CN105833513A - Electric skateboard based on automatic/semi-automatic dual mode control of smart phone - Google Patents
Electric skateboard based on automatic/semi-automatic dual mode control of smart phone Download PDFInfo
- Publication number
- CN105833513A CN105833513A CN201610199301.0A CN201610199301A CN105833513A CN 105833513 A CN105833513 A CN 105833513A CN 201610199301 A CN201610199301 A CN 201610199301A CN 105833513 A CN105833513 A CN 105833513A
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- CN
- China
- Prior art keywords
- fixed
- automatic
- module
- bridge
- skateboard
- 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.)
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/01—Skateboards
- A63C17/014—Wheel arrangements
- A63C17/015—Wheel arrangements with wheels arranged in two pairs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/12—Roller skates; Skate-boards with driving mechanisms
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The invention relates to an electric skateboard based on automatic/semi-automatic dual mode control of a smart phone. The electric skateboard comprises PU wheels, a skateboard face, board bridges, half-bridge strain gage modules, upper protection covers, hub motors, a lower protection cover, an MCU plate, an MEMS six-axis gyroscope, a bluetooth module, an AD conversion module and a motor drive module, wherein two PU wheels are connected to the two ends of one board bridge through a bearing, the board bridge is fixed to the front part of the bottom surface of the skateboard face, and two PU wheels and the two hub motors are connected to the two ends of the other board bridge through bearings, and are fixed to the rear part of the bottom surface of the skateboard face; each two of the four half-bridge strain gage modules form a full-bridge weighing sensor, the two formed full-bridge weighing sensors are fixed to the front and back upper protection covers, and the front and back upper protection covers are fixed to the upper surface of the skateboard face; the MCU plate, the MEMS six-axis gyroscope, the bluetooth module, the AD conversion module and the motor drive module are respectively fixed to the lower protection cover, and the lower protection cover is fixed to the lower surface of the skateboard face. The electric skateboard has relatively high safety and reliability, and meanwhile, the playability of the electric skateboard is promoted.
Description
Technical field
The present invention relates to the electric return board of a kind of automatic semi-automatic bi-mode control based on smart mobile phone, belong to automated machine apparatus field.
Background technology
The most novel walking-replacing tool, such as two-wheeled balance car and Segway Human Transporter, is liked by young masses deeply.These walking-replacing tools can use in indoor and outdoor, so its market prospect is extensive.But the most novel walking-replacing tool all suffers from the problem that volume is big, weight is big.Cannot use when electricity exhausts and be difficult to move, even have the danger toppled.And present electric return board exists bigger potential safety hazard, easily fall down, damage and cause vehicle accident.So needing a kind of safe and reliable, walking-replacing tool of being convenient for carrying.
Summary of the invention
The present invention is directed to the deficiency of existing walking-replacing tool, it is provided that the electric return board of a kind of automatic semi-automatic bi-mode control based on smart mobile phone, this device not only has the feature that current novel walking-replacing tool is easy to use, but also has higher safety and reliability.
The technical solution adopted for the present invention to solve the technical problems is:
The electric return board of a kind of automatic semi-automatic bi-mode control based on smart mobile phone, including PU wheel, slide plate face, slab bridge, semibridge system foil gauge module, upper protective cover, hub motor, lower protective cover, MCU plate, MEMS six axle gyroscope, bluetooth module, AD conversion module, motor drive module；Two PU wheel is connected to the two ends of slab bridge by bearing, and slab bridge is fixed on the front portion of bottom surface, slide plate face, and two PU wheels and two hub motors are connected to the two ends of another slab bridge by bearing, and are fixed on the rear portion of bottom surface, slide plate face；Four semibridge system foil gauge modules form full-bridge type LOAD CELLS two-by-two, with former and later two on protective cover fix, on former and later two, protective cover is fixed on the upper surface of slide plate face；Described MCU plate, MEMS six axle gyroscope, bluetooth module, AD conversion module, motor drive module are fixed with lower protective cover respectively, and lower protective cover is fixed on the lower surface of slide plate face.
This electric return board has two kinds of control models, respectively semiautomatic control and automatic control mode.
Semiautomatic control pattern: send control instruction to it by calling six axle gyro module, touch screen and button on smart mobile phone, it feeds back in MCU plate by TTL serial ports after receiving control instruction by bluetooth module, and the instruction received is made respective feedback by MCU plate.
