CN105314020B - The Self-Balancing vehicle and its anti-side that anti-side is inclined incline method - Google Patents
The Self-Balancing vehicle and its anti-side that anti-side is inclined incline method Download PDFInfo
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Abstract
The present invention relates to field of vehicles more particularly to a kind of Self-Balancing vehicles of two-wheeled.Incline method the invention discloses a kind of Self-Balancing vehicle that anti-side is inclined and its anti-side, which includes: car body, the direction control lever axially connecting with car body, pair of wheels is divided into a pair of pedals of wheel two sides, displacement detector, controller, telescopic component, a pair of of connector；Wherein, displacement detector is used for the displacement of detection direction control-rod, sends displacement signal to controller；Telescopic component is connect with pedal respectively by connector, controller controls telescopic component by displacement signal and carries out movable telescopic, it is up and down to drive pedal to carry out respectively along the outer surface of wheel correspondingly, so that generating difference in height between two pedals, to drive the center of gravity of driver's body to make corresponding movement, to give driver's bring discomfort due to the centrifugal force for resisting Self-Balancing vehicle generation.
Description
Technical field
The present invention relates to field of vehicles more particularly to a kind of Self-Balancing vehicles of two-wheeled.
Background technique
The arriving of information age, people are higher and higher to the convenience requirement of life, and Self-Balancing vehicle is because its is small in size, weight
Gently, flexible operation the advantages that by people favor.
The Self-Balancing vehicle of prevalence is typically all that two-wheeled is arranged in parallel in car body two sides on the market at present, setting immediately ahead of car body
Control-rod, in the process of running, people stand and manipulate control-rod on the car body among two-wheeled, during turning,
Control-rod is tilted to side, generates certain centrifugal force, but only skilled driver could the mistake that turns to of perceptual equilibrium vehicle
The centrifugal force turned in journey, while making corresponding center of gravity transfer.For new hand, it is easy to if balance car excessive velocities
The danger that balance car is toppled over occurs, speed traveling can only be reduced during turning, so that the trip to new hand is made troubles.
The thus trip of people's daily life for convenience, a kind of Self-Balancing vehicle being able to solve tilt problem caused by turning process at
A kind of demand.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of Self-Balancing vehicles that anti-side is inclined and its anti-side method of inclining to efficiently solve
The equilibrium problem of Self-Balancing vehicle user during turning.
Technical solution provided by the invention is as follows:
A kind of Self-Balancing vehicle that anti-side is inclined a, comprising: car body；It is axially connect on the car body and with the car body
Direction control lever；It is divided into the pair of wheels of the car body two sides；A pair of pedals；
The pair of pedal is divided into the two sides of the pair of wheel, the Self-Balancing vehicle further include:
Displacement detector, controller, telescopic component, a pair of of connector；
Institute's displacement sensing device is used to detect the displacement of the direction control lever, and be electrically connected with the controller and to
The controller sends the displacement signal of the direction control lever；
The controller is connect with the telescopic component and the car body；
The telescopic component is connect with the pair of pedal respectively by the pair of connector, and the pair of connector
The pair of wheel setting is respectively corresponded, each connector is arranged along the outer surface of the corresponding wheel；
The controller controls the telescopic component by institute's displacement signal and carries out movable telescopic, to drive the pedal
It is carried out respectively along the outer surface of the corresponding wheel up and down.
Preferably, institute's displacement sensing device includes magnetic element and magnetic induction part；
The magnetic element is set on the direction control lever；
The magnetic induction part is set on the car body, and receives the magnetic signal of the magnetic element, to be believed by magnetic
Number change detect the displacement of the direction control lever.
Preferably, the telescopic component is one, and the telescopic component passes through an interlocking bar and the pair of connector
It connects simultaneously, it is up and down to drive the pair of connector to carry out simultaneously by the interlocking bar, and then drive the pair of
Pedal carries out up and down along the outer surface of the corresponding wheel.
Preferably, the telescopic component is a pair, and is correspondingly connected with respectively with the pair of connector, each telescopic component
A corresponding pedal is driven to carry out by a connector up and down.
