CN110393908A

CN110393908A - A kind of electric return board

Info

Publication number: CN110393908A
Application number: CN201910727046.6A
Authority: CN
Inventors: 王宾; 王乙童
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-08-07
Filing date: 2019-08-07
Publication date: 2019-11-01
Anticipated expiration: 2039-08-07
Also published as: CN110393908B

Abstract

The present invention discloses a kind of electric return board comprising: skateboard deck (11), skateboard deck top surface is for carrying user；Front-wheel bridge (12) is located at skateboard deck (11) bottom and equipped with driven wheel (5), rear-wheel bridge (13) is located at skateboard deck bottom (11) and the driving wheel (4) equipped with variable-ratio rotation, it further include driving signal controller (2), driving signal controller (2) comes to issue driving signal to motor driver (3) according at least to the velocity amplitude that obtained electric return board kinematic parameter changes in the given time, to control the speed of driving wheel (4), the present invention changes traditional electric return board based on parameter value itself to adjust motor speed, but motor speed is adjusted using the pace of change of parameter, even if the velocity amplitude for using electronic skateboarding parameter to change in the given time is as the decision-making foundation of control system, preferably the speed of electric return board can be adjusted.

Description

A kind of electric return board

Technical field

The present invention relates to general personal traffic and transport field, new there is the manned of auxiliary power more particularly, to a kind of Slide plate means of transport.

Background technique

It is that static cost control and dynamic control that existing electric return board, which steps on control tactics with foot,.

It is to increase auxiliary power unit on traditional slide plate, when user's foot press for the electric return board of static cost control Motionless on certain sensor, sensor issues signal, controller driving motor to controller.Such control method, skating are wanted On upright slide plate, the unexpected motion change of slide plate is dealt with while should maintaining a posture motionless again, amplitude is slightly larger will Disequilibrium, people are also easily tired.

Dynamic control slide plate refers to that user continuously swings slide plate, since the center of gravity of user is constantly in slide plate or so two Side deviates back and forth, leads to the plate body, the preceding bridge of train and the torsion of rear axle of slide plate, to drive and control the advance of slide plate, turn It is curved.Currently, the electric return board using auxiliary power unit also occurs in the slide plate field of dynamic control, common, dynamic is controlled The sensor acquisition of electric return board swings or the size conduct of the size of inclined variation magnitude value or variation magnitude The input signal of controller.The slide plate for example, user swings by a small margin, then dynamic control electric return board is lesser dynamic with one Power and speed drive slide plate, and the slide plate if user significantly swings, it is biggish with one that dynamic controls electric return board Power and speed drive slide plate.However existing this mode has apparent defect, because user swings or tilts The bigger motor speed of value is fast, and sled controller can not effectively distinguish the difference to swing with slide plate posture when turning, for example, working as When user is in bend turning, the plate body of slide plate is to turning to deflection larger angle, but slide plate is at this time because of the biggish deflection Angle accelerates, and cannot achieve decelerating turn, to the danger of bend acceleration occur.In addition, again because of slide plate high speed when micro cross To the lateral traveling amount for causing slide plate considerable is swung, significantly movement is difficult to control for user's high speed left and right, so cannot continue It substantially swings or tilts and slide plate offer acceleration signals is provided.

Summary of the invention

The present invention be directed to above-mentioned technical problems to appear below the improvement that the electric return board of dynamic control is made herein Electric return board, be defined as or refer to dynamic control electric return board.And propose following scheme.

A kind of electric return board comprising: skateboard deck, skateboard deck top surface is for carrying user；Front-wheel bridge is located at slide plate Pedal bottom and the driven wheel rotated equipped with variable-ratio, rear-wheel bridge are located at skateboard deck bottom and equipped with driving wheels, and feature exists In: it further include driving signal controller, driving signal controller is according at least to obtained electric return board kinematic parameter in pre- timing The velocity amplitude of interior variation to issue driving signal to motor driver, to control the speed of driving wheel.

Electric return board kinematic parameter includes at least slide plate front-wheel bridge horizontal or vertical direction windup-degree, slide plate rear-wheel bridge water Flat or vertical direction windup-degree angle, one of skateboard deck tilt angle or a variety of.

The velocity amplitude that electric return board kinematic parameter changes in the given time is sent to driving by deflection speed sensor Signal controller, deflection speed sensor be angular-rate sensor or angular transducer with it is any one associated with control time module Kind.

