CN110893892B - Somatosensory scooter and control method thereof - Google Patents

Abstract

The invention relates to a somatosensory scooter and a control method thereof. The motion-sensing 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 piece 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 a hub of at least one front wheel, the steering mechanism is respectively connected with a 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 sensor, a gyroscope and an acceleration sensor, and the sensor group is respectively connected with the controller. A control method of a motion sensing scooter, which is suitable for the motion sensing scooter, and the method comprises the following steps: the controller compensates for the front pressure or the rear pressure according to the vehicle body inclination angle. The invention 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 walking tool, in particular to a somatosensory scooter and a control method thereof.

Background

Scooter is a common riding tool due to its portability. The scooter generally comprises a scooter body, wherein the front end of the scooter body is axially provided with 1 to 2 front wheels, the rear end of the scooter body is axially provided with 1 to 2 rear wheels, the front end of the scooter body is provided with a handle rod, the top end of the handle rod is provided with a handle, 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 through the handle rod. The existing scooter has two common driving modes of electric driving and manual power assisting driving, the electric driving scooter uses a power supply as a power source for advancing a scooter body, and the manual power assisting driving scooter enables a user to push the scooter forward by pedaling the ground. For the scooter under the two driving modes, the scooter body is a whole pedal, or consists of a whole supporting plate and a cover plate arranged on the supporting plate, and a wheel frame is welded at the front end and the rear end of the pedal or the supporting plate so as to install a front wheel or a rear wheel. The scooter with the structure does not need to install parts with larger volumes such as a power supply and a driving device on the scooter body, and the whole scooter body has no larger influence on the volume or the whole weight. However, for a scooter driven by electric power, in practical use, the following drawbacks exist:

1. The supporting 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, consumable materials in production are serious, and the production cost is increased;

2. the electric drive scooter has a complex structure of a rotating mechanism connected with the scooter body and the steering wheel and is completely exposed outside the scooter body, so that the aesthetic property of the whole scooter is affected;

3. the electric drive scooter, connecting wires of components such as a controller, a power supply and a driving device, and connecting wires of operating components on the scooter body are arranged in or out of the scooter body in disorder, so that the attractiveness of the whole scooter is affected.

Among the prior art, scooter's motion control mode can divide into motion sense control and manual control, and the in-process of driving, motion sense control is richer interesting, but current motion sense control's sensing car, and the accuracy 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 motion sensing scooter, which is improved in its supporting frame to achieve a sufficient supporting effect by 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, a user cannot observe the specific steering structure from the outside, and the aesthetic property of the vehicle is improved. And, set up the sensor group in order to realize the somatosensory control to the scooter, increase the interest in the driving process.

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

the embodiment of the application discloses a somatosensory scooter, which comprises a steering rod, a vehicle body and wheels, wherein the vehicle 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 support framework comprises a main shaft and reinforcing pieces fixed on the main shaft, the main shaft is at least partially arranged along the straight running direction of the motion-sensing scooter, each reinforcing piece is arranged along the axial direction of the main shaft, and the reinforcing pieces extend towards the direction for increasing the width of the support 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 a hub of at least one front wheel, the steering mechanism is respectively connected with a 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 sensor, a gyroscope and an acceleration sensor, wherein the body 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 is used for sensing the inclination angle of a vehicle body, and the sensor group is respectively connected with a controller for controlling 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 positioned between the top cover and the bottom cover, and the top cover and the bottom cover are fixed.

Preferably, the inner component of the vehicle body is provided 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 whole main shaft is bent towards the same side, all the reinforcements connected to 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 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 reversely arranged in the horizontal plane towards the corresponding bending direction of the bending section.

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

Preferably, a wiring channel is arranged in the steering rod, the wiring channel is communicated with the wiring channel in the main shaft, and the connecting wire of the control part directly or indirectly fixed on the steering rod and the power supply and the controller is wired from the steering rod and the main shaft.

Preferably, the steering mechanism comprises a wheel shaft and a steering shaft, the wheel shaft is a rotating shaft of the front wheel, the wheel shaft is rotatably connected to the wheel hub and horizontally extends to the inside of the front wheel hub, the steering shaft is vertically fixed on the wheel shaft and positioned in the inside of the front wheel hub, 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 with a steering rod through a steering rod joint, the steering rod structure is located on the outer side of the hub, the steering rod joint comprises a first section and a second section, the steering rod is fixed on the first section, and one end of the wheel shaft is fixed on the second section.

Preferably, the hub of the somatosensory scooter comprises a hub body and a hub cover, wherein the hub cover is fixedly connected with the hub body, the hub cover is rotationally connected with the wheel shaft, and the hub cover is used for fixing the wheel shaft to keep the wheel shaft horizontal.

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

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

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

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

The controller obtains the current speed of the body-sensing scooter and controls the driving device to output torsion 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 inclination angle of the vehicle body is judged to be larger than 0, the controller controls to increase the front pressure and control to decrease the rear pressure according to the ratio of the inclination angle of the vehicle body to the corresponding preset auxiliary adjustment coefficient;

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

The controller obtains the current speed of the body-sensing scooter and controls the driving device to output torsion by combining the compensated front pressure and the compensated rear pressure, and the method comprises the following steps:

the controller obtains the current speed of the vehicle through a motion sensing scooter motor Hall sensor;

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

and performing speed loop incremental operation according to the current speed and pressure ratio to obtain a control signal so as to control the driving device to output torsion.

