that the two-wheel balance car 100 will use the reference line as a balanced baseline and control the drive motor to adjust to the new reference line position with the center of gravity of the two-wheel balancer 100 in accordance with the existing balancing method.
  • the process of controlling the tilt of the two-wheel balance vehicle 100 according to the damage value can also be implemented by the method in the prior art.
  • the inclination can be accumulated every time after being hit, that is, each time After hitting, the two-wheeled balancer 100 is controlled to be closer to the ground than the previous time until the blood volume is used up; or after each hit, the angle is tilted and then waits for the preset time before re-passing
  • the inertial measurement unit rebalances the two-wheel balancer 100, that is, the first operational parameter is no longer superimposed on the second operational parameter of the inertial measurement unit.

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Abstract

一种两轮平衡车(100)，包括：底盘(110)、两个车轮组件、惯性测量单元以及控制系统；所述底盘(110)的顶面设置有安装接口(113)，用于可拆卸地安装机器人竞技用对战模块；两个车轮组件分别安装在所述底盘(110)的左端和右端，所述车轮组件包括：车轮、与车轮传动连接且固定在底盘(110)上的驱动电机(150)；所述惯性测量单元和控制系统安装在所述底盘(110)上；所述控制系统与所述惯性测量单元以及驱动电机(150)通信连接，用于根据接收到的所述惯性测量单元的感测信号控制所述两轮平衡车(100)的平衡状态。上述两轮平衡车的体积小，运动灵活，适宜应用在机器人的竞技或者教学中。

Description

两轮平衡车 技术领域
本发明涉及一种两轮平衡车，属于机器人技术领域。
背景技术
随着科技和经济的发展，竞技类机器人受到了越来越多消费者的喜爱。在现在的竞技类机器人或者教学类机器人中使用的全部是四轮驱动的步战车，这种步战车一般包括底盘以及设置在底盘下方前端的前桥、以及设置在底盘下方后端的后桥，通过驱动前桥、后桥或者同时驱动这二者实现车辆的前进、转弯或者后退等动作。现有的这种四轮驱动的步战车虽然运动时比较稳定不易翻车，但是其体积庞大，运转不灵活。
发明内容
为了解决现有技术中存在的上述或其他潜在问题，本发明实施例提供一种两轮平衡车。