Including wheel speed sensors, current wheel speed value L is obtained, wheel speed value L is converted into driving signal controller Auxiliary signal value A；Deflection speed sensor obtains deflection speed P, and deflection speed P is converted into driving signal controller Main signal value B；

Motor accelerates driving signal Z=auxiliary signal value A+ main signal value B, and when main signal value B is zero, auxiliary signal A is individually produced The revolving speed that raw motor accelerates driving signal Z driving motor to generate always slightly less than works as front slide revolving speed.Auxiliary letter is used alone Number A is used as motor and accelerates driving signal Z slide plate that can not obtain onward impulse, main signal B is used alone is used as motor and accelerate driving Signal Z can make slide plate obtain onward impulse.

When main signal value B is zero or very little, the revolving speed that motor accelerates driving signal Z driving motor to generate is less than when advancing slip Plate revolving speed, driving signal controller signal to motor driver, and motor driver driving motor slowly runs, and slide plate is unpowered It slides.When deflection speed P increase increases main signal value B, the revolving speed that motor accelerates driving signal Z driving motor to generate is greater than and works as Front slide revolving speed, driving signal controller signal to motor driver, and the revolving speed of motor driver driving motor is more than current Wheel speed value L；Slide plate accelerates.

Wheel speed value L is converted into motor drive signal instrumental value A by gradient scale by driving signal controller or chip module, Deflection speed P is converted into motor by driving signal controller or chip module and accelerates active signal value B.

Wheel speed value L is converted into motor drive signal value A, skateboard deck or so by gradient scale by wheel speed signal processing module Inclination, which drives, is connected to the potentiometer positive and negative rotation of deflection speed sensor on front-wheel bridge, feedback potentiometer by machine driving with The position potentiometer signal of the connection of servo motor shaft, deflection speed sensor compares feedback potentiometer position by servo-driven module Confidence number determines current deflection difference and servo motor position is driven to follow the rotation of deflection speed sensor shaft, deflection speed processing Module is output to the signal processing of servo motor into motor drive signal value B according to servo-driven module.

Obtaining slide plate and sliding the wheel speed sensors of wheel speed is the speed probe or driving wheel for measuring driving wheel or driven wheel Motor speed sensor.

Including wheel speed sensors, current wheel speed value L is obtained, wheel speed value L is converted into driving signal controller Auxiliary signal value A；Deflection speed sensor obtains deflection speed P, and deflection speed P is converted into driving signal controller Main signal value B；The motor that wheel speed value L, deflection speed P, control system export accelerates driving signal Z triadic relation are as follows: deflection Speed P increase makes motor that driving signal Z be accelerated to increase, and wheel speed value L increase makes motor accelerate driving signal Z, driving signal control Device issues deflection speed P value required for the motor drive signal value that slide plate can be made to accelerate with the raising of slide plate wheel speed value L And reduce.

Speed adjusting knob is the times magnification of the adjustable signal amplifier of device in main acceleration main signal value B transmission path Rate adjusting knob, user can get different slide plate driving speeds by adjusting the same deflection speed P of speed adjusting knob, with Meet different using horizontal and speed requirement user.

Skateboard deck further includes front pedal switch and rear treadle switch, and two switches are connected serially to motor driver and guarantee both feet Electric return board could accelerate above slide plate.

Compared with the prior art, the present invention has the following advantages:

1) in the control of electric return board, the velocity amplitude that uses electric return board kinematic parameter to change in the given time is as control The decision-making foundation of system can preferably be adjusted the speed of electric return board.

2) when user, which drives electric return board, sails cause bend, an inclination of the skateboard deck 11 of electric return board to turning at this time Tiltedly, but since user is after realizing that centre of body weight is biased to the side, centre of body weight is remained unchanged during the turn, or even body Body posture remains unchanged, and it is zero that deflection speed sensor 6, which obtains deflection speed P, in the given time, i.e., main signal value B is zero, 3 driving motor of the motor driver overdrive clutch that slowly runs slides slide plate.This also solves electric return board in the prior art In bend because skateboard deck 11 tilts the technological deficiency that can accelerate instead.

3) if electric return board is run in fair speed, but user also wants to further speed up, for safe driving Or control the needs of electric return board, the skateboard deck that is swung left and right that user can only be within the unit time at a slow speed, although at this time pre- It is smaller that fixed time intrinsic deflection velocity sensor obtains deflection speed P, and it is also smaller to be further converted into main signal value B, but by Larger in current wheel speed value L, the sum of auxiliary signal value A+ main signal value B motor accelerates driving signal Z driving motor to generate Revolving speed, which is greater than, works as front slide revolving speed, and driving signal controller signals to motor driver, and motor driver driving motor turns Speed is more than current wheel speed value L；Slide plate will also accelerate.

Detailed description of the invention

Fig. 1 is first embodiment of the invention electric return board schematic diagram；

Fig. 2 is front-wheel bridge, rear-wheel bridge horizontal direction windup-degree schematic diagram；

Fig. 3 is skateboard deck tilt angle schematic diagram；

Fig. 4 is second embodiment of the invention electric return board schematic diagram.

Description of symbols:

1 main power switch；2 driving signal controllers；3 motor drivers；4 In-wheel motor driving wheels；5 driven wheels；6 deflection speeds Sensor；7 wheel speed sensors；9 speed adjusting knobs；10 batteries；11 skateboard decks；12 front-wheel bridges；13 rear-wheel bridges；14 front pedals Switch；15 rear treadles switch；16 servo-driven modules；17 servo motors；18 feedback potentiometers；19 deflection speed signal processing moulds Block；20 wheel speed signal processing modules.

Specific embodiment

The specific embodiment of the invention is described with reference to the accompanying drawings and embodiments:

It should be noted that structure, ratio, the size etc. illustrated in this specification institute attached drawing, only to cooperate specification institute The content of announcement is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, The modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the effect of present invention can be generated and institute's energy Under the purpose reached, it should all fall in the range of disclosed technology contents can cover.

Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, also Only being illustrated convenient for narration, rather than to limit the scope of the invention, relativeness is altered or modified, in nothing Under essence change technology contents, when being also considered as the enforceable scope of the present invention.

Referring to Fig. 1-3,

A kind of electric return board comprising: skateboard deck 11,11 top surface of skateboard deck is for carrying user；Front-wheel bridge 12 is located at cunning 11 bottom of plate pedal and the driving wheel 4 rotated equipped with variable-ratio, rear-wheel bridge 13 are located at skateboard deck bottom 11 and equipped with driven wheels 5, it is characterised in that: further include driving signal controller 2, driving signal controller 2 is moved according at least to obtained electric return board The velocity amplitude that parameter changes in the given time to issue driving signal to motor driver 3, to control the speed of driving wheel 4 Degree.

Applicant's first discovery is become in the control of electric return board using electric return board kinematic parameter in the given time Decision-making foundation of the velocity amplitude of change as control system can preferably be adjusted the speed of electric return board.

Electric return board kinematic parameter includes at least slide plate front-wheel bridge horizontal or vertical direction windup-degree, slide plate rear-wheel bridge water Flat or vertical direction windup-degree angle, one of 11 tilt angle of skateboard deck or a variety of.

The velocity amplitude that electric return board kinematic parameter changes in the given time is sent to driving by deflection speed sensor 6 Signal controller 2, deflection speed sensor 6 are any associated with angular-rate sensor or angular transducer and control time module It is a kind of.

Including wheel speed sensors 7, current wheel speed value L is obtained, wheel speed value L is converted into driving signal controller 2 Interior auxiliary signal value A；Deflection speed sensor 6 obtains deflection speed P, and deflection speed P is converted into driving signal control Main signal value B in device 2；

When main signal value B is zero or very little, the sum of auxiliary signal value A+ main signal value B motor accelerates driving signal Z to drive The revolving speed that dynamic motor generates, which is less than, works as front slide revolving speed, and driving signal controller 2 signals to motor driver 3, motor driven 3 driving motor of device slowly runs, and slide plate is unpowered to be slided.When deflection speed P increase increases main signal value B, motor accelerates to drive The revolving speed that dynamic signal Z driving motor generates, which is greater than, works as front slide revolving speed, and driving signal controller 2 signals to motor driver 3, The revolving speed of 3 driving motor of motor driver is more than current wheel speed value L；Slide plate accelerates.

In use, if the user desired that accelerating electric return board, be then swung left and right skateboard deck 11, within the predetermined time Deflection speed sensor 6 obtains deflection speed P and is further converted into main signal value B, and wheel speed value L is converted into driving signal It is worth based on auxiliary signal value A in controller 2, when user quickly waves skateboard deck when electric return board low speed is run 11, deflection speed P are larger while to be converted into the value of main signal value B also larger, and such motor accelerates driving signal Z=auxiliary signal Value A+ main signal value B driving motor speed degree≤when front slide speed, then electric return board accelerates or at the uniform velocity.

If electric return board is run in fair speed, but user also wants to further speed up, for safe driving or Control the needs of electric return board, the skateboard deck 11 that is swung left and right that user can only be within the unit time at a slow speed, although at this time pre- It is smaller that fixed time intrinsic deflection velocity sensor 6 obtains deflection speed P, and it is also smaller to be further converted into main signal value B, but by It is larger in current wheel speed value L, as long as accelerating driving signal Z to drive so meeting the sum of auxiliary signal value A+ main signal value B motor The revolving speed that dynamic motor generates, which is greater than, works as front slide revolving speed, and driving signal controller 2 signals to motor driver 3, motor driven The revolving speed of 3 driving motor of device is more than current wheel speed value L；Slide plate will also accelerate.It is that user is not necessarily to fastly when slide plate speed is high Speed, which is swung, can continue to accelerate.

On the contrary, user stops or swings very much slide plate slowly, it is zero or very little that rotary speed sensor 6, which obtains deflection speed P, main letter When number value B is zero or very little, the sum of auxiliary signal value A+ main signal value B motor accelerates what driving signal Z driving motor generated to turn Speed, which is less than, works as front slide revolving speed, and driving signal controller 2 signals to motor driver 3,3 driving motor low speed of motor driver Rotation, slide plate is unpowered to be slided.

When user, which drives electric return board, sails cause bend, an inclination of the skateboard deck 11 of electric return board to turning at this time Tiltedly, but since user is after realizing that centre of body weight is biased to the side, centre of body weight is remained unchanged during the turn, or even body Body posture remains unchanged, and it is 0 that deflection speed sensor 6, which obtains deflection speed P, in the given time, and at this moment motor accelerates driving letter The revolving speed that number Z driving motor generates, which is less than, works as front slide revolving speed, and driving signal controller 2 signals to motor driver 3, motor 3 driving motor of driver slowly runs, and freewheel clutch slides slide plate.This also solves electric return board in the prior art and exists Because skateboard deck 11 tilts the technological deficiency that can accelerate instead when bend.

Conversion method itself for wheel speed value L, deflection speed P is the prior art, and two kinds of typical conversions are described below Mode.

The first, which is that wheel speed value L is converted into motor driven by gradient scale by driving signal controller 2 or chip module, believes Number instrumental value A, deflection speed P are converted into motor by driving signal controller 2 or chip module and accelerate active signal value B.It is this Conversion mode uses hardware few the advantage is that motor accelerates active signal value B to obtain, movement-less part, reliability, durability It is good.But the problem of the mating inconvenience of size sensor is had also discovered in an implementation, it is necessary to can just obtain using high-resolution sensor Obtain lesser time delay, high resolution sensor high expensive.

Second is that wheel speed value L is converted into motor drive signal value A by gradient scale by wheel speed signal processing module 20, Skateboard deck, which tilts to drive, is connected to the potentiometer positive and negative rotation of deflection speed sensor on front-wheel bridge, feedback potentiometer 18 It is connect by machine driving with 17 shaft of servo motor, the position potentiometer signal of deflection speed sensor is by servo-driven module 16 comparison 18 position signals of feedback level determine current deflection difference and 17 position of servo motor are driven to follow deflection speed sensor Shaft rotation, deflection speed processing module 19 are output to the signal processing of servo motor 17 into motor according to servo-driven module 16 Drive signal value B, this mode are swift in response, easily acquisition small volume components, and it is low that rapid wear moves hardware cost, and replaces conveniently. The disadvantage is that moving component is more, usage amount replacement maintenance need to be determined.

Obtaining slide plate and sliding the wheel speed sensors 7 of wheel speed is the speed probe or driving wheel for measuring driving wheel or driven wheel Motor speed sensor, obtains current wheel speed value L, and wheel speed value L is converted into the letter of the auxiliary in driving signal controller 2 Number value A；Deflection speed sensor 6 obtains deflection speed P, and deflection speed P is converted into the main letter in driving signal controller 2 Number value B；The motor that wheel speed value L, deflection speed P, control system export accelerates driving signal Z triadic relation are as follows: deflection speed P increases Ambassador's motor accelerates driving signal Z to increase, and wheel speed value L increase makes motor accelerate driving signal Z, and driving signal controller 2 issues Deflection speed P value required for the motor drive signal value that slide plate can be made to accelerate reduces with the raising of slide plate wheel speed value L.

Triadic relation can accelerate driving signal Z=auxiliary signal value A+ main signal value B and motor to add by motor above The relationship analysis of speed and slide plate present speed that fast driving signal Z driving motor generates show that but it is not limited to this, this field Technical staff can obtain the relationship of three with other calculations completely, can as long as meeting the sending of driving signal controller 2 So that deflection speed P value required for the motor drive signal value that slide plate accelerates reduces i.e. with the raising of slide plate wheel speed value L It can.

Speed adjusting knob 9 is the amplification for the adjustable signal amplifier being installed in main acceleration main signal value B transmission path Multiplying power adjusting knob, user can get different slide plate driving speed with same deflection speed P by adjusting speed adjusting knob 9 Degree can meet different using horizontal and speed requirement user.

Skateboard deck 11 further includes front pedal switch 14 and rear treadle switch 15, and two switches are connected serially to motor driver 3 Guarantee that both feet electric return board above slide plate could accelerate as safety measure.

Battery 10 can be battery pack, and battery pack can be interchanged, and length, width possessed by battery pack or thickness are suitable In being assemblied in battery installation cavity, the battery pack consideration can be configured to be packed into from the skateboard deck bottom side, and battery pack is The battery pack of a charging can be changed to when through exhausting.

In the application, various illustrative logical blocks, module, circuit and with calculation described in embodiment disclosed herein Method step may be implemented as the combination of electronic hardware, computer software or both.In order to clearly demonstrate hardware and software Interchangeability, various illustrative components, block diagram, module, circuit and step are hereinbefore introduced with regard to its function.In this way Function be embodied as the whole system that hardware or software depend on specific application and design constraint.Those skilled in the art can To realize the function in different ways, for each specific application, but this realization decision is not construed as Cause to depart from the scope of the present invention.

Use hard-wired various illustrative logic modules.In conjunction with the reality of various aspects disclosed herein and circuit Existing or execution can be with general processor, and digital signal processor (DSP), application-specific IC (ASIC), scene can compile Journey gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or be designed to hold Their any combination of row function described herein.One general processor can be microprocessor, but in alternative solution In, processor can be any conventional processor, controller, microcontroller or state machine.Processor also may be embodied as group Splice grafting receiving apparatus, for example, the combination of DSP and microprocessor, the combination of multi-microprocessor, one or more combine DSP core Microprocessor or any other this configuration.Alternatively, certain steps or method can carry out the circuit for given function.

In terms of one or more demonstrations, described function be may be implemented in hardware, software, firmware or their times What is combined.If implemented in software, function can store as one or more instructions or code can in non-transient computer Read storage medium or non-transient processor readable storage medium.The step of method disclosed by the invention or algorithm may include locating Reason device executable instruction may reside within that non-transient computer is readable or processor readable storage medium.Non-transient computer is readable Or processor readable storage medium can be any addressable storage media computer or processor.It is limit as an example but not System, this non-transitory is computer-readable or processor readable storage medium may include RAM, ROM, EEPROM, flash memory, CD-ROM or other optical disc storages, disk storage or other magnetic storage apparatus refer to alternatively, any other media storage can be used It enables or the required program code instructions of the form of data is can be accessed by computer.Disk and disk, it is used herein, including light Disk (CD), laser-optical disk, CD, digital versatile disc (DVD), floppy disk and blue light, wherein carrying out usually reproducing disk to data, In the optical laser of disk reproduce data.Combinations of the above be also included within the scope of the present invention non-transitory it is computer-readable and Processor readable medium.In addition, operating method or algorithm may reside in one or any combination or this group code and/or instruct On a kind of non-transient processor readable storage medium and/or computer readable storage medium, computer program product can be incorporated to.

Many other changes and remodeling can be made by not departing from the spirit and scope of the present invention.It should be appreciated that the present invention is not It is limited to specific embodiment, the scope of the present invention is defined by the following claims.

Claims

1. a kind of electric return board comprising: skateboard deck (11), skateboard deck top surface is for carrying user；Front-wheel bridge (12) is set In skateboard deck (11) bottom and driven wheel (5) are housed, rear-wheel bridge (13) is located at skateboard deck bottom (11) and equipped with variable-ratio The driving wheel (4) of rotation, it is characterised in that: further include driving signal controller (2), driving signal controller (2) according at least to The velocity amplitude that obtained electric return board kinematic parameter changes in the given time to issue driving signal to motor driver (3), To control the speed of driving wheel (4).

2. electric return board according to claim 1, it is characterised in that: electric return board kinematic parameter includes at least slide plate front-wheel Bridge horizontal or vertical direction windup-degree, the angle of slide plate rear-wheel bridge horizontal or vertical direction windup-degree, skateboard deck (11) One of tilt angle is a variety of.

3. electric return board according to claim 1 to 2, it is characterised in that: electric return board kinematic parameter becomes in the given time The velocity amplitude of change is sent to driving signal controller (2) by deflection speed sensor (6), and deflection speed sensor (6) is angle Associated with velocity sensor or angular transducer and control time module any one.

4. electric return board according to claim 1 to 3, it is characterised in that: including wheel speed sensors (7), obtain currently Wheel speed value L, wheel speed value L are converted into the auxiliary signal value A in driving signal controller (2)；Deflection speed sensor (6) obtains Deflection speed P is obtained, deflection speed P is converted into the main signal value B in driving signal controller (2)；

Motor accelerates driving signal Z=auxiliary signal value A+ main signal value B, and when main signal value B is zero, auxiliary signal A is individually produced The revolving speed that raw motor accelerates driving signal Z driving motor to generate always slightly less than works as front slide revolving speed, and auxiliary letter is used alone Number A is used as motor and accelerates driving signal Z slide plate that can not obtain onward impulse, main signal B is used alone is used as motor and accelerate driving Signal Z can make slide plate obtain onward impulse；

When main signal value B is zero or very little, the revolving speed that motor accelerates driving signal Z driving motor to generate is less than when front slide turns Speed, driving signal controller (2) signal to motor driver (3), and motor driver (3) driving motor slowly runs, surmounts Clutch slides slide plate；Increasing deflection speed P increases main signal value B, and motor accelerates driving signal Z driving motor to generate Revolving speed, which is greater than, works as front slide revolving speed, and driving signal controller (2) signals to motor driver (3), motor driver (3) driving The revolving speed of motor is more than current wheel speed value L, and slide plate accelerates.

5. electric return board according to claim 4, it is characterised in that: wheel speed value L is by driving signal controller (2) or chip Module is converted into motor drive signal instrumental value A in proportion, and deflection speed P is changed by driving signal controller (2) or chip module It is counted as motor and accelerates main signal value B.

6. electric return board according to claim 4, it is characterised in that: wheel speed value L is pressed by wheel speed signal processing module (20) Gradient scale is converted into motor drive signal value A, and the skateboard deck drive that tilts is connected to deflection speed on front-wheel bridge and senses The potentiometer positive and negative rotation of device, feedback potentiometer (18) are connect by machine driving with servo motor (17) shaft, deflection speed The position potentiometer signal of sensor determines current deflection by servo-driven module (16) comparison feedback level (18) position signal Difference simultaneously drives servo motor (17) position to follow the rotation of deflection speed sensor shaft, and deflection speed processing module (19) basis is watched It takes drive module (16) and is output to the signal processing of servo motor (17) into motor drive signal value B.

7. electric return board according to claim 4, it is characterised in that: obtain the wheel speed sensors (7) that slide plate slides wheel speed It is the speed probe or driver motor velocity sensor for measuring driving wheel or driven wheel.

8. electric return board according to claim 4, it is characterised in that: including wheel speed sensors (7), obtain current wheel Speed value L, wheel speed value L are converted into the auxiliary signal value A in driving signal controller (2)；Deflection speed sensor (6) obtains Deflection speed P, deflection speed P are converted into the main signal value B in driving signal controller (2)；Wheel speed value L, deflection speed P, the motor of control system output accelerates driving signal Z triadic relation are as follows: deflection speed P increase makes motor accelerate driving signal Z Increase；Wheel speed value L increase makes motor accelerate driving signal Z；Driving signal controller (2) issues the motor that slide plate can be made to accelerate Deflection speed P value required for drive signal value reduces with the raising of slide plate wheel speed value L.

9. electric return board according to claim 4, it is characterised in that: skateboard deck (11) further include: speed adjusting knob It (9) is the enlargement ratio adjusting knob of the adjustable signal amplifier of device in main acceleration main signal value B transmission path, Yong Hutong Different slide plate driving speeds can be obtained by crossing the same deflection speed P of adjusting knob of regulating the speed (9), to meet different uses Horizontal and speed requirement user.

10. electric return board according to claim 3, it is characterised in that: skateboard deck (11) further includes front pedal switch (14) and rear treadle switch (15), two switches are connected serially to motor driver (3) and guarantee both feet electric return board ability above slide plate It can accelerate.