The motion-sensing scooter with the structure can control the condition of the scooter by sensing the change of the gravity center position information of the human body, and the interestingness in the driving process is increased. The main pipe and the reinforcing piece are matched to form the supporting framework of the vehicle body, the structure is simple, the supporting framework has enough supporting strength, and compared with the supporting framework in the prior art, the supporting framework has the advantages of less material consumption in the production process, contribution to lightening the weight of the whole vehicle and convenience in carrying the whole vehicle. The steering mechanism is arranged in the hub of the front wheel serving as the steering wheel, and the whole vehicle is compact and attractive in appearance.

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

Drawings

Fig. 1 is a schematic structural view 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 of the connection structure of the front wheel and steering mechanism of the present invention (the steering rod joint is also included in the figure).

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

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

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

Fig. 10 is a cross-sectional view taken along 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 view of the structure of the rocker arm when the rocker arm rotates to the maximum angle to one side relative to the wheel axle.

Fig. 13 is a schematic view of the structure in which the rocker arm rotates to the maximum angle to the other side relative to 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 flow chart of a specific implementation of the control method of the present invention.

Wherein: 1. the vehicle body, 11, the support frame, 111, the main shaft, 112, the reinforcement, 12, the controller, 13, the power source, 14, the top cover, 15, the bottom cover, 2, the wheel, 21, the front wheel or the steering wheel, 22, the rear wheel or the driving wheel, 211, the hub, 212, the tire, 4, the steering lever, 5, the handle lever, 61, the front wheel fender, 62, the rear wheel fender, 71, the handle, 72, the screw, 81, the wheel shaft, 811, the second connection member, 82, the hub cover, 83, the steering shaft, 84, the rocker arm, 841, the first connection member, 8411, the abutment end surface, 842, the second connection member, 843, the third connection member, 85, the stopper, 9, the steering lever joint, 91, the first section, 92, the second section, 921, the first connection member.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

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

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," "held," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

For convenience in description, the horizontal direction parallel to the straight running direction of the motion sensing scooter is taken as the front-back direction, the horizontal direction perpendicular to the straight running direction of the motion sensing scooter is taken as the left-right direction, and the vertical direction perpendicular to the motion sensing scooter is taken as the up-down direction. The width direction of the body-feeling scooter or the scooter body and the supporting framework refers to the width in the left-right direction, and the length direction refers to the length in the front-back direction.

In the following 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 refer to the same component, which does not cause a problem of unclear technical solution.

The embodiment of the application discloses a body-sensing scooter, as shown in figures 1-3, the specific structure is as follows:

the body-feeling scooter comprises the scooter body 1 and wheels 2 arranged on the scooter body 1. The vehicle body 1 further comprises a support frame 11, pedal means arranged on the support frame, driving means (pedal means, driving means not shown), a controller 12 for controlling the vehicle conditions, and a power source 13 for powering the driving means and the controller. As shown in fig. 4 and 5, the supporting frame is composed of a single main shaft 111 and a plurality of reinforcing members 112 fixed to the main shaft 111, the main shaft 111 is disposed along a length direction for increasing the body feeling vehicle, in an embodiment, the main shaft 111 is disposed at least partially along a straight direction of the body feeling scooter to increase a length of the vehicle body, the wheels 2 are disposed at front and rear end portions of the main shaft, and a shape of a portion of the main shaft 111 for connecting the wheels, that is, front and rear ends of the main shaft may be different depending on a connection manner of the main shaft 111 and the wheels 2, for example, may be bent toward the wheels or may be kept parallel to the straight direction of the vehicle body. The 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 supporting frame 11 in the horizontal direction, and preferably the stress strength of the supporting frame composed of the main shaft 111 and the reinforcing members 112 is kept uniform in the length direction thereof. In an embodiment, the middle section of the spindle (in the present invention, the spindle is used to connect the rest of the wheel) may be provided as a straight tube or curved towards the same side as a whole, in which case all reinforcements are located on the same side of the middle section of the spindle, and the wheel connected to the spindle is also provided on the same side as the reinforcements. In other embodiments, or the middle section of the main shaft is provided with a plurality of bending sections, wherein the bending sections with opposite bending directions of two adjacent bending sections are provided, and the reinforcing piece on each bending section is reversely arranged in the horizontal plane towards the corresponding bending direction of the bending section. The main shaft 111 is a tubular structure, and the tubular structure may include a circular tubular shape, a polygonal tubular shape, or a tubular shape with any other cross-sectional shape; the tubular shape is not limited to the tubular shape extending in equal proportion as seen in the front-rear direction, but may be various irregularly extending tubular shapes. From the viewpoint of convenience in processing, it is preferable in this application to use a tubular shape extending in equal proportions. 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 be one or more, and in an alternative embodiment, the supporting framework includes two main shafts and a plurality of reinforcing members, and the two main shafts are connected end to form one main shaft.