Preferably, direction opposite along the outer surface of the wheel is up and down respectively for the pair of pedal.
Preferably, each wheel between the corresponding connector be equipped with wearing piece.
Preferably, the wearing piece is idler wheel, and the idler wheel is set on the wheel, and the axial direction of the idler wheel and institute
State the axially vertical of wheel.
Preferably, the telescopic component includes electric pushrod；
And/or；
The mud guard of the connector and the wheel becomes one, and coats the top of the wheel.
A kind of method that Self-Balancing vehicle anti-side is inclined is applied to above-mentioned Self-Balancing vehicle, comprising the following steps:
Direction control lever described in S1 is towards the direction run-off the straight to be turned；
Controller described in S2 controls the car body and deflects along direction identical with the direction control lever, while described
Displacement detector detects the displacement of the direction control lever, and institute's displacement signal is sent to the controller；
Controller described in S3 receives institute's displacement signal, while controlling the telescopic component and carrying out telescopic movable；
Telescopic component described in S4 drives the pedal to carry out along the outer surface of the wheel by the pair of connector
It is up and down.
Preferably, in step s 4, the telescopic component is connect by an interlocking bar with the pair of connector simultaneously,
And the pair of connector is driven to link by the interlocking bar；
And/or；
In step s 4, the telescopic component is a pair, and each telescopic component is correspondingly connected with the connection
Part, each telescopic component drive the pedal progress up and down by a connector.
Incline method the present invention provides a kind of Self-Balancing vehicle that anti-side is inclined and its anti-side, the beneficial effect is that:
1. displacement detector is equipped in Self-Balancing vehicle, by the detection being displaced to direction control lever, mainly to displacement
The detection of variable quantity, and the displacement signal is sent to controller, controller controls the telescopic component band motor car wheel two in car body
The pedal of side carries out up and down (one on the other) and generates certain difference in height, so that the center of gravity of driver's body be driven to make
It is corresponding mobile, it is uncomfortable to driver's bring to resist the centrifugal force that Self-Balancing vehicle generates in steering procedure.Due to certainly flat
Corresponding movement occurs for the center of gravity that weighing apparatus vehicle will drive driver in the process of running, and driver no longer needs by a twist of the wrist
Come perceive Self-Balancing vehicle turning during generate centrifugal force, even and then new hand also can quickly adapt to Self-Balancing vehicle, protect
Safety of new hand during driving Self-Balancing vehicle is hindered.
2. wearing piece can also be arranged in the present invention between connector and wheel, connector is effectively avoided to drive pedal edge
When the outer surface of wheel is up and down, wheel bring is worn.Preferably, which is idler wheel, is socketed in wheel
On, axial axially vertical with wheel, connector can be not only reduced when driving pedal up and down along idler wheel carry out activity
Abrasion to wheel, while also making the activity of connector more convenient.
Detailed description of the invention
Invention is further described in detail with reference to the accompanying drawings and detailed description:
Fig. 1 is the front schematic view of Self-Balancing vehicle in specific embodiment one in the present invention；
Fig. 2 is the side schematic view of Self-Balancing vehicle in specific embodiment one in the present invention；
Fig. 3 is the front schematic view of Self-Balancing vehicle in specific embodiment two in the present invention；
Fig. 4 is the front schematic view of Self-Balancing vehicle in specific embodiment three in the present invention；
Fig. 5 is motion detection device specific embodiment front schematic view in the present invention；
Fig. 6 is the flow diagram that Self-Balancing vehicle anti-side is inclined in the present invention.
