CN110893892A

CN110893892A - Somatosensory scooter and control method thereof

Info

Publication number: CN110893892A
Application number: CN201811066612.5A
Authority: CN
Inventors: 应佳伟; 肖科平; 洪定安
Original assignee: Hangzhou Chic Intelligent Technology Co Ltd
Current assignee: Zhejiang Qike Robot Technology Co ltd
Priority date: 2018-09-12
Filing date: 2018-09-12
Publication date: 2020-03-20
Anticipated expiration: 2038-09-12
Also published as: CN110893892B

Abstract

The invention relates to a somatosensory scooter and a control method thereof. The somatosensory scooter comprises a steering rod, a scooter body and wheels, wherein the scooter body comprises a supporting framework, and the supporting framework comprises a main shaft and a reinforcing part fixed on the main shaft; the wheels comprise front wheels and rear wheels which are respectively arranged at the front end part and the rear end part of the main shaft, wherein a steering mechanism is arranged in the hub of at least one front wheel, the steering mechanism is respectively connected with the steering rod and the front end of the main shaft, and one or more rear wheels are connected with a driving device; the sensor group comprises a motion sensing sensor, a gyroscope and an acceleration sensor, and the sensor group is respectively connected with the controller. A control method of a somatosensory scooter is suitable for the somatosensory scooter, and comprises the following steps: the controller compensates for the front pressure or the rear pressure in accordance with the vehicle body inclination angle. The scooter can control the scooter to move through the information of the front pressure and the rear pressure of the pedal device.

Description

Somatosensory scooter and control method thereof

Technical Field

The invention relates to a scooter, in particular to a somatosensory scooter and a control method thereof.

Background

Scooter is a common tool for riding instead of walk because of its portability. The scooter generally comprises a scooter body, wherein 1 to 2 front wheels are arranged on a front end shaft of the scooter body, 1 to 2 rear wheels are arranged on a rear end shaft of the scooter body, a handle rod is arranged at the front end of the scooter body, a handle is arranged at the top end of the handle rod, the bottom end of the handle rod is connected with the front wheels through a steering mechanism, and the advancing direction of the scooter is controlled by operating the handle rod. The existing scooter has two common driving modes of electric drive and manual power-assisted drive, the electric drive scooter uses a power source as a power source for advancing the scooter body, and the manual power-assisted drive scooter pushes the ground to advance by one foot of a user. For the scooter under the two driving modes, the scooter body is a whole piece of pedal, or consists of a whole piece of supporting plate and a cover plate arranged on the supporting plate, and then the front end and the rear end of the pedal or the supporting plate are welded with wheel carriers to install front wheels or rear wheels. The scooter with the structure does not need to be provided with a power supply and a driving device which are large in size and the like for a manual power-assisted driving scooter, and the whole plate-shaped scooter does not have large influence on the size or the whole weight. However, for the scooter driven by electric power, in practical use, the following defects exist:

firstly, the support framework of the scooter is a whole plate, so that the whole weight of the scooter is increased, the scooter is not easy to carry, and the material consumption in production is serious, so that the production cost is increased;

the structure of a rotating mechanism for connecting the scooter body and the steering wheel of the electrically-driven scooter is complex, and the rotating mechanism is completely exposed outside the scooter body, so that the attractiveness of the whole scooter is affected;

and thirdly, the connection lines of the components such as the controller, the power supply, the driving device and the like and the connection lines of the control components on the scooter body are arranged in disorder in the scooter body or outside the scooter body, so that the attractiveness of the whole scooter is influenced.

Among the prior art, scooter's motion control mode can be divided into body and feels control and manual control, and at the driving in-process, body feels and controls richer interesting, but the current sensing car of feeling control, the accuracy nature to motion process control can be influenced to the downhill path, influences user experience.

Disclosure of Invention

In order to solve the above problems, an object of the present invention is to provide a somatosensory scooter in which a support frame is improved to achieve a sufficient support effect with a simple structure and to reduce the overall weight of the vehicle. Meanwhile, based on the improved supporting framework, the steering structure on the vehicle body is adjusted, and a user cannot observe the specific steering structure from the outside, so that the attractiveness of the vehicle is improved. And set up sensor group in order to realize the body to the scooter and feel control, increase the interest of driving in-process.

In order to achieve the purpose, the invention adopts the following technical scheme:

the embodiment of the application discloses a somatosensory scooter, which comprises a steering rod, a scooter body and wheels, wherein the scooter body comprises a supporting framework, a pedal device, a driving device, a sensor group, a controller and a power supply, wherein the pedal device, the driving device, the sensor group, the controller and the power supply are arranged on the supporting framework;

the supporting framework comprises a main shaft and reinforcing pieces fixed on the main shaft, at least part of the main shaft is arranged along the straight direction of the somatosensory scooter, the reinforcing pieces are arranged along the axial direction of the main shaft, and the reinforcing pieces extend in the direction for increasing the width of the supporting framework;

the wheels comprise front wheels and rear wheels which are respectively arranged at the front end part and the rear end part of the main shaft, wherein a steering mechanism is arranged in the hub of at least one front wheel, the steering mechanism is respectively connected with the steering rod and the front end of the main shaft, and one or more rear wheels are connected with a driving device;

the sensor group comprises a body sensing sensor, a gyroscope and an acceleration sensor, wherein the body sensing sensor is arranged between the pedal device and the supporting framework and used for sensing the front pressure and the rear pressure of the pedal device, the gyroscope and the acceleration sensor are used for sensing the inclination angle of the vehicle body, and the sensor group is respectively connected with a controller which controls the output force of the driving device according to the front pressure, the rear pressure and the inclination angle.

Preferably, the vehicle body further comprises a cover body, the cover body comprises a top cover and a bottom cover which are detachably connected, the supporting framework is located between the top cover and the bottom cover, and the top cover and the bottom cover are fixed mutually.

Preferably, the interior component of the vehicle body is disposed on at least one of the top cover, the bottom cover, or the support frame; wherein, the internal components are selected from one or more of a power supply, a controller and a sensor group.

Preferably, the middle section of the main shaft is a straight pipe or the main shaft is integrally bent towards the same side, all the reinforcing parts connected to the middle section of the main shaft are positioned on the same side of the middle section of the main shaft, and the wheels connected with the main shaft are also arranged on the same side of the reinforcing parts; or the middle section of the main shaft is provided with a plurality of bending sections, the bending directions of two adjacent bending sections are opposite, and the reinforcing piece on each bending section is arranged in the horizontal plane towards the opposite direction of the bending direction corresponding to the bending section.

Preferably, a wiring channel is arranged in the main shaft, and connecting wires among the power supply, the controller and the driving device are wired from the inside of the main shaft.