The body-sensing scooter body with the structure adopts the supporting framework formed by matching the single main pipe with the plurality of reinforcing pieces, has simple structure and sufficient supporting strength, is less in material consumption in the production process compared with the supporting framework in the prior art, is beneficial to reducing the weight of the whole scooter and is convenient for carrying the whole scooter.

The reinforcing member 112 may take any shape such as a plate, a sheet, a block, or the like, and is not limited to a specific shape. In this embodiment, a ferrule 1121 matching with the outer diameter of the spindle is formed at one end of the stiffener 112, the stiffener 112 is welded and fixed after being connected to the outer wall of the spindle 111 through the ferrule 1121, and the stiffener is pre-mounted through the ferrule 1121, so that the mounting position of each stiffener can be conveniently adjusted, and the pre-positioning before the welding and fixing can be realized. The reinforcing member 112 may be used for mounting components in addition to enhancing the strength of the support frame, and thus, the reinforcing member may be formed with connection portions such as connection holes and screw holes.

The motion-sensing scooter of the invention adopts electric drive, which provides power for the driving device through the power supply 13, and in practical application, a lithium battery pack is generally adopted as the power supply. The vehicle body in this embodiment further includes a cover body, which in this application includes a top cover 14 and a bottom cover 15 that are detachably connected, and 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. In practical application, the top cover and the bottom cover can be fixed together through screws. When the somatosensory 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 have a decorative effect, and can also be made of rigid materials and have certain supporting strength.

The cover body in the application mainly plays a supporting role, and is not limited to the structure, and the cover body can also comprise a separate top cover or a separate bottom cover structure, or other structures capable of playing a supporting role can be called as the cover body of the application.

The internal components of the vehicle body are disposed between the top cover and the bottom cover, and they may be mounted on 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, and the controller 12 and the controller mounting position can be connected by fasteners, and the power supply and the controller can be limited by directly using a groove structure. In another embodiment, a power supply mounting location and a control location mounting location may also be formed on the top cover. The bottom cover and the top cover are respectively provided with a power supply installation position and a control position installation position; or only one of the bottom cover and the top cover is provided with a power supply installation position and a control position installation position. In other embodiments, one of the power mounting location and the control location mounting location 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 connection among the power supply, the controller and the cover body can be ensured to be reliable. Several of the internal components such as the controller and the power supply may also be fixed to the support frame, for example, the internal components may be directly fixed to the stiffener, or an installation site may be provided on the stiffener, where the internal components are provided; the installation position bound on the main shaft can also be arranged, and the internal components such as the controller, the power supply and the like are arranged in the installation position. In other embodiments, the internal components of the vehicle body may further include sensing elements such as sensors, which are mounted on the vehicle body in a similar manner to the power source 13 and the controller 12, and may be secured to at least one of the bottom cover 15, the top cover 14, or the support frame.

In order to reduce the volume of the vehicle body, a power supply arranged on a battery installation position and a controller arranged on a controller installation position are staggered with the main shaft and the reinforcing piece of the main shaft, so that the installation of the power supply and the controller is not limited by the plane of the reinforcing framework, and the space between the top cover and the bottom cover is fully utilized. Further, the power supply arranged on the battery installation position and the controller arranged on the controller installation position are separated through the reinforcing piece, the reinforcing piece plays a role in reinforcing, the serial positions among all the parts are avoided, all the parts on the vehicle body are orderly arranged, and the maintenance and the installation are convenient. Correspondingly, when the internal component comprises the sensing element, the sensing element such as the sensor arranged on the mounting position of the sensing element is dislocated with the power supply, the controller, the main shaft and the reinforcing piece of the main shaft after the mounting

The wheel 2 in the application is divided into a front wheel 21 and a rear wheel 22 according to the installation positions of the wheel in the front-rear direction, the front side of the supporting framework is provided with a steering rod 4, the steering rod 4 is vertically arranged to be connected with a steering mechanism, the upper part of the steering rod is provided with a handle rod 5, the steering rod 4 can be of a solid or hollow tube/rod-shaped structure, the cross section of the steering rod 4 and the radian in the vertical direction are not limited, and a user drives the steering rod 4 and the steering mechanism to control the advancing direction of a vehicle body through operating the handle rod 5; the wheels may be divided into a driving wheel and a driven wheel according to whether or not they are directly connected to the driving device. The wheel includes a tire 212 and a hub 211, an installation space is provided inside the hub 211, and a driving device may be a hub motor mounted on a hub serving as a driving wheel. In this embodiment, the rear wheels 22 are driving wheels, the front wheels 21 are driven wheels, and in number, one front wheel 21 is matched with one rear wheel 22, or one front wheel 21 is matched with two rear wheels 22, the front wheels 21 are matched with the main shafts of the supporting framework in a plugging manner, one or two rear wheels 22 are connected with the main shafts through rotating shafts, and in this connection manner, the front ends of the main shafts are bent towards the front wheels, and the rear ends of the main shafts are kept parallel to the advancing direction of the vehicle body. In the positional relationship of the front wheels 21 and the rear wheels 22, if one front wheel 21 is engaged with one rear wheel 22, the front wheels 21 and the rear wheels 22 are aligned front to back with their connecting lines coincident with their center lines; if one front wheel 21 is engaged with two rear wheels 22, the front wheels are positioned on the middles of the two rear wheels, and the mounting manner is to prevent the vehicle body from shifting during movement, thereby simplifying control of the movement path. In addition to the above, it is needless to say that more than two rear wheels 22 may be provided, and in the case of a plurality of rear wheels, only a plurality of rear wheels may be selected as the driving wheels. The installation space in the present embodiment is a space for providing an installation for the wheel axle, the steering shaft, and the like, and is preferably, but not limited to, an approximately cylindrical space surrounded by the hub 211 as shown in fig. 7, but may be other shapes of space that can be used for installing the wheel axle and the like.