Description of symbols:
1. Self-Balancing vehicle, 2. direction control levers, 3. wheels, 4. connectors, 5. pedals,
6. car body, 7. telescopic components, 8. telescopic rods, 9. idler wheels, 10. interlocking bar,
11. displacement detector, 12. magnetic elements, 13. magnetic induction parts, 14. connecting rods.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, with reference to the accompanying drawing and implement
The present invention is specifically described in example.Drawings in the following description are only some embodiments of the invention.For this field
For those of ordinary skill, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Specific embodiment one:
Fig. 1 and Fig. 2 be respectively the front schematic view of Self-Balancing vehicle 1 that the anti-side that provides of the specific embodiment of the invention one is inclined and
Side schematic view including car body 6, direction control lever 2, the pair of wheels 3 for being respectively arranged at 6 two sides of car body and is respectively set
In a pair of pedals 5 of 3 two sides of pair of wheels, displacement detector 11, controller, telescopic component 7 and a pair of of connector 4；Its
In, during direction control lever 2 is set on car body 6 and axially connect with car body 6, and Self-Balancing vehicle 1 is run, driver is logical
It crosses and swings the driving direction that direction control lever 2 controls car body 6, such as: if the run-off the straight forward of direction control lever 2, car body 6 is forward
Movement；If the run-off the straight to the left of direction control lever 2, turning etc. will occur towards the left side for car body 6.Displacement detector 11 is used for
The displacement of detection direction control-rod 2, and be electrically connected with the controller and to the displacement signal of controller sending direction control-rod 2, tool
Body, the displacement of above-mentioned direction control lever 2 includes displacement of the lines and/or angular displacement, and e.g., direction control lever 2 is swung on car body 6
Angle etc..Particularly, the present invention is not construed as limiting the concrete form of displacement detector 11, as long as detection device can be used to examine
The displacement signal for surveying direction control lever 2, is included in the present invention.
Controller is connect with telescopic component 7 and car body 6, is respectively used to control car body 6 towards the inclined side of direction control lever 2
Telescopic movable is carried out to deflecting and controlling telescopic component 7.Telescopic component 7 is connected by a pair of of connector 4 with a pair of pedals 5 respectively
It connects, and a pair of of connector 4 respectively corresponds the setting of pair of wheels 3, outer surface of each connector 4 along corresponding wheel 3
Setting；Controller, which passes through the displacement signal that receives and controls telescopic component 7, carries out movable telescopic, with drive pedal 5 respectively along with
Corresponding wheel 3 outer surface carry out it is up and down.Pedal it is up and down along the outer surface of wheel it is to be understood that with
The outer surface of wheel towards pedal is benchmark face, and pedal carries out up and down, movable route and the benchmark along the datum level
Face is parallel or substantially parallel (having lesser differential seat angle, for example, 1-10 °).It in order to realize the purpose, can be by connector along vehicle
The outer surface of wheel is parallel or substantially parallel setting (having lesser differential seat angle, for example, 1-10 °).Specifically, telescopic component 7
Including telescopic rod 8, the telescopic movable of telescopic component 7 is realized, and telescopic component 7 is connect by telescopic rod 8 with connector 4.
Preferably, the present invention can also only by controlling, the pedal of any side is up and down to be balanced to realize.Self-Balancing vehicle 1
In include a telescopic component 7, connect with any one in above-mentioned a pair of of connector 4, drive corresponding 5 edge of pedal
The outer surface of wheel 3 carries out up and down.Such as: as shown in Figure 1, the connector 4 of telescopic rod 8 and left side in telescopic component 7
Connection, while the connector 4 on right side is fixed on car body 6 by connecting rod 14.When 2 run-off the straight to the left of direction control lever,
Displacement detector 11 detects the angular displacement and/or displacement of the lines that direction control lever 2 deflects, and displacement signal is then sent to control
Device processed, controller, which controls Self-Balancing vehicle 1 immediately and deflects to the left while controlling the telescopic rod 8 of telescopic component 7, carries out contraction work
It is dynamic, drive the connector 4 in the left side being attached thereto to move down, and then drive the vehicle of the pedal 5 that connect with connector 4 along left side
The downwardly activity of wheel 3, at the same time, the pedal 5 on right side will not act, and then between the pedal 5 of the left and right sides
Certain difference in height is produced, driver shifts to the left with the activity center of gravity of left pedal 5, overcomes Self-Balancing vehicle 1
The centrifugal force that turning generates occurs to the left；Likewise, then telescopic component 7 drives a left side when 2 run-off the straight to the right of direction control lever
Side pedal 5 is along the activity upwards of wheel 3, and the pedal 5 on right side does not act, so that driver be made to overcome Self-Balancing vehicle 1 to the right
The centrifugal force generated when turning.Correspondingly, if telescopic component 7 is connect with the connector 4 on right side, the connector 4 in left side
It is fixed on car body 6 by connecting rod 14, when 2 run-off the straight to the left of direction control lever, right-side pedal 5 will be along right side wheels
3 activities upwards；When 2 run-off the straight to the right of direction control lever, right-side pedal 5 will be moveed downward along right side wheels 3, while left
The pedal 5 of side does not act, and then generates difference in height between the pedal 5 of the left and right sides, reaches the purpose of the present invention.