Preferably, the steering rod is internally provided with a wiring channel which is communicated with the wiring channel in the main shaft, and the connecting wire of the operating component, the power supply and the controller which are directly or indirectly fixed on the steering rod is wired from the steering rod and the main shaft.

Preferably, the steering mechanism comprises an axle and a steering shaft, the axle is a rotating shaft of the front wheel, the axle is rotatably connected to the hub and horizontally extends into the hub of the front wheel, the steering shaft is vertically fixed on the axle and located inside the hub of the front wheel, the supporting framework is connected with the steering shaft, and the supporting framework can rotate relative to the steering shaft.

Preferably, the steering mechanism is connected to the steering rod through a steering rod joint, the steering rod structure is located outside the hub, the steering rod joint comprises a first section and a second section, the steering rod is fixed to the first section, and one end of the wheel shaft is fixed to the second section.

Preferably, scooter's wheel hub is felt to body includes wheel hub body and wheel hub lid, wheel hub lid and wheel hub body fixed connection, and the wheel hub lid rotates with the shaft to be connected, and the wheel hub lid is used for fixed wheel axle to make it keep the level.

The embodiment of the invention also discloses a control method of the somatosensory scooter, which is suitable for the somatosensory scooter, and the control method comprises the following steps:

the somatosensory sensor acquires the front pressure and the rear pressure of the pedal device;

acquiring a vehicle body inclination angle by a gyroscope and an acceleration sensor;

the controller compensates the front pressure or the rear pressure according to the inclination angle of the vehicle body;

the controller acquires the current speed of the somatosensory scooter and controls the driving device to output torque force by combining the compensated front pressure and the compensated rear pressure.

Wherein the controller compensating for the front pressure or the rear pressure according to the vehicle body inclination angle includes:

when the vehicle body inclination angle is judged to be larger than 0, the controller controls to increase the front pressure and controls to decrease the rear pressure according to the ratio of the vehicle body inclination angle to a corresponding preset auxiliary adjusting coefficient;

and when the vehicle body inclination angle is judged to be smaller than 0, the controller controls to reduce the front pressure and controls to increase the rear pressure according to the ratio of the vehicle body inclination angle to the corresponding preset auxiliary adjusting coefficient.

Wherein the controller acquires the current speed of a motor vehicle of body scooter to combine the front portion pressure after the compensation and the rear portion pressure control drive arrangement output torsion after the compensation to include:

the controller acquires the current speed through a Hall sensor of a motor of the body sensing scooter;

dividing the compensated difference between the front pressure and the rear pressure by the compensated sum of the front pressure and the rear pressure to calculate a pressure ratio;

and performing incremental operation of a speed ring according to the current speed and the pressure ratio to obtain a control signal so as to control the driving device to output the torque force.

The body-sensing scooter with the structure controls the scooter condition by sensing the change of the position information of the center of gravity of the human body, and increases the interestingness in the driving process. Use the support chassis who is responsible for and the reinforcement cooperation constitutes the automobile body, simple structure and have sufficient support strength, for the support chassis among the prior art, its materials are few in process of production, and are favorable to alleviateing whole car weight, are convenient for put in order the car transport. The steering mechanism is arranged in the hub of the front wheel used as the steering wheel, and the whole vehicle is simple and attractive in appearance.

According to the control method of the somatosensory scooter, the scooter can be controlled to move through information of the front pressure and the rear pressure on the pedal device, and the front pressure and the rear pressure on the pedal device can be compensated in the process of climbing and descending, so that the motion process of the somatosensory scooter can be accurately controlled.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is an exploded view of fig. 1.

Fig. 3 is a schematic view of another angle of fig. 1.

Fig. 4 is a schematic view of the vehicle body structure of the present invention.

Fig. 5 is an exploded view of fig. 4.

Fig. 6 is a schematic view showing a connection structure of the front wheel and the steering mechanism of the present invention (a steering rod joint is also included in the drawing).

Fig. 7 is a schematic cross-sectional view of fig. 6.

Fig. 8 is an exploded view of fig. 7.

Fig. 9 is a schematic view of a connection structure of the front wheel and the steering mechanism of the present invention.

Fig. 10 is a sectional view taken along line a-a in fig. 9.

Fig. 11 is a schematic structural view of the rocker arm in the present embodiment.

Fig. 12 is a schematic structural view when the rocker arm rotates to a maximum angle to one side relative to the wheel axle.

Fig. 13 is a schematic view of the structure of the rocker arm rotating to the maximum angle to the other side of the wheel axle.

Fig. 14 is a schematic view of a connection structure between a steering rod and an axle.

Fig. 15 is an exploded view of fig. 14.

FIG. 16 is a flow chart of key steps of the control method of the present invention.

Fig. 17 is a flowchart of a specific implementation of the control method of the present invention.

Wherein: 1. the vehicle body, 11, a support framework, 111, a main shaft, 112, a reinforcement, 12, a controller, 13, a power supply, 14, a top cover, 15, a bottom cover, 2, a wheel, 21, a front wheel or a steering wheel, 22, a rear wheel or a driving wheel, 211, a hub, 212, a tire, 4, a steering rod, 5, a handle rod, 61, a front wheel fender, 62, a rear wheel fender, 71, a handle, 72, a screw, 81, a wheel shaft, 811, a second connecting piece, 82, a hub cover, 83, a steering shaft, 84, a rocker arm, 841, a first connecting head, 8411, a butt end face, 842, a second connecting head, 843, a third connecting head, 85, a limiting piece, 9, a steering rod connecting head, 91, a first section, 92, a second section, 921 and a first connecting piece.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more unless otherwise specified, and "several" means one and more than one unless otherwise specifically limited.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," "retained," and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

For convenience of expression, the horizontal direction parallel to the straight moving direction of the somatosensory scooter is taken as the front-back direction, the horizontal direction perpendicular to the straight moving direction of the somatosensory scooter is taken as the left-right direction, and the vertical direction perpendicular to the somatosensory scooter is taken as the up-down direction. The body-sensing scooter or the body and the supporting framework thereof have width in the left-right direction and length in the front-back direction.

In the following detailed description, in the specific embodiment, the steering wheel and the front wheel may refer to the same component, and the driving device and the hub motor may refer to the same component, which does not cause the problem of unclear technical solution.