根据本发明的一些实施例，提供一种两轮平衡车，包括：底盘、两个车轮组件、惯性测量单元以及控制系统；所述底盘的顶面设置有安装接口，用于可拆卸地安装机器人竞技用对战模块；两个车轮组件分别安装在所述底盘的左端和右端，所述车轮组件包括：车轮、与车轮传动连接且固定在底盘上的驱动电机；所述惯性测量单元和控制系统安装在所述底盘上；所述控制系统与所述惯性测量单元和驱动电机通信连接，用于根据接收到的所述惯性测量单元的感测信号控制所述两轮平衡车的平衡状态。
根据本发明实施例的技术方案，结构小巧，可以灵活的在机器人竞技场中运动、或者通过狭窄的场地。同时，通过在两轮平衡车的底盘上设置安装接口，可以快速的在底盘上拆装竞技用对战模块，提高方便快速的组织快速反应部队，部署到战场中，提高竞技的难度和趣味性。
附图说明
通过参照附图的以下详细描述，本发明实施例的上述和其他目的、特征和优点将变得更容易理解。在附图中，将以示例以及非限制性的方式对本发明的多个实施例进行说明，其中：
图1为本发明一实施例提供的两轮平衡车的结构示意图；
图2为本发明一实施例提供的安装有射击模块的两轮平衡车的结构示意图。
图中：
100、两轮平衡车；                 110、底盘；
113、安装接口；                   131、左车轮；
133、右车轮；                     150、驱动电机；
200、射击模块；                   210、安装轴；
230、储弹箱；                     250、发射器；
270、俯仰电机；                   280、偏航电机；
290、摩擦轮。
具体实施方式
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图1为本实施例提供的两轮平衡车的结构示意图。如图1所示，本实施例的两轮平衡车100，包括：底盘110、两个车轮组件、惯性测量单元(图中未示出)以及控制系统(图中未示出)。
底盘110的形状和结构可以根据实际需要进行设置，例如可以是一块矩形金属板、或者也可以是一个四角圆滑过渡的塑料盒体。在底盘110的上表面设置有安装接口113，从而机器人竞技用对战模块可以可拆卸地安装在该安装接口113内。在本实施例中，竞技用对战模块可以是射击模块200、云台模块(用于安装拍摄设备)、传感模块(例如红外感应模块、激光模块)、机械臂模块(例如用来抓取物体的机械爪)中的一种或者多种。应当理解，竞技用对战模块固定到该安装接口113内时，可以通过电源连接线与安装在底盘110上且可拆卸地电源电连接，也可以通过在安装 接口113内设置电源插座，并在竞技用对战模块上设置与电源插头配接的电源插头实现对竞技用对战模块的供电。
参见图1所示，在底盘110上可选地设置多个安装接口113，这些安装接口113间隔设置在底盘110的顶面，从而可以在底盘110上安装多个不同的竞技用对战模块，实现对不同功能的组合，以适合不同的对战需求。例如，可以在底盘110上同时安装射击模块、安装有摄像头的云台模块，以使两轮平衡车100在对战射击的同时还能够实时记录战场的环境，从而可以将拍摄到的图像实时显示到播放设备上，或者在比赛结束以后回放给操作手或者观众观看，以便提升机器人竞技比赛的观赏性。相邻两个安装接口113的间距可选择性地设置为8mm或者8mm的整数倍，这样可以适应标准化模块的安装要求，实现两轮平衡车100竞技对战时功能的快速组装和切换。
车轮组件包括车轮、以及与车轮传动连接且固定在底盘110上的驱动电机150。驱动电机150可以是两个直流电机，用于分别驱动左车轮131和右车轮133。车轮可以是塑胶轮，或者是麦克纳姆轮。当车轮使用麦克纳姆轮时，可提高两轮平衡车100的全向运动性能，并且也有助于对两轮平衡车100平衡状态的控制。
