CN108622234A - Double mode electric balance car and its mode conversion method - Google Patents
Double mode electric balance car and its mode conversion method Download PDFInfo
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- CN108622234A CN108622234A CN201710212383.2A CN201710212383A CN108622234A CN 108622234 A CN108622234 A CN 108622234A CN 201710212383 A CN201710212383 A CN 201710212383A CN 108622234 A CN108622234 A CN 108622234A
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- 238000006243 chemical reaction Methods 0.000 title claims abstract description 23
- 230000005484 gravity Effects 0.000 claims abstract description 25
- 230000001133 acceleration Effects 0.000 claims abstract description 7
- 238000013016 damping Methods 0.000 claims description 6
- 238000005183 dynamical system Methods 0.000 claims description 6
- 230000005520 electrodynamics Effects 0.000 claims description 6
- 230000006641 stabilisation Effects 0.000 abstract description 3
- 238000011105 stabilization Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 8
- 238000005096 rolling process Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000005283 ground state Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
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- 230000005611 electricity Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H1/00—Supports or stands forming part of or attached to cycles
- B62H1/10—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
- B62H1/12—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride using additional wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K1/00—Unicycles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
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Abstract
A kind of double mode electric balance car and its mode conversion method, belong to electric automobiles, including two kinds of ride modes of two-wheel and single-wheel, rear wheel diameter is much larger than preceding wheel diameter, trailing wheel is close with front-wheel, rear-wheel motor drives, and front-wheel is universal wheel, and front-wheel is equipped with damper, handle is fixed on the top of vehicle frame front end, before the seating center of gravity of vehicle seat and main wheel center of gravity are close and slightly biased, pedal position of centre of gravity is between two wheel position of centre of gravitys, and brake is located at trailing wheel；Two-wheel is to single-wheel mode conversion method：With two-wheel pattern low rate start, then high acceleration driving trailing wheel, after so that front-wheel is left ground, single-wheel pattern is switched to by controller；Single-wheel is to two-wheel mode conversion method：Rear service brake, balance controller exit single-wheel TT ＆ C, drive front-wheel to drop back into ground by inertia, complete single-wheel and are converted to two-wheel pattern；Technical solution and mode conversion method solve portable electric car body product and efficiency, the portable contradiction between safety, single wheel and stabilization.
Description
Technical field
The invention belongs to vehicle technology fields, and in particular to a kind of double mode electric balance car and its pattern conversion side
Method.
Background technology
It is always to develop towards small-sized, portable direction under the premise that security is guaranteed as the electric vehicle of walking-replacing tool,
Currently there are all kinds of electric vehicles of riding instead of walk be dicycly or monocycly two types nothing but, two-wheeled electrocar is divided into front and back
Two kinds of two-wheel and left and right two-wheel, the electric vehicle of front and back two-wheel does not need electrodynamic balance control technology, so this kind of electric vehicle does not have
Standby balance Control Scheme function, single-wheel electric vehicle all use MEMS (MEMS) sensor technologies and are controlled with motor substantially
The balance Control Scheme technology that technology is combined, you can to realize that the balance in former and later two directions controls, keep single-wheel electric vehicle
It will not topple over forward or backward.
If the electric vehicle of front and back two-wheel is regarded as a kind of electric vehicle mode, the electric vehicle of this pattern although technology at
Ripe, performance is stable, superior, but there is an insurmountable contradiction always in the evolution process to miniature portable, i.e.,
The volume of vehicle and wheel drive efficiency problem, the rolling frictional resistance of large scale wheel is small, and storage battery drive efficiency is high, and small size
The rolling frictional resistance of wheel is big, running resistance can be caused larger by the way of vehicle volume to reduce using reducing wheel, storage battery
The low problem of drive efficiency, therefore the problem of two-wheel pattern be just embodied in：It reduces volume and but sacrifices drive efficiency, or
Person, which has been to maintain drive efficiency, can not but reduce volume.