The embodiment of the application discloses body-sensing scooter, as shown in fig. 1-3, its concrete structure is as follows:

the body-sensing scooter comprises the scooter body 1 and wheels 2 arranged on the scooter body 1. The vehicle body 1 further includes a supporting frame 11, a pedal device provided on the supporting frame, a driving device (the pedal device and the driving device are not illustrated in the figure) for driving the wheels to rotate, a controller 12 for controlling the vehicle condition, and a power supply 13 for supplying power to the driving device and the controller. As shown in fig. 4 and 5, the supporting framework is composed of a single main shaft 111 and a plurality of reinforcing members 112 fixed on the main shaft 111, the main shaft 111 is arranged along the length direction for increasing the body-sensing vehicle, in an embodiment, the main shaft 111 is at least partially arranged along the straight direction of the body-sensing scooter for increasing the length of the body-sensing scooter, the wheels 2 are arranged at the front and rear end portions of the main shaft, and the shape of the portion of the main shaft 111 for connecting the wheels, i.e. the front and rear ends of the main shaft, can be different according to the connection manner of the main shaft 111 and the wheels 2, for example, can be bent towards the wheels or kept parallel to the straight direction of. A plurality of reinforcing members 112 are arranged along the axial direction of the main shaft 111, and each reinforcing member 112 extends in a direction for increasing the width of the support frame 11 in the horizontal direction, and preferably the strength of the force applied to the support frame composed of the main shaft 111 and the reinforcing members 112 is uniform in the length direction thereof. In an embodiment, the middle section of the main shaft (the main shaft is used for connecting the rest part of the main shaft except the wheel) can be arranged to be a straight pipe or be integrally bent towards the same side, in this case, all the reinforcing parts are positioned on the same side of the middle section of the main shaft, and the wheel connected with the main shaft is also arranged on the same side of the reinforcing parts. In other embodiments, or the middle section of the main shaft is provided with a plurality of bending sections, the bending sections with opposite bending directions of two adjacent bending sections are arranged, and the reinforcing members on the bending sections are arranged in the opposite direction of the bending direction corresponding to the bending sections in the horizontal plane. The main shaft 111 is a tubular structure, and the tubular structure can include a circular tubular shape, a polygonal tubular shape or a tubular shape with any other cross section shape; the tubular shape is not limited to a tubular shape extending in an equal proportion, but may be various tubular shapes extending irregularly, in view of the manner of extension in the front-rear direction. In view of the convenience of processing, it is preferable to use a pipe shape extended in equal proportion in the present application. In order to ensure that the main shaft has enough supporting strength, the main shaft can be made of any material with rigid supporting performance, such as metal, hard plastic or composite reinforced material.

In the above embodiment, the number of the main shafts in the supporting framework may be one or more, and the number of the reinforcing members may also be one or more.

The body-sensing scooter body with the structure uses a single main pipe and a plurality of reinforcing parts to cooperate to form a supporting framework of the scooter body, has simple structure and enough supporting strength, has less material in the production process and is favorable for reducing the weight of the whole scooter and facilitating the carrying of the whole scooter in comparison with the supporting framework in the prior art.

The reinforcing member 112 may take any shape, such as a plate, a sheet, a block, and others, and the specific shape thereof is not limited. In this embodiment, a ferrule 1121 matched with the outer diameter of the main shaft is formed at one end of the reinforcement 112, the reinforcement 112 is connected to the outer wall of the main shaft 111 through the ferrule 1121 and then welded and fixed, and the pre-installation of the reinforcement is realized through the ferrule 1121, so that the installation position of each reinforcement can be adjusted conveniently, and pre-positioning before welding and fixing can be realized. The reinforcing member 112 can be used for mounting parts in addition to enhancing the strength of the supporting frame, and therefore, connecting portions such as connecting holes and screw holes can be formed in the reinforcing member.

The somatosensory scooter is driven by electric power, the power supply 13 is used for providing power for the driving device, and in practical application, a lithium battery pack is generally used as the power supply. The vehicle body in the embodiment further comprises a cover body, the cover body in the embodiment comprises a top cover 14 and a bottom cover 15 which are detachably connected, the supporting framework 11 is located between the top cover 14 and the bottom cover 15, and the top cover 14 and the bottom cover 15 are fixed mutually. In practical applications, the top cover and the bottom cover can be fixed together by screws. When the body-sensing scooter is in a use state, the bottom cover 15 is positioned at the bottommost part. The top cover and the bottom cover can be made of thin plate materials, only play a role of decoration, and can also be made of rigid materials with certain supporting strength.

The cover body in the present application mainly plays a supporting role, and is not limited to the above structure, and the cover body may further include a separate top cover, a separate bottom cover structure, or other structures capable of playing a supporting role, which may be referred to as the cover body of the present application.

The interior components of the vehicle body are disposed between the top cover and the bottom cover, which may be mounted to the support frame 11 or the cover. In this embodiment, the internal components of the vehicle body include a power supply 13 and a controller 12, a power supply mounting position and a controller mounting position are formed on the bottom cover 15, the power supply 13 is mounted on the power supply mounting position, the controller 12 is mounted on the controller mounting position, the power supply 13 and the power supply mounting position, the controller 12 and the controller mounting position can be connected through a fastener, and the power supply and the controller can be limited by directly using a groove-shaped structure. In another embodiment, a power supply mounting position and a control position mounting position can be formed on the top cover. The bottom cover and the top cover are both provided with a power supply mounting position and a control position mounting position; or the power supply mounting position and the control position mounting position are arranged on only one of the bottom cover and the top cover. In other embodiments, one of the power supply mounting position and the control position mounting position may be formed on the top cover, and the other may be formed on the bottom cover. In a preferred embodiment, reinforcing structures such as reinforcing ribs or reinforcing grooves are formed in the bottom cover 15 and/or the top cover 14, so that the strength of the cover body can be enhanced, and the reliable connection between the power supply, the controller and the cover body can be ensured. Several of the internal components such as the controller and the power supply can also be fixed on the supporting framework, for example, the internal components can be directly fixed on the reinforcing member, or the reinforcing member is provided with an installation position, and the internal components are arranged in the installation position on the reinforcing member; or an installation position bound on the main shaft can be set, and internal components such as a controller, a power supply and the like are arranged in the installation position. In other embodiments, the internal components of the vehicle body may further include a sensing element such as a sensor, and the sensing element may be mounted on the vehicle body in a manner similar to the mounting of the power supply 13 and the controller 12, and may be fixed to at least one of the bottom cover 15, the top cover 14, or the supporting frame.