参见图1，底盘110可选地为金属板，两个驱动电机150分别通过电机固定座固定在板式金属板的顶面，左车轮131通过左轮轴与左端的驱动电机150传动连接，右车轮133通过右轮轴与右端的驱动电机150传动连接。底盘110也可选地为塑料盒，两个驱动电机150均容纳在塑料盒的空腔中，并通过电机座固定在盒体的底板或者侧壁上。在盒体的左右侧壁分别开设有供轮轴通过的通孔，左轮轴穿过左侧壁的通孔传动连接左车轮131和位于左端的驱动电机150，右轮轴穿过右侧壁的通孔传动连接右车轮133和位于右端的驱动电机150。
应当理解，在本实施例中，轮轴和车轮可以分体设置，并通过键连接或者法兰盘等现有方式固定在一起；或者，轮轴和车轮也可以通过一体成形的方式形成为一体件。
惯性测量单元和控制系统安装在底盘110上。例如，当底盘110为塑料板时，可以固定在金属板的下方，以避免雨雪对电子元件、电路的影响， 保证平衡功能的稳定性。又例如，当底盘110为金属盒时，可以安装在金属盒的空腔内，从而保护惯性测量单元和控制系统，避免被磕碰而受到损坏，以及雨雪等对电子元件、电路的影响，提高两轮平衡车100的使用寿命。
控制系统与惯性测量单元和驱动电机150通信连接，用于根据接收到的所述惯性测量单元的感测信号控制所述两轮平衡车100的平衡状态。例如，控制系统与惯性测量单元和驱动电机150之间通过连接线连接；又如，控制系统与惯性测量单元和驱动电机150之间通过无线传输方式连接；再如，控制系统和惯性测量单元或者驱动电机150中的其中一个通过连接线连接，与另一个通过无线传输方式连接。可选地，控制系统与竞技用对战模块之间也通信连接。一种可选的方式是控制系统与竞技用对战模块之间无线通讯连接；另一种可选的方式是控制系统与竞技用对战模块之间通过连接线连接，例如，在竞技用对战模块和安装接口113内设置相互配接的端子进行配接。
具体的，惯性测量单元可以包括：用于测量两轮平衡车100加速度的加速度计、以及用于测量两轮平衡车100角速度的陀螺仪。通过惯性测量单元感测到的加速度和角速度再经控制系统的计算就可以获得两轮平衡车100的平衡状态，也即，两轮平衡车100是处于平衡、倾斜、完全倒地中的哪一种。当两轮平衡车100处于倾斜或者完全倒地的状态时，控制系统可以通过控制驱动电机150的工作参数来使两轮平衡车100回到平衡这一状态。在本实施例中，驱动电机150的工作参数包括转向、转速和加速度中的一种或者多种。
以下简要介绍两轮平衡车100实现保持平衡的原理，以便更好的理解本实施例的技术方案：
若以安装在底盘110上的射击模块200与车辆的总体重心纵轴作为参考线，当这条轴往前倾斜时，惯性测量单元的陀螺仪会测得角速度的变化，加速度计会测得加速度的变化，通过计算就可以得到射击模块200与车往前倾倒的扭矩，控制系统就会控制两轮平衡车100的驱动马达产生往前的力量，并产生让车辆前进的加速度，以平衡射击模块200与车往前倾倒的扭矩。相反的，当惯性测量单元发现射击模块200的重心往后倾时，也会 产生向后的力量达到平衡效果。
本实施例的两轮平衡车100，结构小巧，可以灵活的在机器人竞技场中运动、或者通过狭窄的场地。同时，通过在两轮平衡车100的底盘110上设置安装接口113，可以快速的在底盘110上拆装竞技用对战模块，提高方便快速的组织快速反应部队，部署到战场中，提高竞技的难度和趣味性。
图2为本实施例提供的安装有射击模块的两轮平衡车。如图2所示，其提供了安装在两轮平衡车100上的射击模块200的一种可选的结构形式，该射击模块200包括：安装轴210、储弹箱230以及发射器250。
安装轴210可拆卸地安装在安装接口113内，例如可以通过螺栓或者卡扣连接等方式固定在安装接口113内。可选地，安装轴210为空心结构，以减轻射击模块200的重量，降低两轮平衡车100控制平衡的难度。同时，当安装轴210为空心结构时，还可以在空腔内布用于将射击模块200与控制系统通信连接的通信控制线，以及将射击模块200与底盘上安装的电源电连接的电连接线。
用来储存子弹的储弹箱230固定在安装轴210上，例如如图2所示的固定在安装轴210的顶端，从而有利于整个射击模块200重心的设计。在本实施例中，子弹可以是BB弹这种轻质塑料弹，或者也可以是橡胶子弹、彩蛋或者其他类型的子弹。