The steering mechanism is connected to the hub of the front wheel to drive the vehicle body to rotate through the steering rod, and the steering mechanism is arranged in the inner space of the 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 inside the hub.

As shown in fig. 6-8, the steering mechanism includes an axle 81 and a steering shaft 83. The steering mechanism is connected with the steering rod 4 through a steering rod joint 9, the steering rod joint 9 is positioned at the outer side of the hub and is 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 a common connection mode such as plug-in fit, thread 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 inclination angle of the vertical section is preferably between-30 degrees and +30 degrees in the embodiment. The second section is arranged horizontally, the axis of the second section is coincident with the axis of the wheel shaft, and the first section and the second section which are arranged vertically are adopted, so that the steering rod and the wheel shaft are fixed more firmly, and the steering rod and the wheel shaft cannot shake and rotate easily. The steering rod joint 9 may be integrally provided or may include a plurality of independent processing members, and the plurality of independent members are connected and fixed by a connecting member.

As shown in fig. 14 and 15, the steering rod may be rotated with respect to the support rod to be folded at one side of the support rod. To achieve the folding function, in a preferred embodiment, the first section and the second section of the steering rod connector 9 are locked and connected by a fastener, the fastener includes a screw 72 and a handle 71, one end of the handle 71 is rotated to connect with one end of the screw 72, and the handle 71 can drive the screw 72 to lock or unlock the first section and the second section. The second section is provided in a cylindrical structure, a second connecting member 811 is fixed to an end portion of the wheel shaft 81, the second connecting member 811 is provided in a cylindrical structure which is insertable into the second section, and relative rotation between the second connecting member 811 and the second section 92 is possible. 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 fastening piece, after the second connecting piece 811 is inserted into the second section, the connecting hole is coaxially arranged with the screw hole, one end of the screw 72 on the fastening piece is matched and locked with the screw hole on the second connecting piece 811, and the other end of the screw 72 on the fastening piece is connected with the handle 71 which is positioned outside the second section. In the above connection structure, when the steering rod needs to be folded, the screw 72 is loosened to release the steering rod from the second connection member, and the steering rod 4 and the steering rod joint 9 are rotated 811 relative to the second connection member to fold.

As a preferred embodiment, the second section is provided with a first connecting member 921, adjacent ends of the first connecting member 921 and the second connecting member 811 are respectively provided with a toothed structure engaged with each other, and when the screw is screwed, the toothed 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 toothed structures, so that the adjusted position thereof is maintained. When the screw is loosened, the toothed structures on the first and second connecting members 921 and 811 can be separated so that they can be rotated relative to each other.

Preferably, a spring is connected between the first connecting member 921 and the second connecting member 811, and the spring is driven to deform when the first connecting member is folded with respect to the second connecting member, so that the restoring force of the spring can drive the steering rod to return when the steering rod needs to be unfolded again.

The connecting structure is arranged, when the steering rod is used, a user can lock the steering rod connector and the second connecting piece, so that the steering rod is vertical, and the steering rod is convenient to drive; when not riding, the user can drive the screw through the handle, makes steering rod joint and second connecting piece separation, and the steering rod joint is around the free rotation of second connecting piece, can realize the folding of steering rod and place.

The hub of the somatosensory scooter comprises a cylindrical hub body and a hub cover, wherein the hub cover is fixedly connected with the hub body and is rotationally connected with the wheel axle, and the hub cover is used for fixing the wheel axle to keep the wheel axle horizontal.

In this embodiment, one end of the axle 81 is in a plug-in engagement with the second section of the steering joint and is 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 state where the wheels are upright, and the wheel shaft 81 rotates the connecting hub cover 82 to achieve connection of the front wheel 21 with the steering rod 4. In the embodiment, the wheel axle 81 is fixed to the wheel hub by a bearing, and a mounting bracket (the structure of the mounting bracket is not shown in the figure) for connecting the wheel axle is provided inside the wheel hub, and the bearing is fixed by the mounting bracket; or the hub includes a hub cap 82 with bearings 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 running direction of the vehicle body, and the steering shaft 83 is positioned in the installation space inside the wheel hub. The steering shaft 83 has a center substantially coincident with the center of the steering wheel, and preferably the steering shaft 83 coincides with the center line of the front wheel (the center line is perpendicular to the axis of the front wheel and perpendicular to the advancing direction of the vehicle body), so that the vehicle body can be prevented from shifting the rotation center of the front wheel during steering. In an embodiment, the front end of the main shaft in the supporting framework is integrally formed with a connecting head part rotationally 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 rocking arm rotates and connects the steering spindle, and support skeleton front end is fixed with the rocking arm, and the rocking arm is independent of main shaft independent processing, compares in integrated into one piece at the connection head on main shaft upper portion more easily shaping.