In order to reduce the volume of the vehicle body, the power supply arranged on the battery mounting position and the controller arranged on the controller mounting position are staggered with the main shaft and the reinforcing piece of the main shaft, so that the power supply and the controller can be mounted without the limitation of the plane of the reinforcing framework, and the space between the top cover and the bottom cover is fully utilized. Further, the power supply installed on the battery installation position and the controller installed on the controller installation position are separated through the reinforcing part, the reinforcing part plays a role in reinforcing, the position of the reinforcing part is also avoided from being crossed, all the parts on the vehicle body are orderly arranged, and the maintenance and the installation are convenient. Correspondingly, when the internal assembly comprises the inductive element, the inductive elements such as the sensor arranged on the installation position of the inductive element are arranged to be staggered with the installed power supply, the controller, the main shaft and the reinforcing part of the main shaft

The wheel 2 in the application is divided into a front wheel 21 and a rear wheel 22 according to the installation position of the wheel in the front-back direction, a steering rod 4 is arranged on the front side of a supporting framework, the steering rod 4 is vertically arranged to be connected with a steering mechanism, a handle rod 5 is arranged on the upper portion of the steering rod, the steering rod 4 can be of a solid or hollow pipe/rod-shaped structure, no limitation is arranged on the cross section and the radian in the vertical direction of the steering rod 4, and a user drives the steering rod 4 and the steering mechanism to control the advancing direction of a vehicle body by operating the handle rod 5; the wheels can be divided into driving wheels and driven wheels according to whether the wheels are directly connected with a driving device or not. The wheel comprises a tire 212 and a hub 211, wherein the hub 211 is internally provided with an installation space, and a driving device can be selected from a hub motor which is arranged on the hub used as a driving wheel. In this embodiment, the rear wheels 22 are driving wheels, the front wheels 21 are driven wheels, in terms of number, one front wheel 21 may be matched with one rear wheel 22, or one front wheel 21 may be matched with two rear wheels 22, the front wheel 21 is matched with a main shaft of the support frame through insertion, and one or two rear wheels 22 are connected with the main shaft through a rotating shaft. In the positional relationship of the front wheel 21 and the rear wheel 22, if a manner in which one front wheel 21 is engaged with one rear wheel 22 is adopted, the front wheel 21 and the rear wheel 22 are aligned front to back and the line connecting the two coincides with their center lines; in the case of a mode in which one front wheel 21 is engaged with two rear wheels 22, the front wheel is positioned on a midperpendicular of the two rear wheels, and such a mounting mode is used for preventing the vehicle body from shifting during movement and simplifying the control of the movement path. In addition to the above-described manner, it is needless to say that two or more rear wheels 22 may be provided, and in the case of a plurality of rear wheels, only a plurality of the rear wheels may be selected as the drive wheels. The installation space in this embodiment is a space for providing an installation for components such as an axle and a steering shaft, and the installation space is preferably, but not limited to, a space of an approximately cylindrical shape surrounded by the hub 211 as shown in fig. 7, and may be a space of other shapes that can be used for installing components such as an axle.

The steering mechanism is connected on the wheel hub of the front wheel so as to drive the vehicle body to rotate through the steering rod, and the steering mechanism is arranged in the inner space of the wheel hub 211 of the front wheel 21 in the embodiment, so that the occupied space is small, and the appearance of the whole vehicle is simpler. The hub 211 in this embodiment has a cylindrical structure, and an installation space is provided therein.

As shown in fig. 6 to 8, the steering mechanism includes an axle 81 and a steering shaft 83. The steering mechanism is connected with a steering rod 4 through a steering rod joint 9, the steering rod joint 9 is positioned outside a hub and used for connecting the steering rod 4 with an axle 81 in the steering mechanism, in the embodiment, the steering rod joint comprises a first section 91 and a second section 92, the steering rod 4 is fixed on the first section 91, one end of the axle 81 is fixed on the second section 92, the steering rod 4, the axle 81 and the steering rod joint 9 can be connected in common connection modes such as plug-in fit, threaded fit and riveting, wherein the first section is provided with a vertical section which is completely vertical or slightly inclined relative to the vertical direction, and the inclined angle is preferably-30 degrees to +30 degrees in the embodiment. The second section is horizontally arranged, the axis of the second section is superposed with the axis of the wheel shaft, and the first section and the second section which are perpendicular to each other are adopted, so that the steering rod and the wheel shaft can be fixed more firmly, and cannot easily shake and rotate. The steering rod joint 9 may be integrally arranged or may include a plurality of independent processing parts, and the plurality of independent processing parts are connected and fixed through connecting pieces.

As shown in fig. 14 and 15, the steering rod can be rotated relative to the support rod to be folded to one side of the support rod. In order to achieve the folding function, in a preferred embodiment, the first section and the second section of the steering rod connector 9 are connected by a fastener, the fastener comprises a screw 72 and a handle 71, one end of the handle 71 is connected with one end of the screw 72 in a rotating manner, and the handle 71 can drive the screw 72 to lock or unlock the first section and the second section. The second section is a cylindrical structure, a second connecting piece 811 is fixed at the end of the wheel axle 81, the second connecting piece 811 is a cylindrical structure capable of being inserted into the second section, and the second connecting piece 811 and the second section 92 can rotate relatively. The second connecting piece 811 is provided with a screw hole, the second section is provided with a connecting hole for inserting one end of the screw 72 on the fastener, the connecting hole and the screw hole are coaxially arranged after the second connecting piece 811 is inserted in the second section, one end of the screw 72 on the fastener is matched and locked with the screw hole on the second connecting piece 811, and the other end of the screw 72 on the fastener is connected with the handle 71 and is positioned outside the second section. When the steering rod needs to be folded, the screw 72 is loosened to be disengaged from the second connecting member, and the steering rod 4 and the steering rod joint 9 are rotated 811 relative to the second connecting member to be folded.

In a preferred embodiment, a first connecting member 921 is provided in the second segment, and adjacent ends of the first connecting member 921 and the second connecting member 811 are respectively provided with a tooth-shaped structure which are engaged with each other, so that when the screw is screwed, the tooth-shaped structures of the first connecting member 921 and the second connecting member 811 are engaged with each other, and the rotation angle is limited by the engagement of the tooth-shaped structures, so as to maintain the adjusted position. When the screw is loosened, the tooth-shaped structures of the first and second connecting

members

921 and 811 can be separated so that they can rotate relatively.

Preferably, a spring is connected between the first connecting piece 921 and the second connecting piece 811, and the spring is driven to deform when the first connecting piece rotates and folds relative to the second connecting piece, so that when the steering rod needs to be unfolded again, the restoring force of the spring can drive the steering rod to reset.

By the arrangement of the connecting structure, when the steering wheel is used, a user can lock the steering rod joint and the second connecting piece, so that the steering rod is upright, and driving is facilitated; when not riding, the user can drive the screw through the handle, makes steering column connect and the separation of second connecting piece, and steering column connects around the free rotation of second connecting piece, can realize the folding of steering column and place.

The body feeling scooter's wheel hub includes cartridge type wheel hub body and wheel hub lid, wheel hub lid and wheel hub body fixed connection, and the wheel hub lid rotates with the shaft to be connected, and the wheel hub lid is used for fixed wheel axle to make it keep the level.