发射器250可转动的安装在安装轴210上，并通过管路与储弹箱230连通。通过将发射器250和储弹箱230分别设置，相对于发射器250和储弹箱230一体设置时，在调整发射机构时，可以减轻重量，提高灵活性和效率。并且，通过使发射器250在垂直平面内旋转，也即改变发射器250的俯仰角，从而可以调整发射器250出射口的高度来适应不同的攻击目标。同时，通过发射器250俯仰角的改变还可以辅助控制两轮平衡车100的前进、后退、或者加速度。
发射器250俯仰角的调整可以通过手动的方式进行。可选地，为了自动控制发射器250的俯仰角，可以设置一俯仰电机270，该俯仰电机270与发射器250传动连接。该俯仰电机270可以通过电源线与两轮平衡车100的电源电连接，并通过控制线与两轮平衡车100的控制系统通信连接，从而通过 控制系统对俯仰电机270的转速、转向和加速度进行控制，以便根据需要调整发射器250的俯仰角。当然，该俯仰电机270也可以直接接受外部遥控系统的控制以调整发射器250的俯仰角，并且当发射模块有内置电源时，其也无需通过两轮平衡车100的电源进行供电。
可选地，为了控制发射器250的偏航角，可以使发射器250能够相对底盘110绕安装轴210的轴线在平行于底盘110的平面内转动。同理的，偏航角的调整也可以通过手动或者自动控制的方式进行。例如，可以设置一偏航电机280，该偏航电机280与安装轴210传动连接，从而能够推动安装轴210在安装接口113内转动。具体的，可以在安装接口113的孔壁上设置内螺纹，在安装轴210的底端设置外螺纹，以使安装轴210可以在安装接口113内转动以便调整发射器250的偏航角。相应的，偏航电机280也可以通过电源线与两轮平衡车100的电源电连接，并通过控制线与两轮平衡车100的控制系统通信连接，从而通过控制系统对偏航电机280的转速、转向和加速度进行控制，以便根据需要调整发射器250的偏航角。当然，该偏航电机280也可以直接接受外部遥控系统的控制以调整发射器250的偏航角，并且当发射模块有内置电源时，其也无需通过两轮平衡车100的电源进行供电。需要说明的是，通过调整偏航角也可以辅助调整两轮平衡车100的速度、方向等。
进一步，为了获得合适的射击速度，射击模块200可选地还包括两个摩擦轮290，这两个摩擦轮290相对设置在发射器250的入射口处，并在两个摩擦轮290之间形成用于发射子弹的发射通道。通过摩擦轮290对子弹的挤压，可以提高子弹进入发射器250的初速度，从而提高射击速度，并且，通过两个摩擦轮290对发射路线的调整，也可以使每一颗子弹都基本能够沿相同的路线通过发射器250的入射口和出射口。具体如何设置两个摩擦轮290与子弹的摩擦系数可以根据射击要求进行设计，在此不对其进行具体限制。
进一步，本实施例的两轮平衡车100还可以包括裁判系统(图中未示出)，用于感测两轮平衡车100在对战时受到其他两轮平衡车100或者步战车攻击的信号。具体的，裁判系统可以包括安装在两轮平衡车100上的装甲，这个装甲上布设有压力传感器，能够感测到该装甲包括但不限于击打强度、击打位置以及击打类型等击打信号。在本实施例中，击打强度可以通过压力传感器的感受到的不同压力大小来区分，击打位置可以通过在不同位置布设的多 个压力传感器来实现，击打类型可以通过击打时有多少个布设在不同位置的压力传感器能够感受到压力来实现。
控制系统与该裁判系统通过有线或者无线的方式通信连接，可以接收裁判系统的传感信号，例如上述压力传感器检测到的击打强度、击打位置以及击打类型等信号。当控制系统接收到裁判系统的传感信号后，其可以向报警装置发送报警指令，从而通过报警装置向外界报警。在本实施例中，报警装置向外界报警的方式可以是声、光、电等任意形式。举例来说，可以在两轮平衡车100或者外部的显示屏上设置反映该两轮平衡车100血量的灯柱，当压力传感器感测到被击中时，将击打强度、击打位置以及击打类型的信号传输给控制系统，控制系统经过计算后，向灯柱发出指令，以调整灯柱的灯光的明暗、颜色、灯条长度中的一种或者多种，从而实现对外界的报警，进而指示该两轮平衡车100已经被击中，以及本次击中的危害程度。