Automatic control mode: it is by calling the semibridge system foil gauge module being fixed on slide plate face, by calculus of differences, reads the distribution of gravity center of human body, and then center of gravity distribution situation is implemented concrete operation by MCU plate.MEMS six axle gyroscope carries out Real-time Feedback to the operation of MCU plate subsequently, reaches the purpose of closed loop control.
In order to improve the safety and reliability of whole system, semiautomatic control pattern has limit priority.Meanwhile, the response mode that Bluetooth communication protocol uses, nonreply within the some time, electric return board will be automatically stopped work.Motor drive module is when receiving the PWM ripple that MCU plate sends, and electric return board will be automatically stopped work, and prevent program fleet.
The invention has the beneficial effects as follows:
Realize the automatic semi-automatic bi-mode control to electric return board, it is achieved the smart mobile phone control to electric return board, there is higher safety and reliability, promote the playability of electric return board simultaneously.
Accompanying drawing explanation
Fig. 1 is that schematic diagram is totally assembled in apparatus of the present invention upper slide face.
Fig. 2 is that schematic diagram is totally assembled in apparatus of the present invention lower skateboard face.
Fig. 3 is apparatus of the present invention control flow chart.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating technical scheme, and can not limit the scope of the invention with this.
As depicted in figs. 1 and 2; the electric return board of a kind of automatic semi-automatic bi-mode control based on smart mobile phone, including PU wheel 1, slide plate face 2, slab bridge 3, semibridge system foil gauge module 4, upper protective cover 5, hub motor 6, lower protective cover 11, MCU plate 12, MEMS six axle gyroscope 13, bluetooth module 14, AD conversion module 15, motor drive module 16；Two PU wheel 1 is connected to the two ends of slab bridge 3 by bearing, and slab bridge 3 is fixed on the front portion of bottom surface, slide plate face 2, two PU take turns 1 and two hub motors 6 be connected to the two ends of another slab bridge 3 by bearing, and be fixed on the rear portion of bottom surface, slide plate face 2；Four semibridge system foil gauge modules 4 form full-bridge type LOAD CELLS two-by-two, with former and later two on protective cover 5 fix, on former and later two, protective cover 5 is fixed on the upper surface of slide plate face 2；Described MCU plate 12, MEMS six axle gyroscope 13, bluetooth module 14, AD conversion module 15, motor drive module 16 are fixed with lower protective cover 11 respectively, and lower protective cover 11 is fixed on the lower surface of slide plate face 2.
As it is shown on figure 3, the occupation mode of the present invention is as follows:
(1) semiautomatic control pattern
It is first turned on this electric return board, uses smart mobile phone to match with the bluetooth module 14 of electric return board.After having matched, click on the OK key on smart mobile phone.Bluetooth module 14 on electric return board sends an instruction to MCU plate 12 by TTL serial ports after receiving instruction, and command information is verified by MCU plate 12, verify by after read OK instruct, MCU plate 12 allow receive other control instructions.Read the attitude of user by six axle gyroscopes on smart mobile phone after, its attitude is analyzed, with the form of control instruction, attitude information is sent to bluetooth module 14, and MCU plate 12 sends different PWM ripples to motor drive module 16 after receiving control instruction.Then hub motor 6 is controlled thus reaches the purpose of acceleration-deceleration by motor drive module 16, simultaneously by two, left and right hub motor 6 is carried out differential process, can reach the purpose controlling to turn to.
(2) automatic control mode
It is first turned on this electric return board, uses smart mobile phone to match with the bluetooth module 14 of electric return board.After having matched, click on the Auto key on smart mobile phone.Bluetooth module 14 on electric return board sends an instruction to MCU plate 12 by TTL serial ports after receiving instruction, and command information is verified by MCU plate 12, verify by after read Auto instruct, MCU plate 12 enters automatic control program.Read the pressure distribution of user by semibridge system foil gauge module 4 after, being analyzed its attitude, with the form of control instruction, attitude information is sent to MCU plate 12, MCU plate 12 sends different PWM ripples to motor drive module 16 after receiving control instruction.Then hub motor 6 is controlled thus reaches the purpose of acceleration-deceleration by motor drive module 16.Simultaneously by two, left and right hub motor 6 is carried out differential process, the purpose controlling to turn to can be reached.Subsequently, the state of its electric return board is measured by MEMS six axle gyroscope 13, feeds back to MCU plate 12 after obtaining information, and real-time state is controlled compensating by MCU plate 12, the center of gravity of user remains in controlled range, finally reaches safe and reliable automatically controlling.