Electric unicycle uses balance Control Scheme technology, this kind of electric vehicle is called the electric vehicle of single-wheel pattern, this
There is no extremely reduction wheel diameters while reducing volume for kind electric vehicle, therefore maintain the drive of storage battery to a certain extent
Efficiency of movement；However either without seat or there is the single wheel electrodynamic balance vehicle of seat to cause it low due to the design feature of single wheel
Stability is poor when driving for speed, and running method is not easy learning and mastering；Vehicle body rolls forward when braking in order to prevent, single-wheel pattern
Electrodynamic balance vehicle does not take the hard brake down mode that traditional disc brake or V stop, but takes the brake measure of centre-of-gravity hypsokinesis,
It is controlled by the deceleration of motor to realize, this mode of braking causes braking time long (more than 7 seconds), and braking ability reaches
Less than the allowed by law braking ability requirement of relevant traffic；In addition most of electric unicycle take standing to ride, without seat,
Design scheme without handle, this causes its stability poor, and safety is poor, and target user's range is restricted, therefore single wheel is electronic
The current existing main problem of balance car is the contradiction between portability and safe and stable property.
Chinese patent CN201580008873.X discloses a kind of " electric unicycle with auxiliary wheel and its running method ",
There are multiple deficiencies in its organization plan, 1) it is excessively complicated relative to the liftable front-wheel design scheme of vehicle frame；2) wide wheelspan
Two front wheels design cause vehicle transverse direction volume excessive, violated the requirement of portability；3) the pedal position edge of trailing wheel both sides
The foot pedal design scheme of single wheel electrodynamic balance vehicle is attacked, center (center of gravity) position is in immediately below hind axle, works as electric vehicle
When with seat design, this pedal position does not meet ergonomic requirements, bicyclist's both legs that such structure is determined, double
The posture of foot does not have preferable safety and comfort；4) the course changing control scheme of front-wheel is complicated, lacks practicability；5) due to
Vehicle body is shorter, and front wheel brake scheme is easy to cause brake and rolls forward, causes the injury to bicyclist.Disclosed in the patent document
Deficiency existing for running method is：1) the step of putting down front-wheel and brake is separated, is not the optimization side for shortening braking time
Case；2) lack when starting electric vehicle from two-wheel to the transition method of single-wheel pattern.
At present on the market and in document there are no find it is a kind of it is small, battery power is efficient, it is easy to ride, steady
Qualitative height, riding safety sense is good, is suitble to the non-recreational electric vehicle scheme ridden instead of walk.
Invention content：
Present invention aim to address portable electric vehicle volume and drive efficiency, portable and safety, single wheel and the stabilizations of riding instead of walk
Property between contradiction, provide it is a kind of integrate it is portable, efficiently and security and stability double mode electric balance car design scheme
And its mode conversion method.
The purpose of the present invention is what is be achieved through the following technical solutions.
A kind of double mode electric balance car, including bodywork system, dynamical system, TT＆C system and braking system, vehicle body system
System includes vehicle frame, main wheel, front-wheel, handle, pedal, vehicle seat, and dynamical system includes battery, wheel hub motor, and TT＆C system includes
Double mode and balance controller, controller, braking system includes brake and control for brake handle, it is characterised in that：
The double mode electric balance car is there are two types of operational mode, pattern that two-wheel contacts to earth pattern and main wheel single-wheel is contacted to earth,
Its two-wheel pattern is suitable for starting and stopping and low speed riding condition, it is therefore intended that the stability for improving these types of situation improves electricity
The simplicity and applicability that motor-car uses, and single-wheel pattern is to improve electricity to reduce the rolling frictional resistance of wheel and ground
The drive efficiency in pond；Main wheel diameter is much larger than the diameter of front-wheel, and main wheel diameter is more than 35 centimetres, and front-wheel is universal wheel,
For diameter less than 18 centimetres, the diameter ratio of main wheel and front-wheel is more than or equal to 4, and main wheel is close with front-wheel, it is therefore intended that shortens
Length of wagon, the line in main wheel axle center to front-wheel touchdown point B and the angle of level ground are more than 32 °；Main wheel is that motor drives
Driving wheel, wheel hub motor setting are installed along in main wheel center on vehicle frame, and front-wheel is mounted on the preceding protruding portion below vehicle frame
Position, front-wheel are single-wheel universal wheel or two-wheel universal wheel, and steering shaft be in main wheel in common plane, front-wheel and vehicle frame it
Between connecting portion be additionally provided with damper, damper uses the damping spring with certain retractility, the damping spring in addition to
Other than the impact force for being used for buffering vehicle in brake process, also has and make from two-wheel pattern to the power-assisted of single-wheel mode transition procedure
With；Handle is directly or indirectly fixed on the top of vehicle frame front end, helps and holds for rider, does not control front-wheel direction；Vehicle seat is installed
Above vehicle frame, before sitting part center of gravity direction line and main wheel center of gravity direction line are close and slightly biased；2 pedals are connected to vehicle
Both sides below frame, pedal center of gravity line are located at the front side wheel direction to the front of main wheel touchdown point A；Battery and double mode and balance observing and controlling
Device is mounted on vehicle frame side, the power cord connection double mode and balance controller of battery, the controller peace of electric vehicle electric control
On handle, as the double mode electric balance car electric control handle, signal wire is connected to double mode and balance controller, double
Pattern and balance controller are electrically connected with wheel hub motor, detection and the rotation of control wheel hub motor；Double mode and balance controller
With two-wheel TT ＆ C and single-wheel TT ＆ C；Brake is fixed on vehicle frame, and the wheel of brake is main wheel,
It is installed on the vehicle frame of main wheel edge, control for brake handle is manual control handle, is mounted on unilateral handle, passes through steel wire
Line is connect with brake.