Specific embodiment two:
It is illustrated in figure 3 the front schematic view for the Self-Balancing vehicle 1 that the anti-side that the specific embodiment of the invention two provides is inclined, in addition to
Telescopic component 7 is different from a pair of of connection type of connector 4 outer, and others description is identical with above-mentioned specific embodiment one.With
It is identical in embodiment one, it include a telescopic component 7 in Self-Balancing vehicle 1, and the telescopic component 7 passes through an interlocking bar 10 and one
Connector 4 is connected simultaneously, with by interlocking bar 10 drive a pair of of connector 4 simultaneously carry out it is up and down, and then drive a pair
Pedal 5 carries out up and down along corresponding 3 outer surface of wheel.As shown in Figure 3, the telescopic rod 8 of telescopic component 7 and left side
Connector 4 connect, be attached by interlocking bar 10 and the connector on right side, further, pass through a pair in interlocking bar 10
Universal driving shaft is connect with a pair of of connector respectively, and in order to consolidate above-mentioned a pair of of connector 4 and to the linkage of interlocking bar 10 it is more clever
Work accurately controls, and interlocking bar 10 is shaped to, i.e., triangle as shown in the figure, and stands upside down and be set on car body,
Bottom end is flexibly connected with car body, and the left and right ends on top pass through universal driving shaft respectively and are separately connected with a pair of of connector 4, and left side
Universal driving shaft is connect with telescopic component.Specifically, when 2 run-off the straight to the left of direction control lever, displacement detector 11 is detected
The angular displacement and displacement of the lines that direction control lever 2 deflects, are then sent to controller for displacement signal, and controller is controlled immediately from flat
The deflect to the left telescopic rod 8 of simultaneous retractable component 7 of weighing apparatus vehicle 1 has carried out contraction movement, drive the connector 4 that is attached thereto to
Lower movement, and then drive the downwardly activity of the pedal 5 that connect with connector 4 along the wheel 3 in left side, at the same time, the right side
The connector 4 of side links under the action of universal driving shaft in interlocking bar 10, so that the connector on right side is towards the company with left side
The opposite direction of fitting is mobile, to produce certain difference in height between the pedal 5 of the left and right sides, driver steps on left side
The activity center of gravity of plate 5 shifts to the left, overcomes Self-Balancing vehicle 1 and the centrifugal force that turning generates occurs to the left；Similarly, the side of working as
To when the run-off the straight to the right of control-rod 2, then telescopic component 7 drives left pedal 5 movable upwards along wheel 3, while right side
Pedal 5 moves downward under the drive of interlocking bar 10, to make driver that Self-Balancing vehicle 1 be overcome to generate when turning to the right
Centrifugal force.Particularly, in specific embodiment two, telescopic component 7 can be with any one connector in above-mentioned a pair of of connector 4
Connection, will all generate identical function and effect, i.e., when Self-Balancing vehicle 1 is turned to the left, left side is stepped under the drive of interlocking bar 10
Plate 5 is moveed downward along corresponding wheel 3, while the pedal 5 on right side is along the corresponding activity upwards of wheel 3；Self-Balancing vehicle 1 is turned right
When curved, the pedal 5 in left side is along the corresponding activity upwards of wheel 3, while the pedal 5 on right side is moveed downward along corresponding wheel 3.