可选地，为了更好的体现竞技性，当控制系统接收到裁判系统的传感信号后，可以对接收到的该传感信号进行分析，以确定两轮平衡车100受到击打的程度。然后根据两轮平衡车100受到击打的程度以及惯性测量单元的感测信号，控制两轮平衡车100倾斜，以直观反映该两轮平衡车100被击中。
具体的，当控制系统接收到裁判系统的传感信号后，分析传感信号中携带的击打位置、击打强度以及击打类型，计算得到本次击打的伤害值，然后根据该伤害值确定两轮平衡车100的倾斜方向和倾斜角度，以便计算该倾斜方向和倾斜角度时，驱动电机150包括转速、转向以及加速度在内的第一工作参数。然后根据当时惯性测量单元检测到的两轮平衡车100的姿态，计算得到当时驱动电机150包括转速、转向以及加速度在内的第二工作参数。再将第一工作参数和第二工作参数叠加后作为驱动电机150所需达到的第三工作参数。最后，控制系统根据上述第三工作参数对驱动电机150进行控制，从而使两轮平衡车100受到的伤害与其倾斜方向和倾斜角度相匹配。这样，当两轮平衡车100受到程度较小的伤害时，只需要往相应方向倾斜小角度即可，而当两轮平衡车100受到伤害的程度是致命的时，就可以直接使两轮平衡车100完全倒地。
以上描述了一种当裁判系统感测到该两轮平衡车100被击中时如何主动控制两轮平衡车100往预设方向倾斜与伤害程度相匹配的角度的方法，应当 理解的是，在具体进行控制时也可以采用其他方法，例如，可以在接收到相应伤害时根据传感信号计算受到伤害的程度并确定需要倾斜的角度，然后将该角度定义为新的重心纵轴的参考线，从而两轮平衡车100会将该条参考线作为平衡的基线并按照现有的平衡方法控制驱动电机工作以两轮平衡车100的重心调整到新的参考线位置。当然，也可以采用现有技术中的方法实现上述根据伤害值控制两轮平衡车100倾斜的过程。
需要说明的是，在本实施例中，从两轮平衡车100满血开始直到两轮平衡车100血量用完为止，可以再每次被击中后累加其倾斜度，也即，每一次击中后均控制两轮平衡车100相较于上一次更靠近地面，直至血量用完倒地为止；也可以是每次被击中后，倾斜相应角度然后等待预设时间后再重新通过惯性测量单元将两轮平衡车100重新恢复平衡，也即，不再在惯性测量单元的第二工作参数上叠加第一工作参数。
最后，尽管已经在这些实施例的上下文中描述了与本技术的某些实施例相关联的优点，但是其他实施例也可以包括这样的优点，并且并非所有实施例都详细描述了本发明的所有优点，由实施例中的技术特征所客观带来的优点均应视为本发明区别于现有技术的优点，均属于本发明的保护范围。

Claims (19)

  1. 一种两轮平衡车，其特征在于，包括：底盘、两个车轮组件、惯性测量单元以及控制系统；
    所述底盘的顶面设置有安装接口，用于可拆卸地安装机器人竞技用对战模块；
    两个车轮组件分别安装在所述底盘的左端和右端，所述车轮组件包括：车轮、与车轮传动连接且固定在底盘上的驱动电机；
    所述惯性测量单元和控制系统安装在所述底盘上；
    所述控制系统与所述惯性测量单元和驱动电机通信连接，用于根据接收到的所述惯性测量单元的感测信号控制所述两轮平衡车的平衡状态。
  2. 根据权利要求1所述的两轮平衡车，其特征在于，所述两轮平衡车的平衡状态的控制通过控制所述驱动电机的工作参数实现，所述驱动电机的工作参数为以下参数中的一种或者多种：转速、转向、加速度。
  3. 根据权利要求1所述的两轮平衡车，其特征在于，所述两轮平衡车的平衡状态包括：平衡、倾斜或者完全倒地。
  4. 根据权利要求1所述的两轮平衡车，其特征在于，
    所述竞技用对战模块为以下模块中的一种或者多种：射击模块、云台模块、传感模块、机械臂模块。