In this embodiment, one end of the axle 81 is inserted into the second section of the steering joint and fixed to the steering rod joint 9. The wheel shaft 81 is a rotation shaft of the front wheel, the wheel shaft 81 is kept horizontal in a wheel standing state, and the wheel shaft 81 is rotatably connected with the wheel hub cover 82 to realize the connection of the front wheel 21 and the steering rod 4. In the embodiment, the axle 81 is fixed on the hub through a bearing, and may be a mounting bracket (the structure of the mounting bracket is not shown in the figure) arranged inside the hub for connecting the axle, and the bearing is fixed through the mounting bracket; alternatively, the hub includes a hub cap 82 and the bearing is secured to the hub cap 82. The wheel shaft 81 extends into the wheel hub 211, the steering shaft 83 is vertically arranged and fixed on the wheel shaft 81, the steering shaft 83 is vertical to the straight direction of the vehicle body, and the steering shaft 83 is located in the installation space inside the wheel hub. The center of the steering shaft 83 substantially coincides with the center of the steered wheels, and preferably, the steering shaft 83 coincides with the center line of the front wheels (which is perpendicular to the axes of the front wheels and perpendicular to the advancing direction of the vehicle body), so that the center of rotation of the front wheels can be prevented from being shifted during steering of the vehicle body. In an embodiment, the front end of the main shaft in the supporting framework is integrally formed with a connecting head rotatably connected with the steering shaft in the hub, or the main shaft of the supporting framework is connected with the steering shaft through a rocker arm. In this embodiment, the rocker arm is connected with the steering shaft in a rotating manner, the front end of the support framework is fixed with the rocker arm, and the rocker arm is independently processed from the main shaft, so that the rocker arm is easier to mold compared with a connecting head integrally formed on the upper part of the main shaft.

In this embodiment, the axle is fixed by the hub cover 82, the middle of the hub cover 82 is provided with a bearing mounting portion 821 protruding toward the inside of the hub, at least two bearing mounting positions distributed along the axial direction from left to right are arranged on the bearing mounting portion 821, and the axle is fixed by two or more bearings, so that the connection reliability between the axle 81 and the hub cover 82 can be ensured. The hub cover 82 is detachably connected with the hub body, and the hub cover 82 is fixed on the cylindrical side wall of the hub body through an anchoring part; or the hub cover 82 and the hub body may be integrally formed. In order to make the mounting structure of each component in the wheel hub compact and facilitate the positioning of each component connected with the wheel axle, in the embodiment, the wheel axle 81 is arranged to form a plurality of steps in the axial direction according to the different radial sizes of the wheel axle, the mounting position of the bearing on the wheel axle is limited by the steps, and the bearing on the wheel axle 81 is prevented from being subjected to position deviation due to the action of centrifugal force in the later use process. One end of the middle part of the steering shaft 83 is limited by a step on the wheel shaft 81, and the other end is locked by matching a gasket and a nut, so that the steering shaft is fixed on the wheel shaft 81. The rocker arm 84 is a Y-shaped connector and comprises a first connector 841, a second connector 842 and a third connector 843, wherein the first connector 841 and the second connector 842 are arranged in an up-and-down symmetrical manner, one end of the first connector 841 and one end of the second connector 842 are connected, the third connector 843 is horizontally arranged at the joint of the first connector and the second connector, the first connector 841 and the second connector 842 of the rocker arm are respectively connected with the upper end and the lower end of the steering shaft 83 in a rotating manner, and the rocker arm 84 rotates by taking the steering shaft 83 as a center. The front end of the main shaft in the supporting framework is fixed to a third connector 843 of the rocker arm, and the main shaft and the third connector can be connected in a threaded connection mode or a riveting mode or the like, so that when the rocker arm rotates relative to the steering shaft, relative movement cannot occur between the rocker arm and the supporting framework. In this embodiment, there are two symmetrical upper and lower rotation connection points between the rocker arm 84 and the steering shaft 83, which is beneficial to maintaining the stability of the rotation of the vehicle body, and a fastening member for fixing the steering shaft, such as a nut, can be installed in the space between the first connector 841 and the second connector 842 of the rocker arm, so that the components in the steering structure are compactly connected in the hub, and a washer and a nut are usually provided to prevent the connection from loosening. In other embodiments, only one or more than two rotational connection points may be provided between the rocker arm 84 and the steering shaft 83. In the above steering structure, since the rocker arm 83 is wholly or mostly installed in the inner space of the hub 211, in order to obtain a larger rotating space when the rocker arm rotates around the steering shaft, and increase the rotating amplitude of the rocker arm, in a preferred embodiment, a hub with a larger inner diameter (where the inner diameter of the hub refers to the diameter of the circular section corresponding to the inner wall of the hub) is used; in another preferred embodiment, the connecting point of the rocker arm and the steering shaft is arranged close to the connecting point of the steering shaft and the wheel shaft in order to increase the rotation amplitude of the front wheels as much as possible on the premise of ensuring that the wheels are not offset in the center during steering. Preferably, as shown in fig. 9 to 13, the first connector 841 of the rocker arm in this embodiment includes a connecting portion for connecting to the steering shaft and a limiting portion for limiting the rotation angle of the rocker arm 84 around the steering shaft 83, the limiting portion includes a plurality of abutting end surfaces 8411 located in different planes, and the second connector has the same structure as the first connector; a limiting sheet 85 is fixed between the rocker arm 84 and the steering shaft 83, and after the rocker arm 84 rotates for a preset angle in different directions relative to the steering shaft 83, different abutting end surfaces 8411 on the rocker arm limiting part abut against the limiting sheet 85.

In this embodiment, the middle of the limiting piece 85 is provided with a through hole capable of being sleeved on the wheel shaft 81, and after the limiting piece is sleeved on the wheel shaft, two sides of the limiting piece are respectively limited by a limiting step and a nut formed on the wheel shaft 81. In other embodiments, the limiting plate 85 and the axle 81 may be fixed by welding. In this embodiment, the limit portion of the rocker arm 84 has two abutting end surfaces 8411, and the two abutting end surfaces 8411 and the limit piece 85 cooperate to limit the rotation range of the rocker arm 84 relative to the steering shaft 83. As shown in fig. 12, when the rocker arm rotates to a maximum angle to one side relative to the wheel axle, one of the abutting end surfaces 8411 of the limiting portion abuts against the limiting piece 85, and the rocker arm 84 cannot continue to rotate in the direction; as shown in fig. 13, when the rocker arm 84 is pivoted to the other side of the steering shaft 83 to the maximum angle, the other contact end surface 8411 of the stopper portion comes into contact with the stopper piece 85, and the rocker arm cannot be pivoted further in this direction. In this embodiment, can rotate to the restriction that offsets with the wheel hub lateral wall and continue to rotate before the rocking arm, restrict rotation range through the cooperation of the face of spacing piece and spacing portion, be favorable to prolonging wheel hub's life. Even if the spacing piece is damaged at the later stage, only the spacing piece needs to be replaced.