Specific embodiment three:
It is illustrated in figure 4 the front schematic view for the Self-Balancing vehicle 1 that the anti-side that the specific embodiment of the invention three provides is inclined, from figure
In as can be seen that other than telescopic component 7 is different from the connection type of connector 4, it is other describe it is identical with embodiment one.
In the present embodiment, include a pair of of telescopic component 7 in Self-Balancing vehicle 1, connect respectively with above-mentioned a pair of of connector 4, to drive one
It is up and down along the progress of corresponding 3 outer surface of wheel to pedal 5.Specifically, when the run-off the straight to the left of direction control lever 2
When, displacement detector 11 detects the angular displacement and displacement of the lines that direction control lever 2 deflects, and displacement signal is then sent to control
Device processed, controller control Self-Balancing vehicle 1 immediately and deflect to the left, while the telescopic rod 8 of the telescopic component 7 in left side is received
Overhanging activity occurs under the control of the controller for the telescopic rod 8 of contracting activity, the telescopic component 7 on right side；Drive the connector 4 in left side
It moves downward while the activity upwards of the connector 4 on right side, and then drives the pedal 5 that connect with left side connector 4 along the vehicle in left side
The downwardly activity of wheel 3, it is movable that the pedal 5 connecting with right side connector 4 faces upward along the appearance of the wheel 3 on right side, from
And certain difference in height is produced between the pedal 5 of the left and right sides, driver occurs to the left with the activity center of gravity of left pedal 5
Offset overcomes Self-Balancing vehicle 1 and the centrifugal force that turning generates occurs to the left.When 2 run-off the straight to the right of direction control lever, then stretch
Contracting component 7 drives left pedal 5 along the activity upwards of wheel 3, while the pedal 5 on right side moves downward, to make driver gram
Take the centrifugal force generated when Self-Balancing vehicle 1 is turned to the right.
Preferably, telescopic component 7 includes electric pushrod, is controlled by controller and carries out automatic telescopic, and operability is stronger.
Preferably, displacement detector 11 includes magnetic element 12 and magnetic induction part 13, as shown in figure 5, being suitable for upper
It states in three embodiments, is situation in specific embodiment two shown in figure.Wherein, magnetic element 12 is set to direction control lever
On 2；Magnetic induction part 13 is set on car body 6, while receiving the magnetic signal of magnetic element 12.Further, in order to make magnetic strength
The magnetic signal for answering element 13 to sense that magnetic element 12 issues to the greatest extent, magnetic element 12 are set to direction control lever 2
In close to the position of car body 6, such as the bottom of direction control lever 2, magnetic induction part 13 is set in car body 6 close to above-mentioned magnetism
Element 12 is arranged；Specifically, in a vertical position in direction control lever, when not tilting to two sides, magnetic induction part 13 is located at
The underface of magnetic element 12.Closer, magnetic element 12 includes magnet steel, and magnetic induction part 13 includes Hall element.This
The concrete form of magnetic element 12 and magnetic induction part 13 is not construed as limiting in invention, as long as being able to achieve above-mentioned purpose, all includes
In the present invention.
Preferably, above-mentioned a pair of of connector 4 becomes one respectively at the mud guard of above-mentioned pair of wheels 3, is coated on
3 top of pair of wheels, such as the part-structure of cladding top are stated, the application of connector not only can be extended, make its conduct
Mud guard uses；It can also make the more compact structure of Self-Balancing vehicle simultaneously, it is not necessary to mud guard be separately provided again.
It preferably, as shown in figs. 1-4, further include that a pair of of wearing piece such as idler wheel 9 is respectively arranged at above-mentioned one in car body 6
To on wheel 3, and the axial direction of idler wheel and wheel 3 is axially vertical, and connector 4 can be along idler wheel when driving pedal 5 up and down
Carry out activity, not only reduces the abrasion to wheel 3, while also making the activity of connector 4 more convenient, effectively avoids connecting
Part 4 wears 3 bring of wheel when driving pedal 5 up and down along the outer surface of wheel 3.
It preferably, further include support component in car body 6, for above-mentioned telescopic component 7 to be fixed in car body 6.Specifically,
It then include a support component in car body 6 in car body 6 when including a telescopic component 7；When flexible including a pair in car body 6
Then correspondingly include a pair of of support component in car body 6 when component 7, fixes above-mentioned a pair of of telescopic component 7 respectively.
A kind of method that 1 anti-side of Self-Balancing vehicle is inclined is applied to above-mentioned Self-Balancing vehicle 1, as shown in fig. 6, specifically including following
Step:
S1 direction control lever 2 is towards the direction run-off the straight to turn；
S2 controller control car body 6 deflects along direction identical with direction control lever 2, simultaneous displacement detection device 11
The displacement of detection direction control-rod 2, and displacement signal is sent to controller；
S3 controller receives displacement signal, while controlling telescopic component 7 and carrying out telescopic movable；
S4 telescopic component 7 passes through a pair of of connector 4 and drives pedal 5 up and down along the progress of 3 outer surface of wheel.
In step s 2, displacement detector 11 includes magnetic element 12, such as magnet steel and magnetic induction part 13, such as Hall member
Part.Specifically, magnetic element 12 occurs to tilt accordingly with direction control lever 2, and magnetic induction part 13 is with magnetic element 12
Rocking sensation answer different magnetic signals, then transmit a signal to controller.
In step s3, after controller receives the displacement signal of direction control lever 2, so control telescopic component 7 into
Row movable telescopic, to drive the connector 4 connecting with telescopic component 7 up and down.
In step s 4, telescopic component 7 is connect with any one in a pair of of connector 4, another is fixed on car body 6
On, drive the pedal 5 connected to carry out by telescopic component 7 up and down；And/or telescopic component 7 by interlocking bar 10 with
A pair of of connector 4 connects simultaneously, and drives a pair of of connector 4 to link by interlocking bar 10, and a pair of pedals is made to realize linkage；
And/or telescopic component 7 is a pair, and each telescopic component 7 is correspondingly connected with a connector 4, each telescopic component 7 passes through one
It is up and down that a connector 4 drives a pedal 5 to carry out, and controls the activity of a pair of pedals respectively.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, done any modification, equivalent substitution, improvement and etc. be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of Self-Balancing vehicle that anti-side is inclined, comprising:
One car body；The direction control lever axially being connect on the car body and with the car body；It is divided into the car body two sides
Pair of wheels；A pair of pedals；
It is characterized in that, the pair of pedal is divided into the two sides of the pair of wheel, the Self-Balancing vehicle further include:
Displacement detector, controller, telescopic component, a pair of of connector；
Institute's displacement sensing device is used to detect the displacement of the direction control lever, and is electrically connected with the controller and to described
Controller sends the displacement signal of the direction control lever；
The controller is connect with the telescopic component and the car body；
The telescopic component is connect with the pair of pedal respectively by the pair of connector, and the pair of connector is distinguished
Corresponding the pair of wheel setting, each connector are arranged along the outer surface of the corresponding wheel；
The controller controls the telescopic component by institute's displacement signal and carries out movable telescopic, to drive the pedal to distinguish
It is carried out along the outer surface of the corresponding wheel up and down.
2. the Self-Balancing vehicle that anti-side as described in claim 1 is inclined, it is characterised in that: institute's displacement sensing device includes magnetic element
And magnetic induction part；
The magnetic element is set on the direction control lever；
The magnetic induction part is set on the car body, and receives the magnetic signal of the magnetic element, to pass through magnetic signal
Change the displacement for detecting the direction control lever.
3. the Self-Balancing vehicle that anti-side as described in claim 1 is inclined, it is characterised in that: the telescopic component is one, and this is flexible
Component is connect by an interlocking bar with the pair of connector simultaneously, to drive the pair of connector by the interlocking bar
Carry out simultaneously up and down, and then it is living up and down to drive the pair of pedal to carry out along the outer surface of the corresponding wheel
It is dynamic.
4. the Self-Balancing vehicle that anti-side as described in claim 1 is inclined, it is characterised in that: the telescopic component be a pair, and respectively with
The pair of connector is correspondingly connected with, and each telescopic component drives a corresponding pedal to carry out by a connector
Lower activity.
5. the Self-Balancing vehicle that the anti-side as described in any one of claim 3 or 4 is inclined, the pair of pedal is respectively along the wheel
Outer surface it is opposite direction it is up and down.
6. the Self-Balancing vehicle that anti-side as described in claim 1 is inclined, it is characterised in that: each wheel is the same as described in corresponding
Wearing piece is equipped between connector.
7. the Self-Balancing vehicle that anti-side as claimed in claim 6 is inclined, it is characterised in that: the wearing piece is idler wheel, and the idler wheel is set
It is placed on the wheel, and the axial direction of the idler wheel and the wheel is axially vertical.
8. the Self-Balancing vehicle that anti-side as described in claim 1 is inclined, it is characterised in that:
The telescopic component includes electric pushrod；
And/or；
The mud guard of the connector and the wheel becomes one, and coats the top of the wheel.
9. a kind of method that Self-Balancing vehicle anti-side is inclined is applied to such as the described in any item Self-Balancing vehicles of claim 1-8, feature
It is, comprising the following steps:
Direction control lever described in S1 is towards the direction run-off the straight to be turned；
Controller described in S2 controls the car body and deflects along direction identical with the direction control lever, while the displacement
Detection device detects the displacement of the direction control lever, and institute's displacement signal is sent to the controller；
Controller described in S3 receives institute's displacement signal, while controlling the telescopic component and carrying out telescopic movable；
Telescopic component described in S4 drives the pedal to carry out up and down along the outer surface of the wheel by the pair of connector
Activity.
10. the method that Self-Balancing vehicle anti-side as claimed in claim 9 is inclined, it is characterised in that:
In step s 4, the telescopic component is connect by an interlocking bar with the pair of connector simultaneously, and by described
Interlocking bar drives the pair of connector to link；
And/or；
In step s 4, the telescopic component is a pair, and each telescopic component is correspondingly connected with the connector, often
A telescopic component drives the pedal progress up and down by a connector.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410333978.XA CN105314020B (en) | 2014-07-14 | 2014-07-14 | The Self-Balancing vehicle and its anti-side that anti-side is inclined incline method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410333978.XA CN105314020B (en) | 2014-07-14 | 2014-07-14 | The Self-Balancing vehicle and its anti-side that anti-side is inclined incline method |
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| CN105314020A CN105314020A (en) | 2016-02-10 |
| CN105314020B true CN105314020B (en) | 2019-04-16 |
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| US20190047653A1 (en) * | 2017-08-12 | 2019-02-14 | Shane Chen | Deployable foot platform personal transportation device |
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|---|---|---|---|---|
| CN101300167A (en) * | 2005-11-02 | 2008-11-05 | 爱考斯研究株式会社 | Vehicle |
| CN101316736A (en) * | 2005-12-28 | 2008-12-03 | 爱考斯研究株式会社 | Traveling vehicle |
| CN204021082U (en) * | 2014-07-14 | 2014-12-17 | 上海新世纪机器人有限公司 | The Self-Balancing vehicle that anti-side is inclined |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4650327B2 (en) * | 2005-04-14 | 2011-03-16 | トヨタ自動車株式会社 | Coaxial motorcycle |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101300167A (en) * | 2005-11-02 | 2008-11-05 | 爱考斯研究株式会社 | Vehicle |
| CN101316736A (en) * | 2005-12-28 | 2008-12-03 | 爱考斯研究株式会社 | Traveling vehicle |
| CN204021082U (en) * | 2014-07-14 | 2014-12-17 | 上海新世纪机器人有限公司 | The Self-Balancing vehicle that anti-side is inclined |
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| CN105314020A (en) | 2016-02-10 |
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Address after: Room 1138, No. 25, Lane 38, Caoli Road, Fengjing Town, Jinshan District, Shanghai, 20118 Applicant after: Shanghai New Century Robot Co., Ltd. Address before: Block B, 2nd Floor, Block 1-9, Lane 99, Shenmei Road, Zhoupu Town, Pudong New Area, Shanghai, 201318 Applicant before: Shanghai New Century Robot Co., Ltd. |
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