CN108273258A - Electric running equipment - Google Patents
Electric running equipment Download PDFInfo
- Publication number
- CN108273258A CN108273258A CN201810070328.9A CN201810070328A CN108273258A CN 108273258 A CN108273258 A CN 108273258A CN 201810070328 A CN201810070328 A CN 201810070328A CN 108273258 A CN108273258 A CN 108273258A
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- CN
- China
- Prior art keywords
- pedestal
- pedal
- motor
- angle
- controller
- 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
- A63C17/0006—Accessories
-
- 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
- A63C17/26—Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
Abstract
The embodiment of the present application discloses a kind of electric running equipment, and traveling apparatus includes：Pedestal, wheel body, pedal, motor, sensor, bindiny mechanism and controller；Wheel body is set to the bottom side of pedestal；Motor is connect with wheel body；Controller is electrically connected with sensor and motor respectively；Pedal is connect by bindiny mechanism with pedestal, and pedal can be rotated around with the axis between pedal and pedestal by bindiny mechanism relative to pedestal within a predetermined range；Sensor measurement pedal is sent relative to the pose residing for pedestal, and by measured posture information to controller；Controller is based on posture information, to motor output torque control instruction；Motor is instructed based on direct torque, and to wheel body output driving power, driving wheel body is rotated around the axis of wheel body.The present embodiment provides driving force by motor for traveling apparatus, and muscle power is greatly saved.
Description
Technical field
This application involves traveling apparatus technology, more particularly to a kind of electric running equipment.
Background technology
Slide plate is a kind of product form of roller skating, is the simple motion machinery of roller skating project, deep by public special
It is not the sports products that children like.Since the purpose of fast running may be implemented in slide plate, more and more workings now
Race also selects to replace pad it using slide plate to save the time.
However slide plate in the prior art, user when in use, are completely dependent on the muscle power of user itself to realize cunning
Plate slides, and operation is laborious.
Invention content
The embodiment of the present application provides a kind of electric running equipment to solve problems of the prior art.
What the technical solution of the embodiment of the present application was realized in：
The embodiment of the present application provides a kind of electric running equipment, and traveling apparatus includes：Pedestal, wheel body, pedal, motor, biography
Sensor, bindiny mechanism and controller；The wheel body is set to the bottom side of the pedestal；The motor is connect with the wheel body；Institute
Controller is stated to be electrically connected with the sensor and the motor respectively；
The pedal is connect by the bindiny mechanism with the pedestal, and the pedal can pass through the bindiny mechanism
It is rotated within a predetermined range around with the axis between the pedal and the pedestal relative to the pedestal；
Pedal described in the sensor measurement relative to the pose residing for the pedestal, and by measured posture information to
The controller is sent；
The controller is based on the posture information, to the motor output torque control instruction；
The motor is instructed based on the direct torque, to the wheel body output driving power, drives the wheel body around described
The axis of wheel body rotates.
In some optional realization methods, the sensor includes angular transducer, and the angular transducer is located at institute
It states on pedal or on the pedestal；Accordingly, the posture information includes angle information of the pedal relative to the pedestal；
The angular transducer measures angle of the pedal relative to the pedestal, and by the angle information of measurement to institute
State controller transmission；
The controller is based on the angle information, to the motor output torque control instruction.
In some optional realization methods, the angular transducer is set to the front end of the pedal or the pedestal
Front end；
When the controller detects the motor work,
When the controller determines that the angle in angle information is more than the first predetermined angle, subtract to the motor output torque
Small instruction, the motor reduce current output torque in response to the instruction that the torque reduces；The controller determines angle
When the angle spent in information is less than or equal to the first predetermined angle and is more than or equal to the second predetermined angle, to the motor output torque
The instruction of holding, the instruction that the motor is kept in response to the torque keep current output torque；The controller determines angle
The angle spent in information is less than the second predetermined angle, and to the increased instruction of the motor output torque, the motor is in response to institute
It states the increased instruction of torque and increases current output torque；Wherein, it is default to be more than or equal to described second for first predetermined angle
Angle.
In some optional realization methods, when the controller detects that the motor does not work,
When the controller determines that the angle in angle information is more than the first predetermined angle, exported to the motor along first
The direct torque instruction of direction rotation, the motor is in response to the direct torque instruction being rotated in a first direction and along first
Direction rotates；The controller determines that the angle in angle information is less than or equal to the first predetermined angle and is preset more than or equal to second
When angle, not to the motor output torque control instruction；It is pre- that the controller determines that the angle in angle information is less than second
If when angle, the direct torque being rotated in a second direction, to motor output instructs；The motor is in response to described along second
The direct torque of direction rotation is instructed and is rotated in a second direction,；Wherein, the first direction is opposite with the second direction.
In some optional realization methods, the motor is set to the pedestal bottom side, the rotor on the outside of the motor
Stator rotation in the middle part of the motor；The wheel body is arranged on the rotor of the motor；The controller is set to described
On pedestal；
The sensor includes the first Inertial Measurement Unit (the Inertial measurement being set on the pedal
Unit, IMU) and the second Inertial Measurement Unit (Inertial measurement unit, IMU) for being set on the pedestal,
Accordingly, the posture information includes angle information of the pedal relative to the pedestal；
First IMU measures the angle of the pedal with respect to the horizontal plane, and by the first angle information of measurement to institute
State controller transmission；2nd IMU measures the angle of the pedestal with respect to the horizontal plane, and by the second angle information of measurement
It is sent to the controller；
The controller calculate the first angle in the first angle information subtract in the second angle information second
The differential seat angle of angle, and it is based on the differential seat angle, to the motor output torque control instruction.
In some optional realization methods, the bindiny mechanism includes shaft, and the pedestal is provided with and the shaft
Matched through-hole, the pedal are provided with and the matched through-hole of the shaft with the pedestal corresponding position；
The shaft is threaded through in the through-hole of the pedal and the through-hole of the pedestal, and the shaft is logical with the pedal
It is interference fitted between hole, clearance fit between the shaft and the through-hole of the pedestal；
The pedal is connect by the shaft with the pedestal, and the pedal can be by the shaft relative to institute
Axis of the pedestal within a predetermined range around the through-hole of the pedestal is stated to be rotated.
In some optional realization methods, the sensor includes the rotary angle transmitter being set at the shaft；It is right
Ying Di, the posture information include the angle information that the shaft is rotated；
The rotary angle transmitter measures the angle that the shaft is rotated, and the angle that the shaft of measurement is rotated
Information is sent to the controller；
The angle information that the controller is rotated based on the shaft, to the motor output torque control instruction.
In some optional realization methods, the sensor includes displacement sensor, and institute's displacement sensors are located at institute
State the rear end of the front end of pedal, the rear end of the pedal, the front end of the pedestal or the pedestal；Accordingly, the pose letter
Breath includes displacement information of the pedal relative to the pedestal；
Displacement of the pedal relative to the pedestal described in the displacement sensor, and by the displacement information of measurement to institute
State controller transmission；
The controller is based on institute's displacement information, to the motor output torque control instruction.
In some optional realization methods, institute displacement sensors are set to the front end of the pedal or the pedestal
Front end；
When the controller detects the motor work,
When the controller determines that the distance in institute's displacement information is more than the first pre-determined distance, turn to motor output
The instruction that square reduces, the motor reduce current output torque in response to the instruction that the torque reduces；The controller is true
The distance in institute's displacement information is determined less than or equal to the first pre-determined distance and when being more than or equal to the second pre-determined distance, to the motor
The instruction that output torque is kept, the instruction that the motor is kept in response to the torque keep current output torque；The control
When device determines that the distance in institute's displacement information is less than the second pre-determined distance, to the increased instruction of the motor output torque, to
The increased instruction of motor output torque, the motor increase current output and turn in response to the increased instruction of the torque
Square；Wherein, first pre-determined distance is more than or equal to second pre-determined distance.
In some optional realization methods, when the controller detects that the motor does not work,
When the controller determines that the distance in institute's displacement information is more than the first pre-determined distance, edge is exported to the motor
The direct torque instruction of first direction rotation, motor edge in response to the direct torque instruction being rotated in a first direction
First direction rotates；The controller determines that the distance in institute's displacement information is less than or equal to the first pre-determined distance and is more than or equal to
When the second pre-determined distance, not to the motor output torque control instruction；The controller determine in institute's displacement information away from
When from less than the second pre-determined distance, the direct torque being rotated in a second direction, to motor output instructs；The motor response
It is rotated in a second direction, in the direct torque instruction being rotated in a second direction,；Wherein, the first direction and described the
Two directions are opposite.
In some optional realization methods, the pedal is located at the top side of the pedestal, and the bindiny mechanism is located at institute
It states between pedal and the pedestal；
When the pedal by the bindiny mechanism rotate to it is parallel with the pedestal when, the pedal and the pedestal it
Between have prepsetting gap.
In some optional realization methods, it is provided in the middle part of the pedestal and the shape of the pedal is matched opens
Mouthful, the pedal is located in the opening, the pedal can by the bindiny mechanism relative to the pedestal in predetermined model
It is rotated in the opening around with the axis between the pedal and the pedestal in enclosing, and the pedal can be rotated to described
In plane where pedestal.
In some optional realization methods, the traveling apparatus further includes the communication mould being electrically connected with the controller
Block；
Operating parameter of the controller based on the motor, determines the speed of service of the wheel body, passes through the communication
Module sends the speed of service of the wheel body；And/or the operation of the wheel body of other traveling apparatus is received by the communication module
Speed, and the speed of service of the wheel body of the speed of service based on the wheel body and other traveling apparatus, adjust the fortune of the motor
Row parameter.
In some optional realization methods, the traveling apparatus includes the pressure sensing being electrically connected with the controller
Device；
The pressure sensor measures the pressure that the traveling apparatus is born, and by measured pressure information to the control
Device processed is sent；
The controller is based on the posture information, before exporting enabled instruction to the motor, it is also necessary to judge institute
State whether the pressure in pressure information is more than preset pressure, it is defeated to the motor when the pressure is more than the preset pressure
Go out enabled instruction；Otherwise, enabled instruction is not exported to the motor.
In some optional realization methods, the traveling apparatus is electric roller blades or electric return board.
In the embodiment of the present application, the pedal is connect by the bindiny mechanism with the pedestal, and the pedal can
It is revolved within a predetermined range around with the axis between the pedal and the pedestal relative to the pedestal by the bindiny mechanism
Turn；Pedal described in the sensor measurement is relative to the pose residing for the pedestal, and by measured posture information to described
Controller is sent；The controller is based on the posture information, to the motor output torque control instruction；The motor is based on
The direct torque instruction drives institute by the power output end to the power input mechanism output driving power of the wheel body
The axis that wheel body is stated around the wheel body rotates.Driving force is provided for traveling apparatus by motor in this way, muscle power is greatly saved；And
And by pedal described in sensor measurement relative to the pose residing for the pedestal, and the posture information is based on by controller
Motor is controlled, keeps the manipulation of traveling apparatus more intelligent, is more convenient to operate.
Description of the drawings
Fig. 1 is an optional structural schematic diagram of traveling apparatus in the embodiment of the present application；
Fig. 2 is an optional structural schematic diagram of traveling apparatus in the embodiment of the present application；
Fig. 3 is an optional structural schematic diagram of traveling apparatus in the embodiment of the present application；
Fig. 4 is an optional structural schematic diagram of traveling apparatus in the embodiment of the present application；
Fig. 5 is another optional structural schematic diagram of traveling apparatus in the embodiment of the present application；
Fig. 6 is another optional structural schematic diagram of traveling apparatus in the embodiment of the present application；
Fig. 7 is another optional structural schematic diagram of traveling apparatus in the embodiment of the present application；
Fig. 8 is another optional structural schematic diagram of traveling apparatus in the embodiment of the present application.
Reference numeral：110, pedestal；120, pedal；130, wheel body；140, bindiny mechanism；141, shaft；150, battery；
101, the first IMU；102, the 2nd IMU.
Specific implementation mode
Below in conjunction with drawings and the specific embodiments, the application is further elaborated.It should be appreciated that this place is retouched
The specific embodiment stated is only used to explain the application, is not used to limit the application.
In the embodiment of the present application record, it should be noted that unless otherwise indicated and limit, term " connection " should be done extensively
Reason and good sense solution, for example, it may be electrical connection, can also be the connection inside two elements, can be directly connected, can also pass through
Intermediary is indirectly connected, and for the ordinary skill in the art, can understand above-mentioned term as the case may be
Concrete meaning.
It should be noted that the term " first second third " involved by the embodiment of the present application is only to be that difference is similar
Object, do not represent the particular sorted for object, it is possible to understand that ground, " Yi Er thirds " can be in the case of permission
Exchange specific sequence or precedence.It should be appreciated that the object that " first second third " is distinguished in the appropriate case can be mutual
It changes, so that embodiments herein described herein can be real with the sequence other than those of illustrating or describing herein
It applies.
The embodiment of the present application provides a kind of electric running equipment, below referring to attached drawing 1 to Fig. 8 in the embodiment of the present application
Traveling apparatus be described in detail.
As shown in Figure 1, traveling apparatus provided by the embodiments of the present application includes：Pedestal 110, wheel body 130, pedal 120, electricity
Machine, sensor, bindiny mechanism 140 and controller；The wheel body 130 is rotatablely arranged at the bottom side of the pedestal 110；It is described
Motor is connect with the wheel body 130；The controller is electrically connected with the sensor and the motor respectively；The pedal 120
It is connect with the pedestal 110 by the bindiny mechanism 140, and the pedal 120 can be opposite by the bindiny mechanism 140
It is rotated within a predetermined range around with the axis between the pedal 120 and the pedestal 110 in the pedestal 110；The sensing
Device measures the pedal 120 relative to the pose residing for the pedestal 110, and by measured posture information to the controller
It sends；The controller is based on the posture information, to the motor output torque control instruction；The motor is based on described turn
Square control instruction drives the wheel body 130 to be rotated around the axis of the wheel body 130 to 130 output driving power of the wheel body.
In the present embodiment, human body of the pedestal 110 on supporting pedal 120 and pedal 120, and can by wheel body 130
To slide on the ground.The material of pedestal 110 can be arranged according to actual needs, and pedestal 110 needs have centainly strong
Degree.The structure and shape of pedestal 110 can be arranged according to actual needs.Such as pedestal 110 can be the plate body of rectangle, also may be used
Think the plate body of ellipse.Fig. 1 schematically illustrates the plate body that pedestal 110 is rectangle.
Controller in the present embodiment can be arranged on pedestal 110, can also be arranged on pedal 120.Here control
Device processed is for the posture information based on the pedal relative to the pose residing for the pedestal, to the motor output torque
Control instruction.Here direct torque instruction can be the increased instruction of torque, can also be the instruction that torque reduces, can be with
It is the instruction that torque is kept.It is understood that when controller instruction increased to motor output torque, motor output torque
Increase, the rotating speed of motor increases, and the power of motor increases；When the instruction that controller reduces to motor output torque, motor is defeated
Go out torque reduction, the rotating speed of motor reduces, and the power of motor reduces；When the instruction that controller is kept to motor output torque,
Motor output torque is kept, and the rotating speed of motor is constant, and the power of motor is constant.
The quantity of wheel body 130 in the present embodiment can be one, or multiple.Fig. 1 is exemplarily illustrated wheel body
130 quantity is four, and four wheel bodys 130 are symmetrical arranged at two rows.
Motor in the present embodiment is used to provide driving force for wheel body 130.Here it is arranged on the wheel body 130 dynamic
Input mechanism；The power output end of the motor is connect with the power input mechanism of the wheel body 130.Here motor can be
Inner rotor motor can also be external rotor electric machine.When motor is inner rotor motor, one end of the shaft 141 of motor is as defeated
Outlet is connect with the power input mechanism of wheel body 130；Here power input mechanism can be the fixation being connect with wheel body 130
Axis.When motor is external rotor electric machine, the outside of the outer rotor of motor can input machine as the power of output end and wheel body 130
Structure connects；Here power input mechanism can be the wheel hub being connect with rotor.Specifically, motor here can be wheel hub electricity
Machine, wheel body 130 are set up directly on the rotor of wheel hub motor.
It should be understood that traveling apparatus can also include battery 150.Here battery 150 provides electricity for motor, optional
, battery 150 can deposit battery 150.
Traveling apparatus in the present embodiment can be electric roller blades, or electric return board.Stepping in the present embodiment
Plate 120 is used to carry human body by foot, and the structure and shape of pedal 120 can be arranged according to the structure of foot and shape, as long as
Convenient for support foot.For example, various shoes in the prior art can directly be arranged on pedal 120.In another example pedal 120
It is arranged to sole, blocking portion is respectively set in the front-end and back-end being arranged on pedal 120 on vamp or pedal 120.Here
Blocking portion is for preventing foot play on pedal 120.It is electric roller blades that Fig. 5 to Fig. 8, which illustrates traveling apparatus, here
Pedal 120 be arranged to sole, pedal 120 rear end be arranged blocking portion, for stopping that foot is slided backward, in pedal 120
Portion is provided with cassette tape, is used for clamping foot, and prevents foot to advancing slip.It is electric sliding that Fig. 1 to Fig. 4, which schematically illustrates traveling apparatus,
Plate, two ends of pedal 120 here are tilted to top side, for preventing foot from skidding off pedal 120 backward or forward, foot here
Positioned at the middle part of pedal 120.
The material of pedal 120 can be arranged according to actual needs, as long as pedal 120 can support human body.It needs
It is noted that in order to can by foot, either pressure makes pedal 120 forward or back rotation backward forward, pedal 120 here
With certain intensity, and will not deform when supporting human body.
The pedal 120 in the present embodiment is connect by the bindiny mechanism 140 with the pedestal 110, and described is stepped on
Plate 120 can by the bindiny mechanism 140 relative to the pedestal 110 within a predetermined range around with the pedal 120 and institute
State the axis rotation between pedestal 110.
Here bindiny mechanism 140 can list two kinds of realization methods in detail below there are many realization method.
In the first realization method of bindiny mechanism 140, as shown in Figures 1 to 8, the bindiny mechanism 140 includes turning
Axis 141, the pedestal 110 are provided with and 141 matched through-hole of the shaft, the position corresponding with the pedestal 110 of the pedal 120
The place of setting is provided with and 141 matched through-hole of the shaft；The shaft 141 is threaded through the through-hole of the pedal 120 and the base
It in the through-hole of seat 110, is interference fitted between the shaft 141 and the through-hole of the pedal 120, the shaft 141 and the base
Clearance fit between the through-hole of seat 110；The pedal 120 is connect by the shaft 141 with the pedestal 110, and described is stepped on
Plate 120 can by the shaft 141 relative to the pedestal 110 within a predetermined range around the axis of the through-hole of the pedestal 110
Line is rotated.
In second of realization method of bindiny mechanism 140, the bindiny mechanism 140 includes being set to pedal 120 and base
Crank and rocking bar between seat 110.The first end of crank is hinged by first rotating shaft and pedal 120, and the second end of crank passes through
Second shaft is hinged with pedestal 110；The first end of rocking bar is hinged by third shaft and pedal 120, and the second end of rocking bar passes through
4th shaft is hinged with pedestal 110.Wherein, pedal 120 is used as connecting rod；Here the axis of the axis of first rotating shaft, the second shaft
The axis difference of line, the axis of third shaft and the 4th shaft is parallel.The pedal 120 passes through crank and rocking bar and the pedestal
110 connections, and the pedal 120 can be rotated by crank and rocking bar relative to the axis of second shaft.
Here preset range can according to the maximum angle that human body station can tilt forward and backward on pedal 120 come
Setting, those skilled in the art can be arranged according to actual needs.As shown in Figure 3 and Figure 7, setting pedal 120 rotates here
Angle when extremely parallel with pedestal 110 is 0 degree；As shown in Figure 4 and Figure 8, pedal 120 turns forward (preceding relative to pedestal 110
Incline) angle be negative angle；As shown in Figure 2 and Figure 6, the angle that pedal 120 tilts backwards (layback) relative to pedestal 110 is just
Angle.For example, the maximum angle that human body station can turn forward on pedal 120 is 30 degree, it can be with sweptback maximum angle
It is 15 degree；Accordingly, preset range can be from minus 25 degree to 10 degree, can also be from minus 30 degree to 15 degree.
It should be noted that for ease of description, station is forwardly and rearwardly relative in pedal 120 in the present embodiment
On people for.
The pedal 120 in the present embodiment is not construed as limiting relative to the position of pedestal 110, as long as can pass through the company
Connection mechanism 140 is connect with the pedestal 110.For example, pedal 120 can be arranged with pedestal 110 in same plane, it can also
It is not provided in the same plane.
For example, pedal 120 and a kind of optional position of pedestal 110, as shown in Figure 1 and Figure 5, the pedal 120 is located at institute
The top side of pedestal 110 is stated, the bindiny mechanism 140 is between the pedal 120 and the pedestal 110；When the pedal 120
When extremely parallel with the pedestal 110 by the rotation of the bindiny mechanism 140, have between the pedal 120 and the pedestal 110
Prepsetting gap.Here prepsetting gap meets the pedal 120 and is existed relative to the pedestal 110 by the bindiny mechanism 140
It is different to be contacted with the pedal 120 in preset range when rotation.
In another example pedal 120 and another the optional position of pedestal 110, the middle part of the pedestal 110 be provided with it is described
The matched opening of shape of pedal 120, the pedal 120 are located in the opening, and the pedal 120 can pass through the connection
Mechanism 140 exists around with the axis between the pedal 120 and the pedestal 110 within a predetermined range relative to the pedestal 110
Rotation in the opening, and the pedal 120 can be rotated to the plane where the pedestal 110.
Pedal 120 described in sensor measurement in the present embodiment will be surveyed relative to the pose residing for the pedestal 110
The posture information of amount is sent to the controller；The controller is based on the posture information, to the motor output torque control
System instruction；The motor is instructed based on the direct torque, is inputted to the power of the wheel body 130 by the power output end
Mechanism output driving power drives the wheel body 130 to be rotated around the axis of the wheel body 130.
During the use of traveling apparatus, pedal 120 can be made relative to the pedestal 110 when applying to pedal 120
When the pressure of rotation, pedal 120 is rotated relative to the pedestal 110, and the pressure of application is different, and pedal 120 is relative to the base
The angle of 110 rotation of seat is different, can be sent out the angle that pedal 120 is rotated relative to the pedestal 110 by sensor here
Controller is given, and then wheel body 130 is controlled by controller and is rotated.Certainly, when pedal 120 is rotated relative to the pedestal 110,
Pedal 120 is also changed relative to the displacement of pedestal 110, here can also by sensor by pedal 120 relative to institute
The displacement for stating the rotation of pedestal 110 is transmitted to controller, and then controls wheel body 130 by controller and rotate.It should be noted that here
The position of sensor be not construed as limiting, as long as the pedal can be measured relative to the pose residing for the pedestal, and will be surveyed
The posture information of amount is sent to the controller.Following exemplary lists the set-up mode of four kinds of sensors.
In the first set-up mode of sensor, the sensor includes angular transducer；Accordingly, the posture information
Include angle information of the pedal 120 relative to the pedestal 110；It is opposite that the angular transducer measures the pedal 120
It is sent to the controller in the angle of the pedestal 110, and by the angle information of measurement；The controller is based on the angle
Information, to the motor output torque control instruction.
Here angular transducer can be arranged on pedal 120, can also be arranged on pedestal 110, as long as can survey
Measure angle of the pedal 120 relative to the pedestal 110.Optionally, the angular transducer is located at the pedal
Front end, the rear end of the pedal, the front end of the pedestal or the pedestal rear end, so that angular transducer more sensitively measures
Angle of the pedal 120 relative to the pedestal 110.
For example, the angular transducer is set to the front end of the pedal 120 or the front end of the pedestal 110；The control
When device processed detects the motor work, when the controller determines that the angle in angle information is more than the first predetermined angle, to
The instruction that the motor output torque reduces, the motor reduce current output in response to the instruction that the torque reduces and turn
Square；The controller determines that the angle in angle information is less than or equal to the first predetermined angle and is more than or equal to the second predetermined angle
When, the instruction kept to the motor output torque, the instruction that the motor is kept in response to the torque keeps current output
Torque；The controller determines that the angle in angle information is less than the second predetermined angle, increased to the motor output torque
Instruction, the motor increase current output torque in response to the increased instruction of the torque；Wherein, first predetermined angle
More than or equal to second predetermined angle.
Here the first predetermined angle refers to that human body is stood on the traveling apparatus at the uniform velocity travelled, compares the rear elevation angle of adaptation
Degree.For example, the range of the first predetermined angle can be minus 1 degree to 2 degree.Here it is even that the second predetermined angle refers to that human body is stood on
On the traveling apparatus of speed traveling, compare the forward leaning angle of adaptation.For example, the range of the second predetermined angle can be minus 3 degree to 0
Degree.Here the first predetermined angle can be equal with the second predetermined angle, can not also be equal.Specifically, the first predetermined angle
All it is 0 degree with the second predetermined angle；Here, when human body is stood on the traveling apparatus at the uniform velocity travelled, the pedal 120 relative to
The angle of the pedestal 110 is constant；When human body is swung back, and the pedal 120 is more than 0 degree relative to the angle of the pedestal 110,
Traveling apparatus Reduced Speed Now；When human body leans forward, and the pedal 120 is less than 0 degree relative to the angle of the pedestal 110, traveling
Equipment is given it the gun.Again specifically, the first predetermined angle is 2 degree, and the second predetermined angle is minus 2 degree；Here, human body stands on even
When on the traveling apparatus of speed traveling, the pedal 120 can become relative to the angle of the pedestal 110 between minus 2 degree to 2 degree
Change；When human body is swung back, and the pedal 120 is more than 2 degree relative to the angle of the pedestal 110, traveling apparatus Reduced Speed Now；When
Human body leans forward, and when the pedal 120 is less than minus 2 degree relative to the angle of the pedestal 110, traveling apparatus gives it the gun.It needs
It is noted that when the first predetermined angle and the second predetermined angle are symmetrical arranged relative to 0 degree, human body station is grasped on pedal 120
Make more humane.
In another example the angular transducer is set to the front end of the pedal 120 or the front end of the pedestal 110；It is described
When controller detects that the motor does not work, the controller determines that the angle in angle information is more than the first predetermined angle
When, the direct torque instruction being rotated in a first direction to motor output, the motor turns in response to described along first direction
Dynamic direct torque is instructed and is rotated in a first direction；It is pre- that the controller determines that the angle in angle information is less than or equal to first
If angle and more than or equal to the second predetermined angle when, not to the motor output torque control instruction；The controller determines angle
When the angle spent in information is less than the second predetermined angle, the direct torque being rotated in a second direction, to motor output instructs；
The motor is instructed in response to the direct torque being rotated in a second direction, and is rotated in a second direction,；Wherein, described first
Direction is opposite with the second direction.
Here traveling apparatus is started to walk since static, and when rotated in a first direction, wheel body is rotated in a first direction, row
Sail equipment retrogressing；When rotating along the second direction, wheel body is rotated in a second direction, and traveling apparatus advances.
In the second set-up mode of sensor, the sensor includes angular transducer；Accordingly, the posture information
Include angle information of the pedal 120 relative to the pedestal 110；The angular transducer includes being set to the pedal
The first IMU101 on 120 and the 2nd IMU102 being set on the pedestal 110, the first IMU101 measurements pedal
120 angle with respect to the horizontal plane, and the first angle information of measurement is sent to the controller；2nd IMU102 is surveyed
The angle of the pedestal 110 with respect to the horizontal plane is measured, and the second angle information of measurement is sent to the controller；The control
Device processed calculates the differential seat angle for the second angle that the first angle in the first angle information subtracts in the second angle information, and
Based on the differential seat angle, to the motor output torque control instruction.
Here the position that the first IMU101 is arranged on pedal 120 is not construed as limiting, and the 2nd IMU102 is arranged in pedestal 110
On position be not construed as limiting.Fig. 2 to Fig. 4 is exemplarily illustrated, and the first IMU101 is arranged in the bottom side of 120 front end of pedal, and second
The top side in 110 front end of pedestal is arranged in IMU102.
Here, when differential seat angle is equal to 0 degree, pedal 120 is parallel with pedestal 110；When differential seat angle is more than 0 degree, pedal 120
It swings back relative to pedestal 110；When differential seat angle is less than 0 degree, pedal 120 leans forward relative to pedestal 110.
Here differential seat angle, controller, wheel body 130 and motor is believed with the angle in the first set-up mode of sensor respectively
Angle, controller, wheel body 130 and motor in breath is corresponding, about angle information in the first set-up mode of the sensor
In angle, controller, wheel body 130 and motor equally applicable differential seat angle, controller, wheel body 130 and the motor here of description,
Details are not described herein.
In the third set-up mode of sensor, when bindiny mechanism 140 is realized by the first realization method, institute
It includes the rotary angle transmitter being set at the shaft 141 to state sensor；Accordingly, the posture information includes the shaft
141 angle informations rotated；The rotary angle transmitter measures the angle that the shaft 141 is rotated, and will be described in measurement
The angle information that shaft 141 is rotated is sent to the controller；The angle that the controller is rotated based on the shaft 141
Information, to the motor output torque control instruction.
Here, the angle information that the shaft 141 is rotated includes the angle that shaft 141 is rotated.It specifically, can be with
The position when the pedal 120 is parallel relative to the pedestal 110 is arranged in the initial position of rotary angle transmitter, at this point, turning
The angle that axis 141 is rotated is 0 degree；When pedal 120 is swung back relative to pedestal 110, the angle that shaft 141 is rotated is more than 0
Degree；When pedal 120 leans forward relative to pedestal 110, the angle that shaft 141 is rotated is less than 0 degree.
Here angle, controller, wheel body 130 and the motor that shaft 141 is rotated are arranged with the first of sensor respectively
The angle in angle information, controller, wheel body 130 and motor in mode is corresponding, the first set-up mode of the sensor
In about in angle information angle, controller, wheel body 130 and motor the equally applicable shaft 141 here of description rotated
Angle, controller, wheel body 130 and motor, details are not described herein.
In the 4th set-up mode of sensor, the sensor includes being set to the pedal 120 or the pedestal 110
Displacement sensor；Accordingly, the posture information includes displacement information of the pedal 120 relative to the pedestal 110；Institute
Displacement sensors measure displacement of the pedal 120 relative to the pedestal 110, and by the displacement information of measurement to the control
Device processed is sent；The controller is based on institute's displacement information, to the motor output torque control instruction.
Here displacement sensor can be arranged on pedal 120, can also be arranged on pedestal 110, as long as can survey
Measure distance of the pedal 120 relative to the pedestal 110.It should be noted that pedal 120 is relative to pedestal 110
It is constant when displacement is at the axis between the pedal 120 and the pedestal 110, therefore, measure the sensor setting of displacement
The position other than the corresponding position of axis between the pedal 120 and the pedestal 110.Optionally, the displacement sensing
Device is located at the front end of the pedal, the rear end of the pedal, the front end of the pedestal or the rear end of the pedestal, so that displacement passes
Sensor more sensitively measures distance of the pedal 120 relative to the pedestal 110.
For example, institute's displacement sensors are set to the front end of the pedal 120 or the front end of the pedestal 110；The control
When device processed detects the motor work, the controller determines that the distance in institute's displacement information is more than the first pre-determined distance
When, the instruction reduced to the motor output torque, the motor reduces current defeated in response to the instruction that the torque reduces
Go out torque；The controller determines that the distance in institute's displacement information is less than or equal to the first pre-determined distance and is more than or equal to second in advance
If apart from when, the instruction kept to the motor output torque, the instruction that the motor is kept in response to the torque keeps working as
Preceding output torque；It is defeated to the motor when controller determines that the distance in institute's displacement information is less than the second pre-determined distance
Go out the increased instruction of torque, to the increased instruction of the motor output torque, the motor is in response to the increased finger of the torque
It enables and increases current output torque；Wherein, first pre-determined distance is more than or equal to second pre-determined distance.
Here, when human body is stood on the traveling apparatus at the uniform velocity travelled, and pedal 120 is parallel with pedestal 110, pedal 120
The distance between pedestal 110 is pre-determined distance.Here pre-determined distance can be 0, or be more than 0 value.
Here the first pre-determined distance refers to that human body is stood on the traveling apparatus at the uniform velocity travelled, and pedal 120 is relative to base
When seat 110 compares the reclined by angle of adaptation, the front end of pedal 120 is at a distance from pedestal 110.For example, the model of the first pre-determined distance
Enclosing can be that pre-determined distance -1cm arrives pre-determined distance+2cm degree.Here the second pre-determined distance refers to that human body stands on and at the uniform velocity travels
Traveling apparatus on, when pedal 120 compares the forward leaning angle of adaptation relative to pedestal 110, the front end of pedal 120 and pedestal 110
Distance.For example, the range of the second pre-determined distance, which can be pre-determined distance -2cm, arrives pre-determined distance+1cm.Here first is default
Distance can be equal with the second pre-determined distance, can not also be equal.Specifically, the first pre-determined distance and the second pre-determined distance are all
Pre-determined distance；Here, when human body is stood on the traveling apparatus at the uniform velocity travelled, the pedal 120 is relative to the pedestal 110
Apart from constant；When human body is swung back, and the front end of the pedal 120 is more than pre-determined distance relative to the distance of the pedestal 110, row
Sail equipment Reduced Speed Now；When human body leans forward, and the pedal 120 is less than pre-determined distance relative to the distance of the pedestal 110, row
Equipment is sailed to give it the gun.Again specifically, the first pre-determined distance is pre-determined distance+1cm, and the second pre-determined distance is pre-determined distance-
1cm；Here, when human body is stood on the traveling apparatus at the uniform velocity travelled, the front end of the pedal 120 is relative to the pedestal 110
Distance can change between pre-determined distance+1cm in pre-determined distance -1cm；When human body layback, the front end phase of the pedal 120
When being more than pre-determined distance+1cm for the distance of the pedestal 110, traveling apparatus Reduced Speed Now；When human body leans forward, the pedal
When 120 front end is less than pre-determined distance -1cm relative to the distance of the pedestal 110, traveling apparatus gives it the gun.It should be noted that
, when the first pre-determined distance and the second pre-determined distance are symmetrical arranged relative to pre-determined distance, human body station is grasped on pedal 120
Make more humane.
In another example institute's displacement sensors are set to the front end of the pedal 120 or the front end of the pedestal 110；It is described
When controller detects that the motor does not work, the controller determine the distance in institute's displacement information be more than first it is default away from
From when, to the motor output be rotated in a first direction direct torque instruction, the motor is in response to described along first direction
The direct torque of rotation is instructed and is rotated in a first direction；The controller determines that the distance in institute's displacement information is less than or equal to
First pre-determined distance and more than or equal to the second pre-determined distance when, not to the motor output torque control instruction；The controller
When determining that the distance in institute's displacement information is less than the second pre-determined distance, the torque being rotated in a second direction, is exported to the motor
Control instruction；The motor is instructed in response to the direct torque being rotated in a second direction, and is rotated in a second direction,；Wherein,
The first direction is opposite with the second direction.
Here first direction and second direction respectively with the first direction and second in the first set-up mode of sensor
Direction is corresponding, and the description of first direction and second direction in the first set-up mode of the sensor is equally applicable here
First direction and second direction, details are not described herein.
In some optional realization methods of the present embodiment, the traveling apparatus further includes being electrically connected with the controller
Communication module；Operating parameter of the controller based on the motor, determines the speed of service of the wheel body 130, passes through institute
State the speed of service that communication module sends the wheel body 130；And/or other traveling apparatus are received by the communication module
The speed of service of wheel body 130, and the operation speed of the wheel body 130 of the speed of service based on the wheel body 130 and other traveling apparatus
Degree, adjusts the operating parameter of the motor.
Here, the operating parameter of motor refers to that can embody the parameter of motor output torque.For example, operating parameter can be
One kind in the torque of the rotating speed, motor of motor, output torque of motor etc..Wherein, wheel body 130 can be stored in the controller
The speed of service and motor operating parameter correspondence.Controller can determine wheel body 130 by the operating parameter of motor
The speed of service；The parameter of motor can also be adjusted according to actual needs makes wheel body 130 reach the suitable speed of service.
Usually, two feet of human body all step down on traveling apparatus, and the distance of two traveling apparatus is too big in order to prevent, can be with
Make two traveling apparatus communications, wherein the controller of a traveling apparatus can be by comparing the operation speed of two traveling apparatus
The operating parameter for spending the motor to adjust residing traveling apparatus, make the speed of service of the wheel body 130 of residing traveling apparatus with
The speed of service of the wheel body 130 of another traveling apparatus is equal.
In some optional realization methods of the present embodiment, the traveling apparatus includes being electrically connected with the controller
Pressure sensor；The pressure sensor measures the pressure that the traveling apparatus is born, and by measured pressure information to institute
State controller transmission；The controller is based on the posture information, before exporting enabled instruction to the motor, it is also necessary to sentence
Whether the pressure in the disconnected pressure information is more than preset pressure, when the pressure is more than the preset pressure, to the electricity
Machine exports enabled instruction；Otherwise, enabled instruction is not exported to the motor.
Here preset pressure refers to the pressure that human body applies on traveling apparatus to traveling apparatus.The value of preset pressure can
To be arranged according to actual needs.For example, the value of preset pressure can be according to the average weight at the age for the people for wearing traveling apparatus
It needs, the average weight of adult body can also be set.
Here whether pressure sensor is for measuring human body in the traveling apparatus.Pressure sensor can be arranged
On pedal 120, it can also be arranged on pedestal 110, as long as the pressure that the traveling apparatus is born can be measured.Work as pressure
Sensor measurement when on traveling apparatus, exports enabled instruction, wheel body 130 is run to human body to the motor；Work as pressure sensing
Device measures human body not when on traveling apparatus, does not export enabled instruction to the motor, and wheel body 130 is not run；In this way, can be with
The safety for improving traveling apparatus, prevents from accidentally touching pedal 120 or human body not on pedal 120, pedal 120 is relative to pedestal
After 110 rotations, the electric motor starting of traveling apparatus.
In some optional realization methods of the present embodiment, damping is also provided between pedal 120 and pedestal 110
Structure, the pedal 120 relative to the pedestal 110 rotation angle in the second predetermined angle to the range of the first predetermined angle
When interior rotation, the damping force of damping structure is minimum, when the pedal 120 is more than the relative to the rotation angle of the pedestal 110
When one predetermined angle；Alternatively, when the pedal 120 is less than the second preset angle relative to the rotation angle of the pedestal 110, resistance
The damping force of Buddhist nun's structure increases.In this way, human body is more humane in operating pedal 120, prevent maloperation, pedal 120 relative to
The rotation angle variation of the pedestal 110 too greatly, has misquoted acceleration or deceleration-operation.
Here damping structure can be arranged on 140 direction of rotation of bindiny mechanism.Illustratively, traveling apparatus can also wrap
Include the spring being arranged between pedal 120 and pedestal 110.Wherein spring is in the state being pressurized.Here spring can be arranged
In 140 both sides of bindiny mechanism.When the pedal 120 relative to the pedestal 110 rotation angle in the second predetermined angle to
When being rotated in the range of one predetermined angle, the spring-return power of 140 both sides of bindiny mechanism is minimum, when the pedal 120 relative to
When the rotation angle of the pedestal 110 is more than the first predetermined angle；Alternatively, when the pedal 120 is relative to the pedestal 110
When rotation angle is less than the second preset angle, the restoring force of the spring of 140 side of bindiny mechanism gradually increases.
In the embodiment of the present application, the pedal is connect by the bindiny mechanism with the pedestal, and the pedal can
It is revolved within a predetermined range around with the axis between the pedal and the pedestal relative to the pedestal by the bindiny mechanism
Turn；Pedal described in the sensor measurement is relative to the pose residing for the pedestal, and by measured posture information to described
Controller is sent；The controller is based on the posture information, to the motor output torque control instruction；The motor is based on
The direct torque instruction drives institute by the power output end to the power input mechanism output driving power of the wheel body
The axis that wheel body is stated around the wheel body rotates.Driving force is provided for traveling apparatus by motor in this way, muscle power is greatly saved；And
And by pedal described in sensor measurement relative to the pose residing for the pedestal, and the posture information is based on by controller
Motor is controlled, keeps the manipulation of traveling apparatus more intelligent, is more convenient to operate.
The above, the only specific implementation mode of the application, but the protection domain of the application is not limited thereto, it is any
Those familiar with the art can easily think of the change or the replacement in the technical scope that the application discloses, and should all contain
It covers within the protection domain of the application.Therefore, the protection domain of the application should be based on the protection scope of the described claims.
Claims (15)
1. a kind of electric running equipment, which is characterized in that the traveling apparatus includes：Pedestal, wheel body, pedal, motor, sensing
Device, bindiny mechanism and controller；The wheel body is set to the bottom side of the pedestal；The motor is connect with the wheel body；It is described
Controller is electrically connected with the sensor and the motor respectively；
The pedal is connect by the bindiny mechanism with the pedestal, and the pedal can be opposite by the bindiny mechanism
It is rotated within a predetermined range around with the axis between the pedal and the pedestal in the pedestal；
Pedal described in the sensor measurement is relative to the pose residing for the pedestal, and by measured posture information to described
Controller is sent；
The controller is based on the posture information, to the motor output torque control instruction；
The motor is instructed based on the direct torque, to the wheel body output driving power, drives the wheel body around the wheel body
Axis rotation.
2. traveling apparatus according to claim 1, which is characterized in that the sensor includes angular transducer, the angle
Degree sensor is located on the pedal or on the pedestal；Accordingly, the posture information includes the pedal relative to described
The angle information of pedestal；
The angular transducer measures angle of the pedal relative to the pedestal, and by the angle information of measurement to the control
Device processed is sent；
The controller is based on the angle information, to the motor output torque control instruction.
3. traveling apparatus according to claim 2, which is characterized in that before the angular transducer is set to the pedal
End or the front end of the pedestal；
When the controller detects the motor work,
When the controller determines that the angle in angle information is more than the first predetermined angle, reduce to the motor output torque
Instruction, the motor reduce current output torque in response to the instruction that the torque reduces；The controller determines that angle is believed
When angle in breath is less than or equal to the first predetermined angle and is more than or equal to the second predetermined angle, kept to the motor output torque
Instruction, the instruction that the motor is kept in response to the torque keeps current output torque；The controller determines that angle is believed
When angle in breath is less than the second predetermined angle, to the increased instruction of the motor output torque, the motor is in response to described
Torque it is increased instruction and increase current output torque；Wherein, first predetermined angle is more than or equal to second preset angle
Degree.
4. traveling apparatus according to claim 3, which is characterized in that the controller detects that the motor does not work
When,
When the controller determines that the angle in angle information is more than the first predetermined angle, exported to the motor along first direction
The direct torque of rotation instructs, and the motor is in response to the direct torque instruction being rotated in a first direction and along first direction
Rotation；The controller determines that the angle in angle information is less than or equal to the first predetermined angle and is more than or equal to the second predetermined angle
When, not to the motor output torque control instruction；The controller determines that the angle in angle information is less than the second preset angle
When spending, the direct torque being rotated in a second direction, to motor output instructs；The motor in response to it is described in a second direction
The direct torque of rotation is instructed and is rotated in a second direction,；Wherein, the first direction is opposite with the second direction.
5. traveling apparatus according to claim 1, which is characterized in that the motor is set to the pedestal bottom side, described
Stator rotation of the rotor in the middle part of the motor on the outside of motor；The wheel body is arranged on the rotor of the motor；The control
Device processed is set on the pedestal；
The sensor include the first Inertial Measurement Unit IMU being set on the pedal and be set on the pedestal the
Two Inertial Measurement Unit IMU, accordingly, the posture information include angle information of the pedal relative to the pedestal；
First IMU measures the angle of the pedal with respect to the horizontal plane, and by the first angle information of measurement to the control
Device processed is sent；2nd IMU measures the angle of the pedestal with respect to the horizontal plane, and by the second angle information of measurement to institute
State controller transmission；
The controller calculates the first angle in the first angle information and subtracts second angle in the second angle information
Differential seat angle, and be based on the differential seat angle, to the motor output torque control instruction.
6. traveling apparatus according to claim 1, which is characterized in that the bindiny mechanism includes shaft, and the pedestal is set
It is equipped with and is provided with the pedestal corresponding position matched logical with the shaft with the matched through-hole of the shaft, the pedal
Hole；
The shaft is threaded through in the through-hole of the pedal and the through-hole of the pedestal, the through-hole of the shaft and the pedal it
Between be interference fitted, clearance fit between the shaft and the through-hole of the pedestal；
The pedal is connect by the shaft with the pedestal, and the pedal can be by the shaft relative to the base
Axis of the seat within a predetermined range around the through-hole of the pedestal is rotated.
7. traveling apparatus according to claim 6, which is characterized in that the sensor includes being set at the shaft
Rotary angle transmitter；Accordingly, the posture information includes the angle information that the shaft is rotated；
The rotary angle transmitter measures the angle that the shaft is rotated, and the angle information that the shaft of measurement is rotated
It is sent to the controller；
The angle information that the controller is rotated based on the shaft, to the motor output torque control instruction.
8. traveling apparatus according to claim 1, which is characterized in that the sensor includes displacement sensor, institute's rheme
Displacement sensor is located at the front end of the pedal, the rear end of the pedal, the front end of the pedestal or the rear end of the pedestal；It is corresponding
Ground, the posture information include displacement information of the pedal relative to the pedestal；
Displacement of the pedal relative to the pedestal described in the displacement sensor, and by the displacement information of measurement to the control
Device processed is sent；
The controller is based on institute's displacement information, to the motor output torque control instruction.
9. traveling apparatus according to claim 8, which is characterized in that before institute's displacement sensors are set to the pedal
End or the front end of the pedestal；
When the controller detects the motor work,
When the controller determines that the distance in institute's displacement information is more than the first pre-determined distance, subtract to the motor output torque
Small instruction, the motor reduce current output torque in response to the instruction that the torque reduces；The controller determines institute
When distance in displacement information is less than or equal to the first pre-determined distance and is more than or equal to the second pre-determined distance, exported to the motor
The instruction that torque is kept, the instruction that the motor is kept in response to the torque keep current output torque；The controller is true
When determining distance in institute's displacement information and being less than the second pre-determined distance, to the increased instruction of the motor output torque, to described
The increased instruction of motor output torque, the motor increase current output torque in response to the increased instruction of the torque；Its
In, first pre-determined distance is more than or equal to second pre-determined distance.
10. traveling apparatus according to claim 9, which is characterized in that the controller detects that the motor does not work
When,
When the controller determines that the distance in institute's displacement information is more than the first pre-determined distance, exported to the motor along first
The direct torque instruction of direction rotation, the motor is in response to the direct torque instruction being rotated in a first direction and along first
Direction rotates；The controller determines that the distance in institute's displacement information is less than or equal to the first pre-determined distance and is more than or equal to second
When pre-determined distance, not to the motor output torque control instruction；The controller determines that the distance in institute's displacement information is small
When the second pre-determined distance, the direct torque being rotated in a second direction, to motor output instructs；The motor is in response to institute
It states the direct torque instruction being rotated in a second direction, and is rotated in a second direction,；Wherein, the first direction and the second party
To opposite.
11. traveling apparatus according to any one of claims 1 to 10, which is characterized in that the pedal is located at the pedestal
Top side, the bindiny mechanism is between the pedal and the pedestal；
When the pedal by the bindiny mechanism rotate to it is parallel with the pedestal when, have between the pedal and the pedestal
There is prepsetting gap.
12. traveling apparatus according to any one of claims 1 to 10, which is characterized in that be provided in the middle part of the pedestal with
The matched opening of shape of the pedal, the pedal are located in the opening, and the pedal can pass through the bindiny mechanism
It is rotated in the opening around with the axis between the pedal and the pedestal within a predetermined range relative to the pedestal, and
The pedal can be rotated to the plane where the pedestal.
13. traveling apparatus according to any one of claims 1 to 10, which is characterized in that the traveling apparatus further includes and institute
State the communication module of controller electrical connection；
Operating parameter of the controller based on the motor, determines the speed of service of the wheel body, passes through the communication module
Send the speed of service of the wheel body；And/or the operation speed of the wheel body of other traveling apparatus is received by the communication module
Degree, and the speed of service of the wheel body of the speed of service based on the wheel body and other traveling apparatus, adjust the operation of the motor
Parameter.
14. traveling apparatus according to any one of claims 1 to 10, which is characterized in that the traveling apparatus include with it is described
The pressure sensor of controller electrical connection；
The pressure sensor measures the pressure that the traveling apparatus is born, and by measured pressure information to the controller
It sends；
The controller is based on the posture information, before exporting enabled instruction to the motor, it is also necessary to judge the pressure
Whether the pressure in force information is more than preset pressure, when the pressure is more than the preset pressure, is opened to motor output
Dynamic instruction；Otherwise, enabled instruction is not exported to the motor.
15. traveling apparatus according to any one of claims 1 to 10, which is characterized in that the traveling apparatus is electric roller skating
Shoes or electric return board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810070328.9A CN108273258A (en) | 2018-01-24 | 2018-01-24 | Electric running equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810070328.9A CN108273258A (en) | 2018-01-24 | 2018-01-24 | Electric running equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108273258A true CN108273258A (en) | 2018-07-13 |
Family
ID=62805063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810070328.9A Pending CN108273258A (en) | 2018-01-24 | 2018-01-24 | Electric running equipment |
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Application publication date: 20180713 |
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