CN109606525B - Horseshoe-shaped folding electric scooter and motion control method thereof - Google Patents
Horseshoe-shaped folding electric scooter and motion control method thereof Download PDFInfo
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- CN109606525B CN109606525B CN201910102815.3A CN201910102815A CN109606525B CN 109606525 B CN109606525 B CN 109606525B CN 201910102815 A CN201910102815 A CN 201910102815A CN 109606525 B CN109606525 B CN 109606525B
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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
- B62K15/00—Collapsible or foldable cycles
- B62K15/006—Collapsible or foldable cycles the frame being foldable
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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
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/01—Motorcycles with four or more wheels
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- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention provides a horseshoe-shaped folding electric scooter and a motion control method thereof, wherein the horseshoe-shaped folding electric scooter comprises a horseshoe-shaped vehicle plate for bearing, a leg control support rod arranged in the middle of the horseshoe-shaped vehicle plate and used for controlling steering and advancing of a vehicle body, and a wheel set arranged at the bottom of the horseshoe-shaped vehicle plate, the leg control support rod is movably connected with the horseshoe-shaped vehicle plate, in a storage mode, the leg control support rod is folded and stored in a notch in the middle of the horseshoe-shaped vehicle plate, in a driving mode, the leg control support rod is unfolded from the notch, and an included angle between the leg control support rod and the horseshoe-shaped vehicle plate is turned from parallel to nearly perpendicular, and left and right foot standing areas of the horseshoe-shaped vehicle plate are used for standing by feet. The folding vehicle body has the advantages of obvious small volume and small weight after being folded, and the whole vehicle is light in weight, is convenient to carry into subway buses or store in a trunk of a private vehicle, and is also suitable for carrying upstairs and downstairs or going out to travel; and the bottom of the scooter plate is grounded by four wheels, the rider can stand the scooter plate surface in parallel by two legs, and the rider can feel comfortable and safe when driving for a long distance.
Description
Technical Field
The invention relates to the field of electric scooter, in particular to a horseshoe-shaped folding electric scooter and a motion control method thereof.
Background
With the continuous development and progress of industrial technology, the travel of the existing electric scooter and the existing two-wheeled flatcar on the market is further and further, the speed is also faster and further, and the requirements of people on short-distance travel mobility aids are greatly met.
However, the existing electric scooter and balance car (such as the chinese invention patent "scooter" with patent number CN104443200a and the chinese invention patent "an electric scooter" with patent number CN104210592 a) have some disadvantages of large size, heavy bodywork, poor folding deformation capability, poor safety and comfort, etc., and these problems are not carried into subways or buses in many cities when used by different people and different environments, such as electric scooter and balance car, even going upstairs and downstairs are inconvenient to take, huge volume is troublesome to store in daily life, etc., which makes the riders feel inconvenient and even prevents the locomotives from being put into use normally, so these types of walk-assisting tools need to be improved to better adapt to the needs of users.
Disclosure of Invention
Aiming at the problems, the technical problems to be solved by the invention are as follows: aiming at the defects existing in the prior art, the horseshoe-shaped folding electric scooter which has the advantages of simple and compact structure, convenient carrying, convenient assembly, safe running and comfortable riding and the motion control method thereof are provided.
The technical scheme of the invention is as follows:
the U-shaped folding electric scooter comprises a U-shaped scooter plate for bearing, a leg control support rod arranged in the middle of the U-shaped scooter plate for controlling the steering and the advancing of a vehicle body, and a wheel set arranged at the bottom of the U-shaped scooter plate, wherein the leg control support rod is movably connected with the U-shaped scooter plate, is folded into a notch in the middle of the U-shaped scooter plate when being stored, and extends to form an approximately vertical angle with the U-shaped scooter plate when in operation; the left and right foot-standing areas of the horseshoe-shaped vehicle plate are used for standing by two feet.
The middle part of horseshoe shaped sweep is provided with the notch, and the top of notch is provided with the connecting seat, locking lever and connecting seat swing joint, wheel group includes left side wheel group and right side wheel group, and left side wheel group and right side wheel group set up respectively in the below of two foothold regions of horseshoe shaped sweep.
The leg control support rod comprises an upper support rod, a lower support rod and a spring linker, wherein the upper support rod and the lower support rod of the leg control support rod are fixedly connected through the spring linker, an attitude sensor and a vibration alarm are arranged at the upper part of the upper support rod, a handle hole is formed in the top of the upper support rod, and a bracket notch is formed in the bottom of the lower support rod; the leg control support rod and the horseshoe-shaped sweep are movably connected with the bracket notch through the connecting seat, the leg control support rod is fixed through tightening the lock rod, and the leg control support rod rotates about 90 degrees along the connecting seat when the lock rod is released.
The top of the upper supporting rod is provided with a handle hole, and the leg control supporting rod and the leg control handle are inserted into the handle hole through a connecting bolt to realize connection.
The tail of the horseshoe-shaped scooter plate is provided with a handle which is convenient for lifting the scooter.
The horseshoe-shaped scooter is characterized in that a control main board for controlling the scooter according to the postures of the leg control support rods and a battery pack for supplying power to the control main board and the wheel set are further arranged in the horseshoe-shaped scooter.
The wheel set, the attitude sensor and the vibration alarm are connected with the control main board.
A method for controlling the movement of a foot-and-mouth folding electric scooter comprises the following steps,
the attitude sensor collects the attitude data of the leg control support rod in real time, wherein the collected data comprises a front inclination angle gamma, a right inclination angle alpha and a left inclination angle beta;
the control main board judges the running state of the scooter according to the collected front inclination angle gamma, right inclination angle alpha and left inclination angle beta and correspondingly controls the left wheel set and the right wheel set as follows;
when the angle gamma is more than or equal to 30 degrees and more than or equal to 1 degree,
MLV＝【γ】*0.67km/h，
MRV＝【γ】*0.67km/h，
MLD＝Forward，
MRD＝Forward；
when gamma=0°,1 degree is more than or equal to alpha and less than or equal to 30 degrees, and beta=0 degree,
MLV＝【α】*0.17km/h，
MRV＝【α】*0.17km/h，
MLD＝Forward，
MRD＝Return；
when gamma=0°, beta is greater than or equal to 1 DEG and less than or equal to 30 DEG, alpha=0 DEG,
MLV＝【β】*0.17km/h，
MRV＝【β】*0.17km/h，
MLD＝Return，
MRD＝Forward；
when gamma is more than or equal to 1 and less than or equal to 30, beta is more than or equal to 1 and less than or equal to 30, and alpha=0;time of day
MLV＝【γ】*0.67km/h，
MLD＝Forward，
MRD＝Forward；
When gamma is more than or equal to 1 and less than or equal to 30, alpha is more than or equal to 1 and less than or equal to 30, and beta is more than or equal to 0;in the time-course of which the first and second contact surfaces,
MRV＝【γ】*0.67km/h，
MLD＝Forward，
MRD＝Forward；
in the above formula, MLV is the speed of the left wheel set (103), MRV is the speed of the right wheel set, MLD is the direction of the left wheel set, MRD is the direction of the right wheel set, forward is the Forward, return is the backward, and [ gamma ], [ alpha ], [ beta ] are the values of the detected angles.
And when the attitude sensor detects that any one of the values of the angles alpha, beta and gamma exceeds the unsafe angle, the control main board controls the wheel set to stop rotating.
The unsafe angle is set to 30 degrees or 45 degrees.
Compared with the prior art, the invention has the beneficial effects that:
1. the horseshoe-shaped folding electric scooter adopts the design of the notch in the middle of the scooter bottom plate, the leg control support rod is stored in the notch position, the total volume of the storage folding state is small, the occupied space is small, the electric scooter is convenient to carry into subway buses or store in a scooter tail box, and the electric scooter is also suitable for carrying upstairs and downstairs or going out to travel;
2. the horseshoe-shaped folding electric scooter has the advantages that when the electric scooter is unfolded and used, the scooter body is grounded by four wheels, the legs of a rider can stand on two independent foot supporting areas of the scooter body in parallel, the stable structural design ensures that the electric scooter has good comfort during riding, the running is safe and reliable, meanwhile, the four wheels are arranged at the bottoms of the scooter plates of the two independent foot supporting areas in two groups, the structural design of average distribution of gravity reduces the requirement on the strength of the scooter body, and the weight of the whole scooter is greatly reduced compared with that of a common scooter or a balance scooter in the market;
3. the horseshoe-shaped folding electric scooter is controlled by adopting the four-wheel landing and leg control support rod mode with two legs standing in parallel, compared with the common scooter in the market, the novel framework adopted by the scooter provides more style choices for riders, and increases the interest, mobility and comfort of sliding;
4. according to the horseshoe-shaped folding electric scooter, only one lock rod is used for folding and unfolding the leg control support rod at the notch of the scooter, and the operation of storage and use is simple and convenient;
5. according to the horseshoe-shaped folding electric scooter, the body posture change of a rider is estimated by detecting the inclination angle change of the leg control support rod, and the rider is immediately stopped when the body posture change exceeds the safety range, so that the safety of the rider is effectively ensured through the design.
6. The horseshoe-shaped folding electric scooter is provided with training and standard riding modes, and can help a rider to safely and stably transition from a novice to a acquaintance through the intervention of vibration and an alarm in stages.
Drawings
FIG. 1 is a schematic side view of the overall structure of the present invention as it is deployed;
FIG. 2 is a schematic side view of the overall structure of the present invention when housed;
FIG. 3 is a schematic top view of the overall structure of the present invention;
FIG. 4 is a schematic top view of a horseshoe shaped vehicle panel of the present invention;
FIG. 5 is a schematic diagram showing a top view of a horseshoe shaped vehicle panel according to the present invention;
FIG. 6 is a schematic front view of a leg control strut of the present invention;
FIG. 7 is a schematic side view of a leg control strut of the present invention;
FIG. 8 is a schematic view of a leg control handle of the present invention;
FIG. 9a is a schematic view of the angle α of a leg strut for a right turn of the body of the present invention;
FIG. 9b is a schematic view of the left turn leg strut beta angle of the vehicle body of the present invention;
FIG. 10 is a schematic view of the gamma angle of advancement of the leg strut of the present invention;
fig. 11 shows the correspondence between the angle sensor and the vehicle body control according to the present invention.
The reference numerals in the figure respectively indicate a 100-horseshoe-shaped vehicle plate, a 101-connecting seat, a 102-notch, a 103-left-direction wheel set, a 104-right-direction wheel set, a 105-lock rod, a 106-handle, a 107-main control board, a 108-battery pack, a 200-leg control support rod, a 201-handle hole, a 202-attitude sensor, a 203-upper support rod, a 204-spring linker, a 205-lower support rod, a 206-support rod notch, a 207-vibration alarm, a 300-leg control handle and a 301-connecting bolt.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a technical scheme that:
referring to fig. 1 to 7, the present invention provides a horseshoe-shaped folding electric scooter, which comprises a horseshoe-shaped scooter plate 100, a leg control strut 200, and a leg control handle 300; the horseshoe shaped vehicle plate 100 comprises a connecting seat 101, a notch 102, a left-hand wheel set 103, a right-hand wheel set 104, a lock rod 105 and a handle 106; the leg control strut 200 includes a handle aperture 201, an attitude sensor 202, an upper strut 203, a spring link 204, a lower strut 205, and a strut slot 206; the leg control handle 300 includes a connecting peg 301;
a notch 102 is formed in the middle of the horseshoe-shaped vehicle plate 100, a connecting seat 101 is arranged at the top of the notch, a lock rod 105 is movably connected with the connecting seat 101, and a left wheel set 103 and a right wheel set 104 are respectively arranged below the left bottom surface and the right bottom surface of two foot-supporting areas of the horseshoe-shaped vehicle plate 100;
the upper support rod 203 and the lower support rod 205 of the leg control support rod 200 are fixedly connected through a spring linker 204, an attitude sensor 202 and a vibration alarm 207 are arranged at the upper part of the upper support rod 203, a handle hole 201 is arranged at the top of the upper support rod 203, and a bracket notch 206 is arranged at the bottom of the lower support rod;
the leg control support rod 200 and the horseshoe-shaped sweep 100 are movably connected with the bracket notch 206 through the connecting seat 101, the leg control support rod 200 can be fixed by tightening the lock rod 105, and the leg control support rod 200 can rotate 90 degrees along the connecting seat when the lock rod 105 is released;
the leg control strut 200 is movably connected with the leg control handle 300 through a connecting bolt 301.
The electric scooter accomodates the process and does:
the lock lever 105 is released, the leg control strut 200 is turned down, the lock lever 105 is again tightened into the notch 102 of the horseshoe-shaped vehicle plate 200, the leg control strut 200 is kept from shaking, and the leg control handle 300 is folded to be parallel to the horseshoe-shaped vehicle plate 200.
The electric scooter's expansion process does:
the lock lever 105 is released, the leg control strut 200 is turned upwards, opened to a vertical angle with the horseshoe-shaped vehicle plate 200, the lock lever 105 is tightened again, the leg control strut 200 is kept from shaking, and the leg control handle 300 is turned over in parallel with the horseshoe-shaped vehicle plate 200.
Referring to figures 8 to 11 of the drawings,
the electric scooter walking process is as follows:
the legs of the rider push the leg control handle 300 to the right front, the spring linker 204 is extruded and deformed due to the linkage of the upper support rod 203, the upper support rod 203 of the leg control support rod 200 is inclined to the front, the posture sensor 202 detects that the leg control support rod 200 is inclined to the right front, the main control board 107 is connected with the motors of the left wheel set 103 and the right wheel set 104 to synchronously rotate, the whole scooter forwards, and the running speed of the scooter is quickened or slowed down according to the change of the inclination angle of the upper support rod 203 detected by the posture sensor 202.
Assuming that the inclination angle of the leg control strut 200 to the front is γ, setting the safe running angle of γ to be 1-30 ° (the main control board stops driving the motor when it is greater than 30 °), assuming that the speed of the left wheel set 103 is MLV, the speed of the right wheel set 104 is MRV, the direction of the left wheel set 103 is MLD, the direction of the right wheel set 104 is MRD, and setting the maximum speed of the scooter to be 20km/h, the wheel set running speed and direction expression under the conditions are:
when the angle gamma is more than or equal to 30 degrees and more than or equal to 1 degree,
MLV＝【γ】*0.67km/h，
MRV＝【γ】*0.67km/h，
MLD＝Forward，
MRD＝Forward；
when gamma >30 DEG & gamma <1 DEG,
MLV＝0km/h，
MRV＝0km/h，
MLD＝Forward，
MRD＝Forward。
the steering process of the electric scooter is as follows:
turning in a stationary state: the upper support rod 203 of the leg control support rod 200 is inclined to the left or right direction, the posture sensor 202 detects that the leg control support rod 200 is inclined to the left or right direction, and the main control board 107 is connected with the motors of the left wheel set 103 and the right wheel set 104 to asynchronously rotate, so that the direction change of the whole vehicle is realized.
Setting the right inclination angle of the leg control strut 200 as alpha, setting the left inclination angle of the leg control strut 200 as beta, setting the safe running angles of alpha and beta as 1-30 degrees (the main control board stops driving the motor when the angle is larger than 30 degrees), setting the maximum speed of the wheel set turning at rest as 5km/h when the angle gamma is equal to 0 degree and the angle alpha is in the range of 1-30 degrees, and driving the left wheel set 103 to forward rotate at the speed of 5km/h and driving the right wheel set 104 to reversely rotate at the speed of 5km/h by the main control board 107 so as to realize the right in-situ rotation of the vehicle body; when gamma is equal to 0 DEG and beta is in the range of 1-30 DEG, the main control board 107 drives the left-hand wheel set 103 to reversely rotate at a speed within 5km/h, the right-hand wheel set 104 to positively travel at a speed within 5km/h, and the vehicle body realizes left-hand in-situ rotation.
The running speed and direction of the wheels in the state are as follows:
condition 1 (γ=0°,1 degree α.ltoreq.30°, β=0 degree)
MLV＝【α】*0.17km/h，
MRV＝【α】*0.17km/h，
MLD＝Forward，
MRD＝Return。
Condition 2 (γ=0°, β.ltoreq.30°, α=0°)
MLV＝【β】*0.17km/h，
MRV＝【β】*0.17km/h，
MLD＝Return，
MRD＝Forward。
Steering of the driving state: when the master control board 107 monitors the left inclination angle β, the left wheel set 103 slows down the speed, the right wheel set 104 keeps the speed, the whole vehicle turns to the left, and the expression of the running speed and direction of the wheels in the state is:
conditions (conditions)
MLV＝【γ】*0.67km/h，
MLD＝Forward，
MRD＝Forward。
When the master control board 107 monitors the rightward inclination angle alpha, the left-hand wheel set 103 keeps the speed, the right-hand wheel set 104 slows down the speed, and the whole vehicle turns rightward. The expression of the running speed and direction of the wheels in this state is:
conditions (conditions)
MRV＝【γ】*0.67km/h，
MLD＝Forward，
MRD＝Forward。
The parking process of the electric scooter is as follows:
the legs of the rider leave the leg control handle 300, the leg control support rod 200 rebounds to return to the initial state when the spring connector 204 is free from external force, the posture sensor 204 detects that the inclination angle returns to zero, the main control board 107 stops driving the left wheel set 103 and the right wheel set 104, and the electric scooter stops. The expression of the running speed and direction of the wheels in this state is:
condition (γ=0, α=0, β=0)
MLV＝【γ】*0.67km/h，
MRV＝【γ】*0.67km/h，
MLD＝Forward，
MRD＝Forward。
The U-shaped folding electric scooter is characterized in that the leg control support rod is provided with a vibration alarm, a vibration and reminding module reminds a rider of operation in a safety range, and when the attitude sensor detects that any one of the values of the angles alpha, beta and gamma is close to an unsafe angle (for example, a beginner is set to 30 degrees and a skilled rider is set to 45 degrees), the alarm gives out a sound reminding, and the vibration motor vibrates and transmits the vibration to the legs of the rider to remind the safety attitude; when the attitude sensor detects that any one of the values of the angles alpha, beta and gamma exceeds an unsafe angle (for example, a beginner sets 30 degrees and a skilled rider sets 45 degrees), the main control board judges that the body attitude of the rider is excessively deformed or possibly the rider encounters danger, and the main control unit actively stops.
The horseshoe-shaped folding electric scooter is provided with a training mode and a standard riding mode, and under the standard riding mode, the values of the inclination angles alpha, beta and gamma of the leg control supporting rods can be close to 30 degrees; under the training mode, the action setting of vibration and siren is intervened from 10 degrees, along with the extension of riding time, main control unit improves gradually and intervenes the angle to 30 degrees, abundant assurance primary rider's safety of traveling.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. A movement control method of a foot-and-mouth folding electric scooter is characterized in that: comprises the following specific steps of the method,
the gesture sensor (202) collects gesture data of the leg control support rod (200) in real time, wherein the collected data comprises a front inclination angle gamma, a right inclination angle alpha and a left inclination angle beta;
the control main board (107) judges the running state of the scooter according to the collected front inclination angle gamma, right inclination angle alpha and left inclination angle beta and correspondingly controls the left wheel set (103) and the right wheel set (104) as follows;
when the angle gamma is more than or equal to 30 degrees and more than or equal to 1 degree,
MLV＝【γ】*0.67km/h，
MRV＝【γ】*0.67km/h，
MLD＝Forward，
MRD＝Forward；
when gamma=0°,1 degree is more than or equal to alpha and less than or equal to 30 degrees, and beta=0 degree,
MLV＝【α】*0.17km/h，
MRV＝【α】*0.17km/h，
MLD＝Forward，
MRD＝Return；
when gamma=0°, beta is greater than or equal to 1 DEG and less than or equal to 30 DEG, alpha=0 DEG,
MLV＝【β】*0.17km/h，
MRV＝【β】*0.17km/h，
MLD＝Return，
MRD＝Forward；
when gamma is more than or equal to 1 and less than or equal to 30, beta is more than or equal to 1 and less than or equal to 30, and alpha=0;time of day
MLV＝【γ】*0.67km/h，
MLD＝Forward，
MRD＝Forward；
When gamma is more than or equal to 1 and less than or equal to 30, alpha is more than or equal to 1 and less than or equal to 30, and beta is more than or equal to 0;in the time-course of which the first and second contact surfaces,
MRV＝【γ】*0.67km/h，
MLD＝Forward，
MRD＝Forward；
in the above formula, MLV is the speed of the left wheel set (103), MRV is the speed of the right wheel set (104), MLD is the direction of the left wheel set (103), MRD is the direction of the right wheel set (104), forward is the Forward, return is the backward, and [ gamma ], [ alpha ], [ beta ] are the values of the detected angles.
2. The method for controlling the movement of the foot-and-mouth folding electric scooter according to claim 1, wherein the method comprises the following steps: when the attitude sensor (202) detects that any one of the values of the angles alpha, beta and gamma is close to the unsafe angle, the vibration alarm (207) sends out alarm information, and when the attitude sensor (202) detects that any one of the values of the angles alpha, beta and gamma exceeds the unsafe angle, the control main board (107) controls the wheel group to stop rotating.
3. The method for controlling the movement of the foot-and-mouth folding electric scooter according to claim 2, wherein the method comprises the following steps: the unsafe angle is set to 30 degrees or 45 degrees.
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| US11530011B2 (en) * | 2019-10-21 | 2022-12-20 | Benjamin F. Bailar | Kick scooter performance enhancement |
| US12179878B2 (en) | 2019-10-21 | 2024-12-31 | Benjamin F. Bailar | Kick scooter performance enhancement |
| CN112046662B (en) * | 2020-08-13 | 2023-01-17 | 哈尔滨工业大学（深圳） | A walking and following robot and its walking and following method |
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