In this embodiment, the hub cover 82 is used to fix the axle, 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 laterally in the axial direction are provided thereon, and the reliability of the connection between the axle 81 and the hub cover 82 can be ensured by fixing the axle with two or more bearings. 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 piece; or it may be an integral structure between the hub cover 82 and the hub body. In order to make the installation structure of each part in the hub compact and facilitate the positioning of each part connected with the wheel axle, in this embodiment, the wheel axle 81 is provided with a plurality of steps formed in the axial direction according to the radial dimension of the wheel axle, and the installation position of the bearing on the wheel axle is limited by the steps, so that the bearing on the wheel axle 81 is prevented from being shifted due to the 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 a washer and a nut, thereby fixing it on the wheel shaft 81. The rocker arm 84 is a Y-shaped connecting piece and comprises a first connecting joint 841, a second connecting joint 842 and a third connecting joint 843, wherein the first connecting joint 841 and the second connecting joint 842 are arranged symmetrically up and down, one ends of the first connecting joint 841 and the second connecting joint 842 are connected, the third connecting joint 843 is horizontally arranged at the connecting position of the first connecting joint and the second connecting joint, the first connecting joint 841 and the second connecting joint 842 of the rocker arm are respectively connected with the upper end and the lower end of the steering shaft 83 in a rotating mode, and the rocker arm 84 rotates by taking the steering shaft 83 as the center. The front end of the main shaft in the supporting framework is fixed on the third connector 843 of the rocker arm, and when the rocker arm rotates relative to the steering shaft, the main shaft and the third connector can be connected in a threaded connection or riveting mode, so that relative movement between the rocker arm and the supporting framework can not occur. In this embodiment, there are two symmetrical rotational connection points between the rocker 84 and the steering shaft 83, which is advantageous in maintaining the stability of the vehicle body in rotation, and the fasteners for fixing the steering shaft, such as nuts, can be installed in the space between the first connector 841 and the second connector 842 of the rocker, so that the parts in the steering structure are compactly connected in the hub, and washers and nuts are usually provided to cooperate to prevent the connection from loosening when connecting. 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 rotation space when the rocker arm rotates around the steering shaft, the rotation amplitude of the rocker arm is increased, and in a preferred embodiment, a hub with a larger inner diameter (the inner diameter of the hub refers to the diameter of the circular section corresponding to the inner wall of the hub); in another preferred embodiment, the connection point of the rocker arm and the steering shaft is arranged close to the connection point of the steering shaft and the wheel axle in order to increase the rotation amplitude of the front wheel as much as possible under the premise of ensuring that the wheel does not deviate from the center during steering. As shown in fig. 9-13, the first connector 841 of the rocker arm in this embodiment includes a connecting portion for connecting with a steering shaft and a limiting portion for limiting the rotation angle of the rocker arm 84 around the steering shaft 83, where the limiting portion includes a plurality of abutting end faces 8411 located in different planes, and the second connector has the same structure as the first connector; a limiting piece 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 faces 8411 on the rocker arm limiting part abut against the limiting piece 85.

In this embodiment, a through hole capable of being sleeved on the axle 81 is provided in the middle of the limiting piece 85, the limiting piece is sleeved behind the axle, and two sides of the limiting piece are limited by a limiting step and a nut formed on the axle 81 respectively. In other embodiments, the limiting plate 85 and the wheel shaft 81 may be fixed by welding. In the present embodiment, the stopper portion of the rocker arm 84 has two abutment end faces 8411, and the range of rotation of the rocker arm 84 with respect to the steering shaft 83 is restricted by the two abutment end faces 8411 and the stopper piece 85 being engaged. 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 faces 8411 on the limiting part 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 rotates to the maximum angle toward the other side with respect to the steering shaft 83, the other abutment end face 8411 on the stopper portion abuts against the stopper piece 85, and the rocker arm cannot continue to rotate in this direction. In this embodiment, can rotate to with the wheel hub lateral wall offset limit continue before rotating, limit the rotation scope through the face cooperation of spacing piece and spacing portion, be favorable to prolonging wheel hub's life. Even if the position limiting sheet is damaged in the later period, the position limiting sheet only needs to be replaced.

The scooter with the structure has the following action principle: when steering is needed, the handle rod 5 is pushed and pulled to drive the steering rod 4 to rotate in one direction, the steering rod 4 rotates to drive the wheel shaft 81 to move back and forth, and the steering wheel (front wheel) can bear a forward or backward force at the moment because the wheel shaft 81 is fixed on the wheel hub cover 82; meanwhile, as the steering shaft 83 is fixed on the wheel shaft 81, the steering shaft 83 is rotationally connected with the rocker arm 84, and the steering shaft 83 and the rocker arm 84 rotate relatively when the wheel shaft 81 moves forwards or backwards, so that the steering wheel is offset in one direction relative to the vehicle body.

The scooter in this embodiment can be used for controlling the condition of the scooter, such as a plurality of battery cars or electric scooters in the market, and the control components such as physical or virtual keys, knobs or levers are matched with the controller to be connected with the driving device, so as to realize the control of the condition of the scooter. The scooter basically comprises a vehicle start-stop and a vehicle speed. The power supply can also comprise additional functions such as an alarm horn or an illuminating lamp, the additional functions can also be realized by matching the operating parts such as a button with the controller and connecting the external parts such as a buzzer or an indicator lamp, the power supply is also connected with the controller, and an external interface is arranged on the controller so as to realize the charging of the power supply. The operating member may be provided on a handle bar, a steering bar, or an operating panel fixed to the steering bar. Of course, charging circuits, switching circuits, DC-DC circuits, speed measuring circuits, power amplifier circuits and other peripheral circuits used for electric vehicles are also arranged between the controller and the driving device, between the power supply and the buzzer and other peripheral circuits, and are all of the prior art and are not described herein. Preferably, the steering rod and the main shaft are provided with wiring channels, and the connecting wires between the operating part arranged on the handle and the power supply, the controller and the driving device are wired from the steering rod and the main shaft of the supporting framework, so that all the connecting wires are hidden in the vehicle body.

The control of the forward and backward movement of the scooter and the power output by the current driving device can be adjusted by sensing the change of the gravity center of the scooter, besides the adjustment by the user operating the corresponding physical or virtual operation part. In a specific implementation, a body 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 framework bracket, the body 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. For its specific implementation reference is made to the prior patent documents disclosed in publication nos. CN206954410U, CN206954412U, CN206964409U and CN 206954411U. The gravity center position sensor can be used for sensing rolling displacement information of the gravity center position sensor relative to the pedal device; or the gravity center position sensor may be a sensor for detecting the front pressure and the rear pressure of the pedal device; or a center of gravity position sensor for sensing relative angular velocity information between the foot rest and the support frame. The gravity center position sensor may acquire the gravity center position information of the user on the pedal apparatus in a manner other than the above.

The above patent documents disclose a plurality of optional structures of the body sensor and the center of gravity position information acquired under the corresponding structures, a plurality of optional structures of the pedal device and the cooperation relationship between the pedal device and the body sensor of the corresponding structures, a control mode of the controller for controlling the movement of the vehicle body according to the acquired center of gravity position information, and the like. The technical features disclosed in the foregoing prior patent documents can be directly applied in the present application. It should be noted that, as described in the above patent, the pedal device may be two independent components mounted on the supporting frame 11 in front and back, or may be two pedal areas or pedal positions that are staggered in front and back and are divided from one integral component mounted on the supporting frame 11, and in an embodiment, the pedal device may 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 pedal portion, and two pedal areas, which correspond to the body sensor 141 provided on the support frame, are divided on the rigid plate portion so as to be displaced in the front-rear direction. In an embodiment, when a pressure sensor is used as the body 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 foot rest provided as a separate component may be fixed to the reinforcement in the support frame.

According to another aspect of the present application, as shown in fig. 16, a control method of a motion sensing scooter is also provided, which is suitable for the motion sensing scooter in the above embodiment. The control method comprises the following steps:

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

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

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

step S104, the controller obtains the current speed of the body-sensing scooter and combines the compensated front pressure and the compensated rear pressure to control the driving device to output torsion.

By adopting the embodiment, the body-feeling scooter can compensate the front pressure and the rear pressure according to the inclination angle of the scooter body and control and adjust the output torque of the driving device by combining the current speed of the scooter, so that the advancing speed of the scooter body can be adjusted when the scooter passes up and down slopes, the body-feeling scooter can stably travel on the up and down slopes, and the user experience degree is improved.

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

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

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

The pressure value at the front and the rear parts is controlled to be increased or decreased by judging the inclination angle of the vehicle body, and the compensation method is simpler and easier to implement and has better actual compensation effect.

In a preferred embodiment, the step S104, the controller obtains the current vehicle 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:

the controller obtains the current speed of the vehicle through a motion sensing scooter motor Hall sensor;

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

and performing speed loop incremental operation according to the current speed and pressure ratio to obtain a control signal so as to control the driving device to output torsion.

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 slopes on the vehicle speed.

A method for controlling a motion-sensing scooter using a pressure sensor as a motion-sensing sensor will be described, as shown in fig. 17, and includes the steps of: firstly, setting a starting threshold value of the somatosensory vehicle, after a rider steps on the pedal device, acquiring a Front pressure P_front value and a rear pressure value P_Back by the somatosensory sensor, judging that the Front pressure value and the rear pressure value are larger than the starting threshold value, entering a riding state, and starting to drive the motor to rotate. The Front pressure P_front and the rear pressure P_Back are obtained by the motion sensor, taking absolute values and performing sliding filtering processing. Then calculating the sum of the Front and rear pressure values, p_add=p_front+p_back, by p_front and p_back, and calculating the difference of the Front and rear pressure values, p_sub=p_front-p_back; calculating the Ratio p_ratio= (p_sub/p_add) ×a (a is a scaling factor, which can be adjusted according to the actual situation).

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, an upward-downward gradient, that is, an inclination Angle slope_angle of a vehicle body is obtained through a gyroscope and an acceleration sensor, and a Front pressure p_front or a rear pressure p_back is compensated; the method comprises the following steps: reading the values of a gyroscope and an acceleration sensor of the somatosensory vehicle, and obtaining the gradient, namely a vehicle body inclination Angle; compensating the front pressure or the rear pressure according to the Slope Angle of the vehicle body; the compensated front and rear pressures are calculated. The back pressure can increase when the scooter is felt to the body, and front pressure can reduce, just opposite when downhill, and this step can offset the change of pressure Ratio P_ratio under the influence of gravity when the scooter is felt to the body when downhill to the body 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 control to decrease the rear pressure according to the ratio of the vehicle body inclination angle to the corresponding preset auxiliary adjustment 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 of B1 requires a value smaller than the value slope_angle of the inclination Angle, the ratio of the vehicle body inclination Angle slope_angle to the preset auxiliary adjustment coefficient B1 is as a compensation coefficient for the Front pressure compensation value at this time, which 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 on the basis of the Front pressure p_front, and expressed as the formula: p_front_plus=p_front x (1+slope_angle/B1); the auxiliary adjustment coefficient for the rear pressure is B2, the value of B2 is required to be greater than the value slope_angle of the inclination Angle, the ratio of the vehicle body inclination angle_angle to the preset auxiliary adjustment coefficient B2 is taken as the compensation coefficient of the rear pressure compensation value at this time, and the product of the rear pressure p_back and the compensation coefficient is subtracted from the rear pressure p_back at this time, and the formula is as follows: p_back_plus=p_back (1-slope_angle/B2). When the vehicle body inclination angle is judged to be smaller than 0, the controller controls to reduce the front pressure and control to increase the rear pressure according to the ratio of the vehicle body inclination angle to the corresponding preset auxiliary adjustment 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, and the B3 value is required to be larger than the absolute value of the inclination Angle slope_angle, the ratio of the vehicle body inclination Angle slope_angle to the preset auxiliary adjustment coefficient B3 is taken as the compensation coefficient of the Front pressure compensation value at this time, which is a negative number, 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 on the basis of the Front pressure p_front, thereby reducing the Front pressure, expressed as: p_front_plus=p_front x (1+slope_angle/B3); the auxiliary adjustment coefficient for the rear pressure is B4, the value of B4 is required to be smaller than the absolute value of the value slope_angle of the inclination Angle, the ratio of the vehicle body inclination Angle slope_angle to the preset auxiliary adjustment coefficient B4 is taken as the compensation coefficient of the rear pressure compensation value at this time, and the rear pressure compensation value p_back_plus is obtained by subtracting the product of the rear pressure p_back and the compensation coefficient on the basis of the rear pressure p_back, so that the rear pressure is increased, and the formula is 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 driving device to output torsion by combining the compensated front pressure and the compensated rear pressure. The method comprises the following steps:

the controller obtains the current speed of the vehicle through a motion sensing scooter motor Hall sensor;

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

and performing speed loop incremental operation according to the current speed and pressure ratio to obtain a control signal so as to control the driving device to output torsion.

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, thereby realizing the control of the motion state of the body-sensing scooter. The Speed car_speed is calculated by a motor Hall value, or a Speed sensor can be arranged on the motion sensing vehicle frame, and the current Speed can be obtained through the Speed sensor.

In the body sensing vehicle in the embodiment, besides the vehicle speed controlled by the body sensing sensor, a constant speed cruising mode is further arranged, and the two modes are selectively switched through an external trigger signal such as a button. In the cruise mode, the riding speed is kept at the speed when triggered (for example, when a button is pressed), and the speed is not influenced by the pressure Ratio P_ratio or the compensated front-back pressure Ratio P_ratio_plus, so that the PWM duty Ratio of the motor can be calculated directly through the speed. The control method can be executed by the somatosensory vehicle, wherein the constant-speed cruising model and the mode of controlling the vehicle speed by the somatosensory sensor can be switched by keys.

In the body-feeling scooter of the present invention, it is preferable that a front wheel fender 61 and a rear wheel fender 62 are provided corresponding to the front wheel and the rear wheel, respectively, the front wheel fender 61 and the rear wheel fender 62 each include a connection portion and an arc-shaped protruding portion, the front wheel fender and the rear wheel fender are connected to other portions of the vehicle body at the connection portions thereof, and the arc-shaped protruding portion is located above the front wheel or the rear wheel and covers a part of the wheels. In an embodiment, the width of the arc-shaped protruding portions of the front wheel fender and the rear wheel fender is preferably set to be larger than the width of the corresponding wheels, so that the arc-shaped protruding portions can completely shield the corresponding wheels. The front wheel fender and the rear wheel fender are used for blocking mud splashed by wheels when the scooter walks, and meanwhile, the possibility that a suspended object (such as a waistband with overlong clothes on a user) is accidentally involved in the wheels in the running process to cause injury of the user is avoided, and the safety of the scooter is improved. However, the present invention is not limited in any way 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 change, so that the rear wheel mud guard 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 convex portions of the front and rear wheel fenders 61 and 62, thereby reinforcing the strength of the front and rear wheel fenders 61 and 62.

The rear wheel fender 62 is provided on the side facing the rear wheel with a braking member, which may be made of a wear-resistant material having a high coefficient of friction; the rear wheel fender 62 has elasticity, and the rear wheel fender 62 drives a braking member thereon to press the rear wheel under the action of external force, thereby playing a braking role. By adopting the braking mode, the rear fender can be directly trampled backwards to enable the braking part on the rear fender to press the rear wheel for braking, the structure such as a brake cable is not required to be arranged, 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 further disposed at the rear end of the vehicle body, and the tail lamp may be fixed to the supporting 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 runs 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 rear end opening of the main shaft for connecting the tail lamp; or, the tail lamp can be connected in other positions on the main shaft, and the main pipe is provided with a threading hole corresponding to the tail lamp, the threading hole is communicated with a wiring channel in the main shaft, the electric connecting wire is exposed from the threading hole and used for connecting the tail lamp, and the tail lamp can reduce the electric connecting wire exposed outside the automobile body according to the arrangement of the structure, so that the whole automobile structure is more concise and attractive.

The external parts of the lighting lamp, the button, the touch screen, the display screen and the like which are commonly used on the electric vehicle and used for interacting with a user can be arranged on at least one of the steering rod or the handle rod, the corresponding part in the handle rod 5 is also provided with a wiring channel which is communicated with the wiring channel in the steering rod 4 and the main shaft 111, and the corresponding external parts on the handle rod and the steering rod are provided with threading holes, so that the connecting wire on the body-feeling scooter can be completely positioned in the vehicle body. Wherein, the illumination lamp is preferably arranged at the front side of the vehicle body, the illumination lamp can be fixed on the main shaft 111 or the handle rod 5, and an electric connection wire between the illumination lamp and a power supply is wired from a wiring channel in the main shaft 111 or the handle rod 5. The touch screen and the display screen may be combined, in which case a display screen for displaying and providing a touch screen operation is preferably provided on at least one of the steering lever 4 or the handle lever 5 for user operation. When the independent display screen is arranged, the display screen can also be arranged at the front side of the pedal device and is exposed out of the upper cover. Particularly, when the motion of the vehicle is controlled by using the motion sensor, the display screen is arranged on the front side of the pedal device, so that the appearance of the vehicle can be kept compact.

The motion-sensing scooter with the structure is novel in structure, the supporting framework is formed by matching the single main shaft with the plurality of reinforcing pieces, the supporting structure is simple, the weight and the volume of the whole scooter are reduced, and the transportation is convenient. And the steering structure for driving the wheels to steer is arranged inside the hub of the steering wheel, and the specific structure of the steering structure cannot be observed outside. Furthermore, all or most connecting wires on the scooter run from the steering rod and the inside of the main shaft, and the simplicity and the attractiveness of the vehicle can be kept.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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 will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. The motion sensing 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 method comprises the steps of,

the support framework comprises a main shaft and reinforcing pieces fixed on the main shaft, the main shaft is at least partially arranged along the straight running direction of the motion-sensing scooter, each reinforcing piece is arranged along the axial direction of the main shaft, and the reinforcing pieces extend towards the direction for increasing the width of the support 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 a hub of at least one front wheel, the steering mechanism is respectively connected with a 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 sensor, a gyroscope and an acceleration sensor, wherein the body 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 is used for sensing the inclination angle of a vehicle body, and the sensor group is respectively connected with a controller for controlling the output force of the driving device according to the front pressure, the rear pressure and the inclination angle;

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

2. The motion sensing scooter of claim 1, wherein the body further comprises a cover comprising a top cover and a bottom cover removably connected, the support frame being positioned between the top cover and the bottom cover, the top cover and the bottom cover being secured.

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

4. The motion sensing scooter of claim 1, wherein a middle section of the main shaft is a straight pipe or the whole main shaft is bent toward the same side, the reinforcing parts connected to the main shaft are all 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 as 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 reversely arranged in the horizontal plane towards the corresponding bending direction of the bending section.

5. The motion sensing scooter of claim 1, wherein the steering mechanism is coupled to a steering rod via a steering rod joint, the steering rod being located outside the hub, the steering rod joint comprising a first section and a second section, the steering rod being secured to the first section, one end of the axle being secured to the second section.

6. The body-feel scooter of claim 1, wherein the hub of the body-feel scooter comprises a hub body and a hub cap, the hub cap is fixedly connected with the hub body, the hub cap is rotatably connected with the wheel axle, and the hub cap is used for fixing the wheel axle to keep the wheel axle horizontal.

7. A method of controlling a motion sensing scooter, suitable for use in a motion sensing scooter according to any one of claims 1 to 6, the method comprising the steps of:

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

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

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

the controller obtains the current speed of the body-sensing scooter and controls the driving device to output torsion by combining the compensated front pressure and the compensated rear pressure.

8. The method of claim 7, wherein the controller compensating for the front pressure or the rear pressure according to the vehicle body inclination angle comprises:

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

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

9. The method of claim 7, wherein the controller obtains a current vehicle speed of the motion-sensing scooter and controlling the driving device to output torque in combination with the compensated front pressure and the compensated rear pressure comprises:

the controller obtains the current speed of the vehicle through a motion sensing scooter motor Hall sensor;

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

and performing speed loop incremental operation according to the current speed and pressure ratio to obtain a control signal so as to control the driving device to output torsion.

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