The action principle of the scooter with the structure is as follows: when needing to turn, firstly pushing and pulling the handle rod 5 to drive the steering rod 4 to rotate towards one direction, the steering rod 4 rotates to drive the wheel shaft 81 to move back and forth, and because the wheel shaft 81 is fixed on the hub cover 82, the steering wheel (front wheel) can be forced forwards or backwards; meanwhile, as the steering shaft 83 is fixed on the wheel shaft 81, the steering shaft 83 is rotatably connected with the rocker arm 84, and the steering shaft 83 and the rocker arm 84 rotate relatively while the wheel shaft 81 moves forwards or backwards, so that the steering wheel is shifted towards one direction relative to the vehicle body.

The scooter in the embodiment can control the scooter condition, such as most battery cars or electric scooters on the market, and the scooter condition is controlled by adopting a physical or virtual key, a knob or an operating lever and other operating parts to be matched with a controller to be connected with a driving device. The vehicle conditions of the scooter comprise the vehicle starting and stopping and the vehicle speed. The intelligent charging system also can comprise additional functions such as an alarm horn or an illuminating lamp, the additional functions can be realized by matching an operating part such as a button with an external part such as a controller and connecting a buzzer or an indicator lamp, the power supply is also connected with the controller, and the controller is provided with an external interface to realize the charging of the power supply. The above-mentioned operating member may be provided on a handle lever, a steering lever, or an operation panel fixed to the steering lever. Of course, a charging circuit, a switching circuit, a DC-DC circuit, a speed measuring circuit, a power amplifier circuit, and other peripheral circuits used for the electric vehicle are also provided between the controller and the external devices such as the driving device, the power supply, and the buzzer, and these peripheral circuits are all the prior art and will not be described herein again. Preferably, the steering rod and the main shaft are internally provided with wiring channels, and connecting wires between the operating part arranged on the handle and the power supply, the controller and the driving device are wired from the inside of the steering rod and the inside of the main shaft of the supporting framework, so that all the connecting wires are hidden in the vehicle body.

The forward and backward movement of the scooter and the control of the power output by the current driving device can be adjusted by sensing the change of the center of gravity of the user on the scooter, in addition to the adjustment by the user operating the corresponding physical or virtual operating member. In the concrete implementation, a body sensing sensor 3 for sensing the gravity center position information of a user on the pedal device can be arranged on the pedal device and the support skeleton bracket, the body sensing sensor 3 is connected with a controller 12, and the controller 12 controls the output torque of the driving device according to the gravity center position information. Specific implementations thereof may be referred to in the prior patent documents published under publication numbers CN206954410U, CN206954412U, CN206964409U and CN 206954411U. The center of gravity position sensor may be for sensing rolling displacement information of itself with respect to the foot rest; or the center of gravity position sensor may be for detecting the front pressure and the rear pressure of the foothold; or a center of gravity position sensor for sensing relative angular velocity information between the step apparatus and the support frame. The center of gravity position sensor may also acquire the center of gravity position information of the user on the step device in other ways than the above-described way.

The above patent document discloses several optional structures of the motion sensor, gravity center position information obtained under the corresponding structures, several optional structures of the pedal device, a matching relationship between the pedal device and the motion sensor of the corresponding structure, a control mode of the controller for the vehicle body motion according to the obtained gravity center position information, and the like. The technical features disclosed in the above-mentioned prior patent documents are all directly applicable in the present application. It should be noted that the pedal device described in the above patent can be two independent components mounted on the supporting frame 11 in the front-back direction, or can be two pedal areas or pedal portions staggered in the front-back direction divided from one integral component mounted on the supporting frame 11, and in the embodiment, the pedal device can be integrated with the top cover 14. For example, the top cover 14 in the present embodiment has at least one rigid plate portion as a foot-stepping portion, and two foot regions that are displaced in the front-rear direction are defined on the rigid plate portion, the foot regions corresponding to the body-sensory sensors 141 provided on the supporting frame. In an embodiment, when a pressure sensor is used as the motion sensor, a pressing plate 141 protruding toward the pressure sensor may be provided on the pedal device corresponding to the pressure sensor. In an embodiment, the footrest apparatus, which is provided as a separate component, may be fixed to the reinforcement member in the support frame.

According to another aspect of the present application, as shown in fig. 16, there is further provided a control method of a somatosensory scooter, which is suitable for the somatosensory scooter in the above embodiments. The control method comprises the following steps:

step S101, a somatosensory sensor acquires the front pressure and the rear pressure of the pedal device;

step S102, acquiring a vehicle body inclination angle by a gyroscope and an acceleration sensor;

step S103, the controller compensates the front pressure or the rear pressure according to the inclination angle of the vehicle body;

and step S104, the controller acquires the current speed of the somatosensory scooter and controls the driving device to output torque force by combining the compensated front pressure and the compensated rear pressure.

Adopt above-mentioned embodiment, the scooter is felt to body can compensate front portion pressure and rear portion pressure according to the automobile body angle of inclination to combine current speed of a motor vehicle to control adjustment drive arrangement output torsion, can adjust automobile body advancing speed when the scooter is through going up the downhill path like this, help the smooth driving of body feeling scooter when going up the downhill path, improve user experience.

In an alternative embodiment, in step S103, the controller compensating the front pressure or the rear pressure according to the vehicle body inclination angle includes:

The pressure values of the front part and the rear part are controlled to be increased or decreased by judging the size of the inclination angle of the vehicle body, the compensation method is simple and easy to implement, and the actual compensation effect is good.

In a preferred embodiment, in step S104, the controller obtains the current speed of the somatosensory scooter, and controls the driving device to output the torque force by combining the compensated front pressure and the compensated rear pressure, including:

By adopting the embodiment, the method can adjust the output torque of the driving device in real time so as to regulate and control the current vehicle speed and eliminate the influence of ascending and descending on the vehicle speed.

In the following, a method for controlling a somatosensory scooter by using a pressure sensor as a somatosensory sensor is described, and as shown in fig. 17, the method includes the steps of: firstly, a starting threshold value of the body sensing vehicle is set, after a rider steps on a pedal device, a body sensing sensor obtains a Front pressure value P _ Front and a rear pressure value P _ Back, the Front pressure value and the rear pressure value are judged to be larger than the starting threshold value, the riding state is started, and a driving motor starts to rotate. The Front pressure P _ Front and the rear pressure P _ Back are obtained by acquiring absolute values and performing sliding filtering processing through the motion sensing sensor. Then calculating the sum P _ Add of the Front and rear pressure values as P _ Front + P _ Back through P _ Front and P _ Back, and calculating the difference P _ Sub of the Front and rear pressure values as P _ Front-P _ Back; and calculating a front-to-back pressure Ratio P _ Ratio (P _ Sub/P _ Add) A (A is a proportionality coefficient and can be adjusted according to actual conditions).