Claims (1)
1. the electric return board of an automatic semi-automatic bi-mode control based on smart mobile phone; it is characterized in that, take turns (1), slide plate face (2), slab bridge (3), semibridge system foil gauge module (4), upper protective cover (5), hub motor (6), lower protective cover (11), MCU plate (12), MEMS six axle gyroscope (13), bluetooth module (14), AD conversion module (15), motor drive module (16) including PU；Two PU wheel (1) are connected to the two ends of slab bridge (3) by bearing, slab bridge (3) is fixed on the front portion of slide plate face (2) bottom surface, two PU wheel (1) and two hub motors (6) are connected to the two ends of another slab bridge (3) by bearing, and are fixed on the rear portion of slide plate face (2) bottom surface；Four semibridge systems foil gauge module (4) form full-bridge type LOAD CELLS two-by-two, with former and later two on protective cover (5) fix, on former and later two, protective cover (5) is fixed on slide plate face (2) upper surface；Described MCU plate (12), MEMS six axle gyroscope (13), bluetooth module (14), AD conversion module (15), motor drive module (16) are fixed with lower protective cover (11) respectively, and lower protective cover (11) is fixed on slide plate face (2) lower surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199301.0A CN105833513A (en) | 2016-04-02 | 2016-04-02 | Electric skateboard based on automatic/semi-automatic dual mode control of smart phone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199301.0A CN105833513A (en) | 2016-04-02 | 2016-04-02 | Electric skateboard based on automatic/semi-automatic dual mode control of smart phone |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105833513A true CN105833513A (en) | 2016-08-10 |
Family
ID=56596504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610199301.0A Pending CN105833513A (en) | 2016-04-02 | 2016-04-02 | Electric skateboard based on automatic/semi-automatic dual mode control of smart phone |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105833513A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108253266A (en) * | 2018-03-15 | 2018-07-06 | 高鑫 | A kind of novel photographic vehicle load-bearing slide plate wheel |
| US11406890B1 (en) | 2017-08-25 | 2022-08-09 | David Jackson | Skateboard assembly |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102438069A (en) * | 2011-10-29 | 2012-05-02 | 路海燕 | Gyroscope mobile phone remote controller of remote control electric sliding plate |
| CN202315239U (en) * | 2011-11-06 | 2012-07-11 | 路海燕 | Weight-recognition electric remote-control skateboard |
| US20140257744A1 (en) * | 2012-09-12 | 2014-09-11 | Alpinereplay, Inc. | Systems and methods for synchronized display of athletic maneuvers |
| US20140326525A1 (en) * | 2013-05-06 | 2014-11-06 | Future Motion, Inc. | Self-stabilizing skateboard |
| CN204734940U (en) * | 2015-05-28 | 2015-11-04 | 刘振希 | Electric skate board based on gesture control |
| CN105148496A (en) * | 2015-09-08 | 2015-12-16 | 华中科技大学 | Posture control-based roller skating type mobility robot |
-
2016
- 2016-04-02 CN CN201610199301.0A patent/CN105833513A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102438069A (en) * | 2011-10-29 | 2012-05-02 | 路海燕 | Gyroscope mobile phone remote controller of remote control electric sliding plate |
| CN202315239U (en) * | 2011-11-06 | 2012-07-11 | 路海燕 | Weight-recognition electric remote-control skateboard |
| US20140257744A1 (en) * | 2012-09-12 | 2014-09-11 | Alpinereplay, Inc. | Systems and methods for synchronized display of athletic maneuvers |
| US20140326525A1 (en) * | 2013-05-06 | 2014-11-06 | Future Motion, Inc. | Self-stabilizing skateboard |
| CN204734940U (en) * | 2015-05-28 | 2015-11-04 | 刘振希 | Electric skate board based on gesture control |
| CN105148496A (en) * | 2015-09-08 | 2015-12-16 | 华中科技大学 | Posture control-based roller skating type mobility robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11406890B1 (en) | 2017-08-25 | 2022-08-09 | David Jackson | Skateboard assembly |
| CN108253266A (en) * | 2018-03-15 | 2018-07-06 | 高鑫 | A kind of novel photographic vehicle load-bearing slide plate wheel |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160810 |
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| WD01 | Invention patent application deemed withdrawn after publication |