  5. 根据权利要求1所述的两轮平衡车，其特征在于，所述安装接口为多个，间隔设置在所述底盘的顶面。
  6. 根据权利要求5所述的两轮平衡车，其特征在于，相邻两个安装接口的间距为8mm或者8mm的整数倍。
  7. 根据权利要求4所述的两轮平衡车，其特征在于，所述射击模块包括：安装轴、储弹箱以及发射器；
    所述安装轴可拆卸地安装在所述安装接口内；
    所述储弹箱固定在所述安装轴上，用于储存子弹；
    所述发射器与所述安装轴可转动连接，用于发射子弹；
    所述储弹箱与发射器之间通过管路连通。
  8. 根据权利要求7所述的两轮平衡车，其特征在于，所述射击模块还包括：俯仰电机，所述俯仰电机与所述发射器传动连接，用于控制所述发射器 相对所述安装轴转动，以调整所述发射器的俯仰角。
  9. 根据权利要求7所述的两轮平衡车，其特征在于，所述发射器可相对所述底盘绕安装轴的轴线在平行于底盘的平面内转动。
  10. 根据权利要求9所述的两轮平衡车，其特征在于，所述射击模块还包括：偏航电机，所述偏航电机与所述安装轴传动连接，用于控制所述发射器相对所述底盘转动，以调整所述发射器的偏航角。
  11. 根据权利要求7所述的两轮平衡车，其特征在于，所述射击模块还包括：两个摩擦轮，所述两个摩擦轮相对设置在所述发射器的入射口处，所述两个摩擦轮之间形成用于发射子弹的发射通道。
  12. 根据权利要求2-11任一项所述的两轮平衡车，其特征在于，还包括裁判系统，用于感测所述两轮平衡车在对战时受到其他两轮平衡车或者步战车攻击的信号；
    所述控制系统与所述裁判系统通信连接，用于根据接收到的所述裁判系统的传感信号向报警系统发送报警信号。
  13. 根据权利要求12所述的两轮平衡车，其特征在于，
    所述控制系统还用于对接收到的所述裁判系统的传感信号进行分析，以确定所述两轮平衡车受到击打的程度；
    并根据所述两轮平衡车受到击打的程度以及所述惯性测量单元的感测信号，控制所述两轮平衡车倾斜。
  14. 根据权利要求13所述的两轮平衡车，其特征在于，所述两轮平衡车受到击打的程度包括以下一种或者多种：击打强度、击打位置、以及击打物的种类。
  15. 根据权利要求13所述的两轮平衡车，其特征在于，根据所述两轮平衡车受到击打的程度以及所述惯性测量单元的感测信号，控制所述两轮平衡车倾斜，包括：
    根据所述击打程度确定所述驱动电机的第一工作参数；
    根据所述惯性测量单元的感测信号确定所述驱动电机的第二工作参数；
    将所述第一工作参数和第二工作参数叠加得到所述驱动电机的第三工作参数；
    控制所述驱动电机按照所述第三工作参数工作。
  16. 根据权利要求13所述的两轮平衡车，其特征在于，根据所述两轮平衡车受到击打的程度以及所述惯性测量单元的感测信号，控制所述两轮平衡车倾斜，包括：
    根据所述两轮平衡车受到击打的程度获取所述两轮平衡车需要倾斜的方向和角度；
    根据所述两轮平衡车需要倾斜的方向和角度确定倾斜时的重心轴线；
    将所述重心轴线设置为两轮平衡车用于动态平衡的参考线。
  17. 根据权利要求12所述的两轮平衡车，其特征在于，还包括：
    当所述两轮平衡车倾斜预设时间后，控制所述两轮平衡车恢复平衡。
  18. 根据权利要求12所述的两轮平衡车，其特征在于，所述报警系统包括灯柱，所述灯柱用于根据接收到的所述报警信号调整灯光的明暗、颜色、灯条长度中的一种或者多种。
  19. 根据权利要求1-11任一项所述的两轮平衡车，其特征在于，所述车轮为麦克纳姆轮。
PCT/CN2017/091272 2017-06-30 2017-06-30 两轮平衡车 Ceased WO2019000433A1 (zh)

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