Then, a vehicle body inclination angle is acquired, and the front pressure or the rear pressure is compensated according to the vehicle body inclination angle.

Specifically, the up-down gradient, namely the inclination Angle Slope _ Angle of the vehicle body, is obtained through a gyroscope and an acceleration sensor, and the Front pressure P _ Front or the rear pressure P _ Back is compensated; the method comprises the following steps: reading values of a gyroscope and an acceleration sensor of the somatosensory vehicle, and performing Kalman filtering to obtain a gradient, namely a vehicle body inclination Angle Slope _ Angle; judging to compensate the front pressure or the rear pressure according to the inclination Angle Slope _ Angle of the vehicle body; the compensated front and rear pressures are calculated. The rear pressure can increase when the body feels the scooter on the upslope, and anterior pressure can reduce, and is just opposite when the downhill path, and this step can offset the change that body feels the pressure Ratio P _ Ratio under the influence of gravity when the sensing car goes up the downhill path to can normally ride. The compensation values comprise a Front pressure compensation value P _ Front _ Plus and a rear pressure compensation value P _ Back _ Plus, and when the vehicle body inclination angle is judged to be larger than 0, the controller controls to increase the Front pressure and controls to decrease the rear pressure according to the ratio of the vehicle body inclination angle to the corresponding preset auxiliary adjusting coefficient. In this case, the vehicle body inclination Angle Slope _ Angle is a positive number, the auxiliary adjustment coefficient for the Front pressure is B1, the value B1 requires a value Slope _ Angle smaller than the inclination Angle, the ratio of the vehicle body inclination Angle Slope _ Angle to the preset auxiliary adjustment coefficient B1 is used as the compensation coefficient for the Front pressure compensation value at this time, the compensation coefficient is greater than 1, and the Front pressure compensation value P _ Front _ Plus at this time is: the product of the Front pressure P _ Front and the compensation coefficient is added to the Front pressure P _ Front, and is expressed as: p _ Front _ Plus ═ P _ Front (1+ Slope _ Angle/B1); the auxiliary adjusting coefficient for the rear pressure is B2, the value of B2 is required to be greater than the value of Slope Angle Slope _ Angle, the ratio of the vehicle body Slope Angle Slope _ Angle to the preset auxiliary adjusting coefficient B2 is used as the compensation coefficient of the rear pressure compensation value at the moment, the rear pressure compensation value P _ Back _ Plus is the product of the rear pressure P _ Back and the compensation coefficient subtracted on the basis of the rear pressure P _ Back, and the formula is expressed as follows: p _ Back _ Plus ═ P _ Back ═ 1-Slope _ Angle/B2. And when the vehicle body inclination angle is judged to be smaller than 0, the controller controls to reduce the front pressure and controls to increase the rear pressure according to the ratio of the vehicle body inclination angle to the corresponding preset auxiliary adjusting coefficient. In this case, the vehicle body inclination Angle Slope _ Angle is a negative number, the auxiliary adjustment coefficient for the Front pressure is B3, the value of B3 requires an absolute value greater than the inclination Angle Slope _ Angle, the ratio of the vehicle body inclination Angle Slope _ Angle to the preset auxiliary adjustment coefficient B3 is used as the compensation coefficient for the Front pressure compensation value at that time, the compensation coefficient is a negative number, and the Front pressure compensation value P _ Front _ Plus at that time is: the Front pressure P _ Front is added to the product of the Front pressure P _ Front and the compensation factor to reduce the Front pressure, which is expressed by the formula: p _ Front _ Plus ═ P _ Front (1+ Slope _ Angle/B3); the auxiliary adjusting coefficient for the rear pressure is B4, the value B4 requires the absolute value of the value Slope _ Angle smaller than the inclination Angle, the ratio of the vehicle body inclination Angle Slope _ Angle to the preset auxiliary adjusting coefficient B4 is used as the compensation coefficient of the rear pressure compensation value at the moment, and the product of the rear pressure P _ Back and the compensation coefficient is subtracted from the rear pressure P _ Back _ Plus at the moment, so that the rear pressure is increased, and the formula is represented as follows: p _ Back _ Plus ═ P _ Back ═ 1-Slope _ Angle/B4. Wherein, B1, B2, B3 and B4 can be adjusted according to actual conditions.

And next, acquiring the current speed of the somatosensory scooter, and controlling the output torque of the driving device by combining the compensated front pressure and the compensated rear pressure. The method comprises the following steps:

Specifically, the controller performs Speed loop incremental PID operation according to the combination of the front-rear pressure Ratio P _ Ratio or the compensated front-rear pressure Ratio P _ Ratio _ Plus and the real-time Speed Car _ Speed of the motor, so as to obtain the PWM duty Ratio of the motor to drive the motor, and thus the motion state of the somatosensory scooter is controlled. The Speed Car _ Speed is calculated by a Hall value of a motor, or a Speed sensor can be arranged on a frame of the somatosensory Car, and the current Speed is obtained through the Speed sensor.

The somatosensory sensing vehicle in the embodiment is provided with a constant-speed cruising mode besides controlling the vehicle speed by adopting the somatosensory sensor, and the two modes are selectively switched by external trigger signals such as buttons and the like. In the constant-speed cruise mode, the riding speed is kept at the speed when the motor is triggered (for example, when a button is pressed), the speed is not influenced by the pressure Ratio P _ Ratio or the compensated front-rear pressure Ratio P _ Ratio _ Plus, and the PWM duty Ratio of the motor can be calculated directly through the speed. The somatosensory sensing vehicle can execute the control method, wherein the constant-speed cruise model and the somatosensory sensor can be switched between two modes of controlling the vehicle speed through keys.

The somatosensory scooter is preferably provided with a front wheel fender 61 and a rear wheel fender 62 corresponding to a front wheel and a rear wheel respectively, wherein each of the front wheel fender 61 and the rear wheel fender 62 comprises a connecting part and an arc-shaped bulge part, the front wheel fender and the rear wheel fender are connected to other parts of a scooter body at the connecting parts, and the arc-shaped bulge parts are positioned above the front wheel or the rear wheel and cover a part of wheels. In an embodiment, the width of the arc-shaped protruding portion of the front wheel fender and the rear wheel fender is preferably set to be greater than the width of the corresponding wheel, so that the arc-shaped protruding portion can completely shield the corresponding wheel. The front wheel fender and the rear wheel fender are used for blocking muddy water splashed by the wheels during walking, and meanwhile, the possibility that suspended objects (such as a waistband which is too long on clothes of a user) are accidentally drawn into the wheels during the walking process to cause injury of the user is avoided, and the safety of the scooter is improved. However, the present invention is not limited thereto. When the front wheel fender is installed, the front wheel fender is fixed on the steering rod, so that the front wheel and the front wheel fender can rotate simultaneously; in the steering process of the vehicle body, the relative position of the rear wheel and the vehicle body cannot be changed, so that the rear wheel mudguard can be fixed on the top cover, the bottom cover or the supporting framework. Preferably, a plurality of reinforcing ribs are provided at the arc-shaped protrusions of the front and

rear wheel fenders

61 and 62, thereby enhancing the strength of the front and

rear wheel fenders

61 and 62.