The mode conversion method of double mode electric balance car, including two-wheel is converted to single-wheel pattern and single-wheel is to two-wheel mould
Formula converts two parts.
The sequential steps of two-wheel to single-wheel mode conversion method are：1) with two-wheel pattern low rate start electric vehicle；2) with compared with
Big acceleration driving main wheel rotates forward；3) negative direction torque and driver's inertia drive vehicle frame to rotate backward jointly, together
When drive front-wheel leave ground；4) double mode and balance controller detect that vehicle gravity center shift or front-wheel leave the shape on ground
State；5) double mode and balance controller are switched to single-wheel balance TT ＆ C.
Conversion of the two-wheel to single-wheel pattern is completed in the action of elasticity and bicyclist's body that damping spring can also be utilized,
Its step is：1) electric vehicle is started with two-wheel pattern；2) elasticity of front wheel damper and the active force band of driver's body are utilized
Dynamic front-wheel leaves ground, 3) double mode and balance controller detect that vehicle gravity center shift or front-wheel leave the state on ground；4)
Double mode and balance controller are switched to single-wheel balance TT ＆ C.
The sequential steps of single-wheel to two-wheel mode switching section are：1) brake system brakes main wheel by brake；
2) double mode and balance controller detect braking state；3) double mode and balance controller exit single-wheel balance TT ＆ C；
4) inertia makes vehicle body rotate forward, and front-wheel is driven to drop back into ground, completes single-wheel and is converted to two-wheel pattern.
Double mode electric balance car uses and manipulates process：Before startup, user first rides and sits on vehicle seat, and both hands, which are helped, to be held
Two handles, both feet are supported on the ground of both sides, start electric vehicle by the controller on handle under electric vehicle two-wheel pattern,
Bicyclist's both feet leave ground and are put on pedal after car starts, and are then accelerated by controller, accelerate in certain wheel
Under the action of degree and bicyclist's body inertia, vehicle frame can drive front-wheel to leave ground so that and electric vehicle enters single-wheel operational mode,
Double mode and balance controller can be by two-wheel TT ＆ C automatically into single-wheel balance TT ＆ C, balance controller in
Gyro sensor, velocity sensor and acceleration transducer equipped with detection vehicle body attitude, in the case where single-wheel balances control model,
It is sagittal flat that double mode and balance controller by wheel velocity regulation and control can control vehicle body according to vehicle gravity center shift situation
Weighing apparatus makes electric vehicle body not occur rolling forward or backward and disequilibrium, and the balance at left and right sides of electric vehicle leans on human body
Posture center of gravity and wheel steering maintain.Skidding process：It is realized to brake by the control for brake handle on handle
Control, double mode and balance controller detect that the on-position signal backed off after random single-wheel TT ＆ C of wheel, brake generate
Prevent the active force of vehicle wheel rotation, reaction force that vehicle body is promoted to lean forward so that front-wheel contacts ground, and electric vehicle is prevented to turn over forward
Rolling has been completed at the same time single-wheel to the conversion of two-wheel pattern and braking process.Electric vehicle is to the supporting point of bicyclist totally 5 in ride
It is a：Double handle, two pedal and vehicle seats, allow riding safety, comfortable, and an emergency situation is encountered when being brought to a halt, and bicyclist can be with
Both feet are protracted in time and touch ground, improve safety.
Advantageous effect
Compared with prior art, the present invention has following innovative point：
1. providing the design scheme combining of a kind of two-wheel and single-wheel electrodynamic balance vehicle, i.e. dual-mode electric vehicle scheme.
2. the close design scheme of extra small front-wheel and large scale main wheel.
3. the conversion method between two-wheel pattern and single-wheel pattern.
The present invention compares prior art and has the following advantages：
1. reducing length of wagon, portability is improved.
2. improving the drive efficiency of battery in main ride.
3. the two-wheel mode of contacting to earth has improved stability and the safety of vehicle and ramp to stop stage, widen to crowd's
The scope of application.
4. using double handle, two pedal and the point-supported mode of riding of seat 5, the stabilization ridden is improved to greatest extent
Property and safety.
Description of the drawings
1 schematic diagram of Fig. 1 double mode electric balance cars embodiment.
1 front view of Fig. 2 embodiments and side view.
Fig. 3 two-wheel pattern center of gravity line figure compared with single-wheel pattern center of gravity line.
2 schematic diagram of Fig. 4 double mode electric balance cars embodiment.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and examples.
Embodiment 1
Using Fig. 1, Fig. 2, Fig. 3 schematic diagram.
Double mode electric balance car, including bodywork system, dynamical system, TT＆C system and braking system, bodywork system packet
Vehicle frame (1), main wheel (2), front-wheel (3), handle (4), pedal (5), vehicle seat (6) are included, dynamical system includes battery (7), wheel hub
Motor (8), TT＆C system include double mode and balance controller (9), controller (10), braking system include brake (12) and
Control for brake handle (13).
The double mode electric balance car is there are two types of operational mode, two-wheel contacts to earth pattern and main wheel (2) single-wheel is contacted to earth mould
Formula；Main wheel (2) diameter is much larger than the diameter of front-wheel (3), and main wheel (2) diameter is more than 35 centimetres, and front-wheel (3) is that single-wheel is universal
Wheel, steering shaft are in main wheel (2) in common plane, and front-wheel (3) diameter is less than 18 centimetres, the diameter of main wheel and front-wheel
Ratio is more than or equal to 4, and main wheel (2) and front-wheel (3) are close, line and water of main wheel (2) axle center to front-wheel (3) touchdown point B
The angle of plane earth is more than 32 °；Wheel hub motor (8) setting is installed along on vehicle frame (1), front-wheel in main wheel (2) center
(3) the preceding protruding parts being mounted below vehicle frame (1), the connecting portion between front-wheel (3) and vehicle frame (1) are additionally provided with damper
(11)；Damper (11) is using the damping spring with certain retractility, before handle (4) is directly or indirectly fixed on vehicle frame (1)
The top at end holds for riding to help, does not control front-wheel direction；Vehicle seat (6) is mounted on above vehicle frame (1), sitting part center of gravity
Before direction line (l) and main wheel (2) center of gravity direction line (g) are close and slightly biased；2 pedals (5) are connected to both sides below vehicle frame, step on
Plate (5) center of gravity line is located at front side wheel (3) direction to the front of main wheel (2) touchdown point A；Battery (7) and double mode and balance observing and controlling
Device (9) is mounted on vehicle frame (1) side, the power cord connection double mode and balance controller (9) of battery (7), the control of electric control
Device (10) processed is mounted on handle (4), and as the double mode electric balance car electric control handle, signal wire is connected to bimodulus
Formula and balance controller (9), double mode and balance controller (9) are electrically connected with wheel hub motor (8), detection and control wheel hub motor
Rotation；Double mode and balance controller (9) have two-wheel TT ＆ C and single-wheel TT ＆ C；Brake (12) is fixed on vehicle
On frame (1), the wheel of braking is main wheel (2), and brake (12) is pacified on vehicle frame (1) close to main wheel (2) wheel edge
Dress, control for brake handle (13) is manual control handle, is mounted on the unilateral handle of handle (4), passes through wire and brake
(12) it connects.
Double mode electric balance car uses and manipulates process：Before startup, user, which first rides, to be sat on vehicle seat (6), and both hands are helped
Two handles (4) are held, both feet are supported on the ground of both sides, pass through the manual control on handle (4) under electric vehicle two-wheel pattern
Device (10) processed starts electric vehicle, and bicyclist's both feet leave ground and are put on pedal (5) after car starts, and then pass through controller
(10) accelerate, under the action of certain wheel acceleration and bicyclist's body inertia, vehicle frame (1) can drive front-wheel (3) to leave
Ground so that electric vehicle enters single-wheel operational mode, and the two-wheel TT ＆ C of double mode and balance controller (9) meeting by is certainly
It is dynamic to enter single-wheel and balance TT ＆ C, be equipped in double mode and balance controller (9) detection vehicle body attitude gyro sensor,
Velocity sensor and acceleration transducer, in the case where single-wheel balances control model, double mode and balance controller (9) can be according to vehicles
Gravity center shift situation controls the sagittal balance of vehicle body by main wheel (2) speed regulation, and electric vehicle body is made not occur
Rolling forward or backward and disequilibrium, the balance at left and right sides of electric vehicle are turned to by human body attitude center of gravity and main wheel to tie up
It holds.Skidding process：The control to brake (12), double mode are realized by the control for brake handle (13) on handle (4)
And balance controller (9) detects that the on-position signal backed off after random single-wheel TT ＆ C of wheel, brake (12) generate prevention
The active force of main wheel (2) rotation, reaction force promotes vehicle body to lean forward so that front-wheel (3) contacts ground, prevent electric vehicle to
Preceding rolling has been completed at the same time single-wheel to two-wheel pattern and braking process.
The mode conversion method that double mode electric balance car is contained in above-mentioned use and operating process, is summarized as follows：
The mode conversion method of double mode electric balance car includes two-wheel to the conversion of single-wheel pattern and single-wheel to two-wheel pattern
Convert two parts；
The sequential steps of two-wheel to single-wheel mode conversion method are：1) with two-wheel pattern low rate start electric vehicle；2) with compared with
Big acceleration driving main wheel rotates forward；3) negative direction torque and driver's inertia drive vehicle frame to rotate backward jointly, together
When drive front-wheel leave ground；4) double mode and balance controller detect that vehicle gravity center shift or front-wheel leave the shape on ground
State；5) double mode and balance controller are switched to single-wheel balance TT ＆ C；
Conversion of the two-wheel to single-wheel pattern is completed in the action of elasticity and bicyclist's body that damping spring can also be utilized,
Its step is：1) electric vehicle is started with two-wheel pattern；2) elasticity of front wheel damper (11) and the effect of driver's body are utilized
Power drives front-wheel (3) to leave ground, 3) double mode and balance controller (9) detect that vehicle gravity center shift or front-wheel leave ground
State；4) double mode and balance controller (9) are switched to single-wheel balance TT ＆ C.
The sequential steps of single-wheel to two-wheel mode switching section are：1) brake system by brake (12) to main wheel
(2) it brakes；2) double mode and balance controller (9) detect braking state；3) double mode and balance controller (9) exit single-wheel
Balance TT ＆ C；4) inertia makes vehicle body rotate forward, and front-wheel (3) is driven to drop back into ground, completes single-wheel and is converted to two-wheel pattern.
Embodiment 2
Using Fig. 4 schematic diagrames.
Front-wheel (3) uses the two-wheel universal wheel scheme of single steering shaft, and steering shaft is in common plane with main wheel (2)
Interior, front-wheel (3) diameter is less than 18 centimetres, compared with Example 1 compared in addition to two-wheel universal wheel this point, all other structure is set
Meter scheme and mode conversion method are all identical, so other parts explanation skips over.Use the design of two-wheel universal wheel can be here
The stability of two-wheel pattern is improved to a certain extent.
Claims (7)
1. a kind of double mode electric balance car, including bodywork system, dynamical system, TT＆C system and braking system, bodywork system
Including vehicle frame (1), main wheel (2), front-wheel (3), handle (4), pedal (5), vehicle seat (6), dynamical system includes battery (7), wheel
Hub motor (8), TT＆C system include double mode and balance controller (9), controller (10), it is characterised in that：The double mode
Electrodynamic balance vehicle is there are two types of operational mode, pattern that two-wheel contacts to earth pattern and main wheel (2) single-wheel is contacted to earth；Main wheel (2) diameter is remote
More than the diameter of front-wheel (3), main wheel (2) diameter is more than 35 centimetres, and front-wheel (3) is universal wheel, and diameter is less than 18 centimetres, master
The diameter ratio of wheel and front-wheel is more than or equal to 4, and main wheel (2) and front-wheel (3) are close, and main wheel (2) axle center to front-wheel (3) is touched
The line of place B and the angle of level ground are more than 32 °；Front-wheel (3) is mounted on the preceding protruding parts below vehicle frame (1), front-wheel
(3) connecting portion between vehicle frame (1) is additionally provided with damper (11)；Handle (4) is directly or indirectly fixed on vehicle frame (1) front end
Top, help and hold for riding, do not control front-wheel direction；Vehicle seat (6) is mounted on above vehicle frame (1), sitting part center of gravity side
To line (l) and main wheel (2) center of gravity direction line (g) it is close and slightly biased before；2 pedals (5) are connected to both sides below vehicle frame (1),
Pedal (5) center of gravity line is located at front side wheel (3) direction to the front of main wheel (2) touchdown point A；Braking system include brake (12) and
The wheel of control for brake handle (13), brake (12) braking is main wheel (2).
2. double mode electric balance car according to claim 1, it is characterised in that：Front-wheel (3) is single-wheel universal wheel, turn
It is in common plane to axis and main wheel (2).
3. double mode electric balance car according to claim 1, it is characterised in that：Front-wheel (3) is the two-wheel of single steering shaft
Universal wheel, steering shaft are in main wheel (2) in common plane.
4. double mode electric balance car according to claim 1, it is characterised in that：Damper (11) is damping spring.
5. double mode electric balance car according to claim 1, it is characterised in that：Double mode and balance controller (9) have
There are two-wheel TT ＆ C and single-wheel TT ＆ C.
6. a kind of mode conversion method of double mode electric balance car, it is characterised in that：It is converted including two-wheel to single-wheel pattern, and
Single-wheel converts two parts to two-wheel pattern；The sequential steps of two-wheel to single-wheel mode switching section are：1) with two-wheel pattern low speed
Start electric vehicle；2) it is rotated forward with larger acceleration driving main wheel (2)；3) negative direction torque and driver's inertia are common
It drives vehicle frame to rotate backward, while front-wheel (3) being driven to leave ground；4) double mode and balance controller (9) detect vehicle weight
Heart variation or front-wheel leave the state on ground；5) double mode and balance controller (9) are switched to single-wheel balance TT ＆ C；Single-wheel
Sequential steps to two-wheel mode switching section are：1) brake system brakes main wheel (2) by brake (12), and 2) bimodulus
Formula and balance controller (9) detect braking state；3) double mode and balance controller (9) exit single-wheel balance TT ＆ C；
4) inertia makes vehicle body rotate forward, and front-wheel (3) is driven to drop back into ground, completes single-wheel and is converted to two-wheel pattern.
7. the mode conversion method of double mode electric balance car according to claim 6, it is characterised in that：The two-wheel
To single-wheel pattern convert sequential steps be：1) with two-wheel pattern start electric vehicle, 2) utilize front wheel damper (14) elasticity
And the active force of driver's body drives front-wheel (3) to leave ground, and 3) double mode and balance controller (9) detect vehicle center of gravity
Variation or front-wheel leave the state on ground；4) double mode and balance controller (9) are switched to single-wheel balance TT ＆ C.
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| CN201710212383.2A CN108622234A (en) | 2017-03-22 | 2017-03-22 | Double mode electric balance car and its mode conversion method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112824219A (en) * | 2019-11-19 | 2021-05-21 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN113306662A (en) * | 2021-06-25 | 2021-08-27 | 浙江普瑞圣工贸有限公司 | Sitting type balance car |
| CN114633835A (en) * | 2020-12-15 | 2022-06-17 | 北京三快在线科技有限公司 | Electric bicycle |
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2017
- 2017-03-22 CN CN201710212383.2A patent/CN108622234A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112824219A (en) * | 2019-11-19 | 2021-05-21 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN114633835A (en) * | 2020-12-15 | 2022-06-17 | 北京三快在线科技有限公司 | Electric bicycle |
| CN114633835B (en) * | 2020-12-15 | 2023-09-15 | 北京三快在线科技有限公司 | electric bicycle |
| CN113306662A (en) * | 2021-06-25 | 2021-08-27 | 浙江普瑞圣工贸有限公司 | Sitting type balance car |
| CN113306662B (en) * | 2021-06-25 | 2022-06-03 | 浙江普瑞圣工贸有限公司 | Sitting type balance car |
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Application publication date: 20181009 |