The rear wheel fender 62 is provided with a brake member on the side facing the rear wheel, and the brake member may be made of a wear-resistant material having a large friction coefficient; the rear wheel fender 62 has elasticity, and the rear wheel fender 62 drives the brake member thereon to press the rear wheel under the action of external force, thereby playing a braking role. By adopting the braking mode, the braking part on the rear mudguard can be directly and backwards treaded to press the rear wheel for braking, the structures such as a brake cable and the like are not needed, the structure is simple, and the braking part can be independently replaced after the braking part is damaged.

In the embodiment, a tail lamp may be provided at the rear end of the vehicle body, and the tail lamp may be fixed to the support frame 11, or may be fixed to the top cover 14 or the bottom cover 15. Because the electric connecting wire for connecting the power supply and the tail lamp on the somatosensory scooter is routed from the main shaft 111, the tail lamp is preferably directly fixed on the main shaft 111, the tail lamp can be fixed at the rear end of the main shaft, and the electric connecting wire can be exposed from the opening at the rear end of the main shaft for connecting the tail lamp; or, the tail lamp can be connected in other positions on the main shaft, is equipped with the through wires hole corresponding to the tail lamp on being responsible for, and this through wires hole and the interior line passageway intercommunication of walking of main shaft expose from this through wires hole and be used for connecting the tail lamp, and the tail lamp can reduce the electric connection line that exposes in the automobile body outside according to above-mentioned structure setting, makes whole car structure succinct pleasing to the eye more.

The utility model provides a last used for of electric vehicle of light, button, touch-sensitive screen, display screen etc. are used for with user's interaction peripheral hardware, can set up on at least one in steering column or handle bar, it is corresponding also to be equipped with in handle bar 5 and walks the line passageway, should walk the line passageway with 4 and main shaft 111 in the steering column walk the line passageway intercommunication, and correspond peripheral hardware above that on the steering column at the handle bar, be equipped with the through wires hole, thereby make the connecting wire that the body felt on the scooter can be located inside the automobile body completely. The illuminating lamp is preferably arranged on the front side of the vehicle body, the illuminating lamp can be fixed on the main shaft 111 or the handle rod 5, and an electric connecting wire between the illuminating lamp and a power supply is routed from a routing channel in the main shaft 111 or the handle rod 5. The touch screen and the display screen may be combined, and in this case, it is preferable that the display screen serving as a display and providing a touch screen operation is provided on at least one of the steering lever 4 or the handlebar 5 for the user's operation. When the independent display screen is arranged, the display screen can also be arranged on the front side of the pedal device and is exposed out of the upper cover. Especially when using the motion sensor control vehicle motion, set up the display screen in pedal device front side, can make the vehicle outward appearance keep succinct.

The body of above-mentioned structure feels the scooter, novel structure forms support chassis through single main shaft and a plurality of reinforcement cooperation, and bearing structure is simple, is favorable to alleviateing whole car weight and volume, the transport of being convenient for. And the steering structure that drives the wheel to turn to sets up inside the wheel hub of directive wheel, and its concrete structure can't be observed in the outside. Furthermore, all or most of connecting wires on the scooter are routed from the steering rod and the inside of the main shaft, and the simplicity and the attractiveness of the scooter can be kept.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The somatosensory scooter comprises a steering rod, a scooter body and wheels, wherein the scooter body comprises a supporting framework, a pedal device, a driving device, a sensor group, a controller and a power supply, wherein the pedal device, the driving device, the sensor group, the controller and the power supply are arranged on the supporting framework; it is characterized in that the preparation method is characterized in that,

2. The somatosensory scooter of claim 1, wherein the body further comprises a cover body, the cover body comprises a top cover and a bottom cover which are detachably connected, the supporting framework is positioned between the top cover and the bottom cover, and the top cover and the bottom cover are fixed.

3. The somatosensory scooter of claim 2, wherein the internal components of the scooter body are disposed on at least one of the top cover, the bottom cover or the supporting frame; wherein, the internal component is selected from one or more of a power supply, a controller and a sensor.

4. The somatosensory scooter according to claim 1, wherein the middle section of the main shaft is a straight pipe or the main shaft is bent towards the same side as the whole, the reinforcements connected thereto are all located on the same side of the middle section of the main shaft, and the wheels connected to the main shaft are also located on the same side as the reinforcements; or the middle section of the main shaft is provided with a plurality of bending sections, the bending directions of two adjacent bending sections are opposite, and the reinforcing piece on each bending section is arranged in the horizontal plane towards the opposite direction of the bending direction corresponding to the bending section.

5. The somatosensory scooter of claim 1, wherein the steering mechanism comprises an axle and a steering shaft, the axle is a rotating shaft of the front wheel, the axle is rotatably connected to the hub and horizontally extends into the hub of the front wheel, the steering shaft is vertically fixed to the axle and located inside the hub of the front wheel, the supporting framework is connected with the steering shaft, and the supporting framework can rotate relative to the steering shaft.

6. The somatosensory scooter of claim 5, wherein the steering mechanism is connected to a steering rod through a steering rod joint, the steering rod is located outside the hub, the steering rod joint comprises a first section and a second section, the steering rod is fixed to the first section, and one end of the axle is fixed to the second section.

7. The somatosensory scooter of claim 5, wherein the somatosensory scooter comprises a hub body and a hub cover, the hub cover is fixedly connected with the hub body, the hub cover is rotatably connected with the wheel shaft, and the hub cover is used for fixing the wheel shaft to keep the wheel shaft horizontal.

8. A control method of a somatosensory scooter, which is applied to the somatosensory scooter according to any one of claims 1 to 7, the control method comprising the steps of:

9. The method for controlling the somatosensory scooter according to claim 8, wherein the controller compensating for the front pressure or the rear pressure according to the vehicle body inclination angle comprises:

10. The method for controlling the somatosensory scooter according to claim 8, wherein the controller obtains the current speed of the somatosensory scooter, and controls the driving device to output the torque force by combining the compensated front pressure and the compensated rear pressure comprises: