CN207450113U - Electrodynamic balance vehicle - Google Patents
Electrodynamic balance vehicle Download PDFInfo
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- CN207450113U CN207450113U CN201720928875.7U CN201720928875U CN207450113U CN 207450113 U CN207450113 U CN 207450113U CN 201720928875 U CN201720928875 U CN 201720928875U CN 207450113 U CN207450113 U CN 207450113U
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- earth element
- electrodynamic balance
- wheel skidding
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Abstract
The utility model embodiment provides a kind of electrodynamic balance vehicle, which is characterized in that including at least two wheel skidding devices, connector is provided between two neighboring wheel skidding device, for two wheel skidding devices to be assembled integrally, each wheel skidding device includes：Pedal, main earth element, driving element, the first controller and first sensor, pedal are coupled to main earth element, and main earth element is coupled to driving element, and the first controller is coupled to driving element and first sensor；Pedal is configured to be suitable for driver's single-point on wheel skidding device to stand, and is configured to forward or tilt backwards when single-point is stood after assembling, and first sensor is used to sense posture of the driver on pedal；Driving element acts and maintains wheel skidding device generally in the output signal of equilibrium state for generating control earth element；Main earth element is configured to act under the driving of driving element, and the first controller is configured to export the generation of signal according to gesture stability, improves the user experience of electrodynamic balance vehicle.
Description
Technical field
The utility model embodiment is related to skidding or walking-replacing tool technical field more particularly to a kind of electrodynamic balance vehicle.
Background technology
Roller skate can be divided mainly into velocity profile, manipulation type, still, this two as a kind of converter tools or walking-replacing tool
The structure type of class roller skate is basically identical, different including shoe body and mounted on the wheel carrier of sole and several idler wheels
It is the difference according to purpose of usage, quantity, size and the arrangement of idler wheel have certain difference.It is by behaviour during use
Author manpower driving such as by pedaling realization slides, so as to have some limitations for a long time use or it is easy
Physical fatigue is caused, in addition, during sliding, standing will keep balancing in roller skate, to the more demanding of operator, from
And the user experience for ultimately resulting in roller skate is poor.
The content of the invention
In view of this, one of the technical issues of the utility model embodiment solves be to provide a kind of electrodynamic balance vehicle,
To overcome or alleviate above-mentioned technological deficiency in the prior art.
The utility model embodiment provides a kind of electrodynamic balance vehicle, including at least two wheel skidding devices, two neighboring wheel
Connector is provided between sliding device, for two wheel skidding devices to be assembled integrally, each wheel skidding device includes：Pedal, master
Earth element, driving element, the first controller and first sensor, the pedal is coupled to the main earth element, described
Main earth element is coupled to the driving element, and first controller is coupled to the driving element and first sensing
Device；The pedal is configured to be suitable for driver's single-point standing on wheel skidding device, and is configured to after assembling when single-point is stood
It can forward or tilt backwards, the first sensor is for sensing posture of the driver on the pedal；The driving member
Part controls the earth element to act and maintains the wheel skidding device generally in the output signal of equilibrium state for generating；
The main earth element is configured to act under the driving of the driving element, and first controller is configured to according to the appearance
The generation of the state control output signal.
By above technical scheme as it can be seen that electrodynamic balance vehicle avoids manpower driving work realization cunning in the utility model embodiment
In addition, during sliding, equilibrium state can be maintained due to having with this province of device for physical fatigue caused by row, right
The operation skill requirement of operator is relatively low, so as to improve user experience, in other words, provides a kind of user experience on the whole more
Good wheel skidding device.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments described in the utility model embodiment, it for those of ordinary skill in the art, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is the structure brief configuration schematic diagram of wheel skidding device in the utility model embodiment one；
Fig. 2 is the structure brief configuration schematic diagram of wheel skidding device in the utility model embodiment two；Such as figure
Fig. 3 a, Fig. 3 b are one of structure brief configuration schematic diagram of wheel skidding device in the utility model embodiment three and it
Two；
Fig. 3 c are the schematic diagram of fixed pedestal in alternative the utility model embodiment three；
Fig. 4 is the wheel skidding device brief configuration schematic diagram in the utility model embodiment four；
Fig. 5 is the specific implementation structure diagram of wheel skidding device in the utility model embodiment five；
Fig. 6 is the specific implementation structure diagram of wheel skidding device in the utility model embodiment six；
Fig. 7 a, Fig. 7 b are two of one of structure diagram of wheel skidding device sum in the utility model embodiment seven；
Fig. 8 is the partial schematic diagram of wheel skidding device in the utility model embodiment eight；
Fig. 9 is the control principle schematic diagram of wheel skidding device in the utility model embodiment nine；
Figure 10 is the structure diagram that auxiliary earth element is set in the utility model embodiment ten；
Figure 11 is rotating direction control method flow diagram in the utility model embodiment 13；
Figure 12 is the structure diagram of electrodynamic balance vehicle in the utility model embodiment 12；
Figure 13 is the structure diagram of electrodynamic balance vehicle in the utility model embodiment 13；
Figure 14 is the structure diagram of electrodynamic balance vehicle in the utility model embodiment 14；
Figure 15 is the structure diagram of electrodynamic balance vehicle in the utility model embodiment 15.
Specific embodiment
Certainly, implement any technical solution of the utility model embodiment must be not necessarily required to reach simultaneously more than it is all
Advantage.
In order to which those skilled in the art is made to more fully understand the technical scheme in the embodiment of the utility model, below in conjunction with this
Attached drawing in utility model embodiment, the technical scheme in the utility model embodiment is clearly and completely described, shows
So, described embodiment is only the utility model embodiment part of the embodiment, instead of all the embodiments.Based on this reality
With the embodiment in new embodiment, those of ordinary skill in the art's all other embodiments obtained should all belong to this
The scope of utility model embodiment protection.
Further illustrate that the utility model embodiment implements with reference to the utility model embodiment attached drawing.
Electrodynamic balance vehicle is provided in the following embodiments of the utility model embodiment, including at least two wheel skidding devices, phase
Connector is provided between adjacent two wheel skidding devices, for two wheel skidding devices to be assembled integrally, each wheel skidding device includes：
Pedal, main earth element, driving element, the first controller and first sensor, the pedal are coupled to the main ground connection member
Part, the main earth element are coupled to the driving element, and first controller is coupled to the driving element and described
One sensor；The pedal is configured to be suitable for driver's single-point standing on wheel skidding device, and is configured to after assembling in single-point
It can forward or be tilted backwards during standing, the first sensor is for sensing posture of the driver on the pedal；It is described
Driving element controls the earth element to act and maintains the wheel skidding device generally in the defeated of equilibrium state for generating
Go out signal；The main earth element is configured to act under the driving of the driving element, and first controller is configured to root
According to the generation that signal is exported described in the gesture stability, avoid manpower driving work realization and slide caused physical fatigue, in addition,
During sliding, can equilibrium state can be maintained with this province of device due to having, to the requirement of the operation skill of operator compared with
It is low, so as to improve user experience, in other words, a kind of better wheel skidding device of user experience is provided on the whole.
In the following embodiments of the utility model embodiment, the first sensor is specifically used for sensing driver and is stepped on described
Posture on plate simultaneously generates pitching sensed data, and first controller is specifically used for determining institute according to the pitching sensed data
State the current pitch angle of pedal.First controller is when controlling the output signal of the driving element, especially by described
Pedal it is expected that pitch angle and the current pitch angle control the output signal of the driving element, for example passes through the pedal
The differential seat angle it is expected between pitch angle and the current pitch angle.
It is following to realize that above-mentioned wheel skidding device illustrates in the form of specific roller skate, however, it is desirable to explanation
That roller skate is not unique way of realization of wheel skidding device, above-mentioned wheel skidding device can also be made suitable on hand into
The product form of row skidding, alternatively, carrying out any products form of skidding suitable for disabled person.
Further, in following embodiments, the earth element is illustratively wheel, and the earth element is in the drive
It is rolled under the driving of dynamic element.When subsequent control turns to, the rotating speed of wheel is controlled to generate to control what is turned to turn
Speed difference.
But in other embodiments, it is not limited to wheel or any other actual object can be formed with ground
Manage the structure type of contact.For example if applied to the scenes such as skating or skiing, the earth element can also be similar flat
The structural member of plate, the earth element are slided under the driving of the driving element.
Further, in following embodiments, the first sensor is specifically as follows gyroscope, still, is not limited to
Gyroscope, as long as posture of the driver on the pedal can be sensed and generate pitching sensed data.Following embodiments
In, first sensor is not illustrated.
Further, in following embodiments, the driving element is specially motor, and still, portion is not limited as motor, only
The earth element can be driven to be acted, can realize specific application scenarios.When the driving element is electricity
During machine, the output signal of the driving element is the output torque of the driving element.
Embodiment one (an independent grounding element)：
Fig. 1 is the structure brief configuration schematic diagram of wheel skidding device in the utility model embodiment one；As shown in Figure 1, with
When this specific product form of roller skate realizes wheel skidding device, roller skate specifically includes above-mentioned pedal 101, earth element 102, electricity
Machine (not shown in figure 1), the first controller (not shown in figure 1), the pedal 101 is configured to be suitable for standing on one leg, described
The quantity of earth element 102 is specially one, i.e., only there are one contact points by the roller skate and ground by driver.It is corresponding
Ground, the quantity of the driving element is one.
Specifically, the driving element can be directly embedded in the wheel hub of the earth element 102, so that skidding
It is more compact in footwear overall structure.
However, it is desirable to explanation, if without considering or emphasis consider the integrally-built compactedness of roller skate, the drive
Dynamic element can not also be arranged in the wheel hub of the earth element 102 with embedded mode, for example, by fixed seat or its
His similar structures are set directly at the lower position of pedal 101.
Embodiment two (two earth elements 102a and 102b closely setting)
Fig. 2 is the structure brief configuration schematic diagram of wheel skidding device in the utility model embodiment two；As shown in Fig. 2, this reality
It applies in example, unlike above-described embodiment one, the quantity of the earth element is two, respectively earth element 102a,
102b, the horizontal spacing between earth element 102a, 102b is smaller, so as to fulfill that will be positioned close to 101 center of pedal
Position at so that driver forms two contact points by the roller skate and ground, used so as to reduce roller skate
Difficulty.
In the present embodiment, laterally setting is i.e. vertical with the direction that roller skate is advanced for the transmission shaft of the driving element, described
The both ends of transmission shaft set the earth element 102a and 102b respectively, and the driving element is embedded in the earth element 102
Wheel hub in, and pass through transmission shaft and be directly connected to the earth element 102a, while with not being embedded with the driving element
Earth element 102b is coupled.In other words, the earth element 102a of the driving element is embedded with during roller skate is advanced
As driving wheel, and the earth element 102b of the driving element is not embedded with as driven wheel, the driven wheel is in the master
It is rotated under the drive of driving wheel.
It should be noted that in other embodiments, one can also be respectively configured to described earth element 102a, 102b
Motor, so that the action of each earth element can be controlled individually.
Embodiment three (distantly located two earth elements 102a and 102b)
Fig. 3 a, Fig. 3 b are one of structure brief configuration schematic diagram of wheel skidding device in the utility model embodiment three and it
Two；As shown in Figure 3a, 3b, in the present embodiment, from above-described embodiment and unlike, earth element 102a, 102b are set respectively
It puts at the position close to 101 left and right sides edge of pedal, i.e., the two contact point lateral separations formed with ground are larger,
So as to further reduce the difficulty that roller skate uses.
Similar above-described embodiment two, earth element 102a, 102b share a motor, specifically by the biography of the driving element
It is vertical with the direction that roller skate is advanced that moving axis, which is laterally set, and the both ends of the transmission shaft set the earth element respectively
102a, 102b, the driving element are embedded in the wheel hub of the wherein one earth element 102a, and pass through transmission shaft with it is described
Earth element 102a is directly connected to, while the earth element 102b with not being embedded with the driving element is coupled.In other words, embed
The earth element 102a for having the driving element is used as driving wheel during roller skate is advanced, and is not embedded with the driving
The earth element 102b of element is rotated as driven wheel, the driven wheel under the drive of the driving wheel.
Alternately, in an other embodiment, the quantity of the driving element is two, earth element 102a, 102b
A driving element is respectively configured, so as to fulfill the independent control of earth element 102a, 102b rotating speed, is normally traveling across
Cheng Zhong, the rotating speed of earth element 102a, 102b are identical.
In above-described embodiment one to three, the axle center of the earth element is located at 101 lower position of pedal, and described connects
Ground element also integrally is located at 101 lower position of pedal.
As shown in figure Fig. 3 b, further include：Fixed pedestal 100a, described earth element 102a, 102b are coupling in the fixation
On pedestal 100a, the fixed pedestal 100a is fixed on the lower surface of the pedal 101.It, can be in a concrete application scene
102a, 102b and fixed pedestal 100a are become one by earth element, then fixed pedestal 100a is fixed on pedal 101
Lower surface.Fixed pedestal 100a is fixed on the lower surface of the pedal along horizontal direction.
In other embodiments, the fixed pedestal can also be fixed on the lower surface of the pedal along vertical direction,
Pore structure is provided on the fixed pedestal, the transmission shaft of the motor passes through pore structure, meanwhile, at the both ends of the transmission shaft
Main ground unit described in one or one group is respectively coupled to, so as to which earth element to be integrally provided in the lower section of the pedal.
It, can also be with any other structure by described earth element 102a, 102b it should be noted that in his embodiment
It is eventually coupled on the pedal 101.Fig. 3 c are the schematic diagram of fixed pedestal in alternative the utility model embodiment three；Such as figure
Shown in 3c, described earth point 102a, 102b are coupled to the lower surface of pedal by quick-disassembly structure 100b.
Example IV (distantly located two earth elements 102a and 102b)
Unlike above-described embodiment three, in following Fig. 4 embodiments, when including earth element 102a, 102b and phase
Lateral separation between mutually is larger, and the axle center of earth element 102a, 102b is located at 101 lower position of pedal, but partly to
On protrude from the pedal 101.
101 entirety of pedal in above-described embodiment three is moved down, obtains the wheel skidding device in example IV as shown in Figure 4
Brief configuration schematic diagram.
Alternately, in an other embodiment, the quantity of the driving element is two, earth element 102a, 102b
A driving element is respectively configured, so as to fulfill the independent control of earth element 102a, 102b rotating speed, is normally traveling across
Cheng Zhong, the rotating speed of earth element 102a, 102b are identical.
Fig. 5 is the specific implementation structure diagram of wheel skidding device in the utility model embodiment five；As shown in figure 5, conduct
The roller skate of wheel skidding device includes an earth element 102, which is located at the position at 101 center of pedal,
And it is provided with motor in the wheel hub of the earth element 102.During the transmission shaft of motor is threaded through in wheel hub, while transmission shaft 103 leans on
Between position be configured with clutch shaft bearing structure 104, which couples with earth element 102, so as to which earth element 102 be driven to revolve
Turn.
In addition, in figure 5 it is possible to a second bearing structure 105 is set respectively at the both ends of transmission shaft, and transmission shaft is each
The bearing arrangement at end is coupled with pedal 101, so as to fulfill motor, transmission shaft to be integrally provided in the lower position of pedal 101.
Fig. 6 is the specific implementation structure diagram of wheel skidding device in the utility model embodiment six；As shown in fig. 6, conduct
The roller skate of wheel skidding device includes two earth elements, that is, earth element 102a, 102b, and earth element 102a, 102b are set respectively
At the position close to 101 left and right sides edge of pedal.Earth element 102a, 102b configure a motor, motor with
And the set-up mode of transmission shaft is referred to above-mentioned embodiment illustrated in fig. 5.
Unlike above-mentioned Fig. 1-Fig. 4 embodiments, in Fig. 5, Fig. 6 embodiment, pedal 101 is not rectangle, but
Its both ends has circular arc.
Fig. 7 a, Fig. 7 b are two of one of structure diagram of wheel skidding device sum in the utility model embodiment seven；Referring to figure
7a, Fig. 7 b on the basis of above-mentioned Fig. 1 embodiments, add constraint unit 108, and the constraint unit is arranged on the pedal
On, use the foot position of individual of the wheel skidding device or foot upper position for fixed.Optionally, the constraint is single
Member is that either the structure of locking buckle is fixed by the thread gluing or the locking buckle and filled using the skidding with thread gluing
The foot position of the driver put or foot upper position, prevent driver from falling from roller skate.Foot position is such as
Instep position, foot upper position are such as ankle or shank.
Further, in the present embodiment, wheel skidding device further includes：Protective cover 109, the protective cover are used for standing in institute
The heel contact of single foot on pedal 101 is stated so that single foot to be made to be stabilized on the pedal 101 during skidding.Protective cover
Concrete shape can be arc, so as to be fitted closely with heel, provide stable supporting role.
In the present embodiment, provided by fettering unit and protective cover to the foot of driver in rear position and anterior position
Firm effect, it is dangerous so as to effectively prevent tumble injury caused by driver falls during skidding from roller skate.
Further, in the present embodiment, optionally, in any embodiment of the utility model, further include：Battery compartment
106, be provided with battery pack 107 in the battery compartment 106, the battery pack 107 be used for the driving element and other need
Want the structure of electricity consumption or circuit power supply.Specifically, the pedal 101 has hollow cavity, set in the hollow cavity described in
Battery compartment 106.
Fig. 8 is the partial schematic diagram of wheel skidding device in the utility model embodiment eight；In the present embodiment, as roller skate
The rear position of wheel skidding device be provided with battery pack 107, specifically, for example, battery compartment be arranged on protective cover 109 it is hollow in
In chamber, battery pack 107 is arranged in the battery compartment.
It should be noted that in an other embodiment, unlike above-mentioned Fig. 8, but by driver by battery
Group 107 backs on the body, then passes through the power circuit in external power cord and roller skate or element such as the first controller, motor
Connection.
Fig. 9 is the control principle schematic diagram of wheel skidding device in the utility model embodiment nine；As shown in figure 9, it is stepped on when described
For plate forward or when tilting backwards, first controller is configured to expectation pitching angle theta * and current pitching according to the pedal
Differential seat angle generation between the θ of angle drives electric signal to control the output torque size of the driving element.Specifically, according to described
Differential seat angle θ between the current rate of pitch ω of pedal and expectation pitching angle theta * and current pitching angle thetaerrorGeneration driving electricity
Signal is to control the output torque size of the driving element.In the present embodiment, driving electric signal is such as driving voltage.First
Controller (also referred to as balance controller) is such as PID controller.
Specifically, wheel skidding device can also include second controller (also referred to as speed control), second control
Device is configured to：According to the current rotating speed V of the driving element and maximum (top) speed V of setting*Determine the expectation pitching angle theta *.
In the present embodiment, second controller is such as also PID controller.
Further, whether the current rotating speed V for judging the driving element is more than the maximum (top) speed V set*It is if super
It crosses, shows that wheel skidding device will enter overspeed condition, export the expectation pitching angle theta * of a setting nonzero size therefore, it is and current
Above-mentioned differential seat angle θ is calculated in pitching angle thetaerror, the first controller is according to differential seat angle θerrorGeneration drives electric signal to control
The output torque of the driving element simultaneously finally causes the pedal towards the direction inclination in contrast to direct of travel, so as to limit
The travel speed of the wheel skidding device does not exceed the upper limit of travel speed.If not less than, it is 0 it is expected pitching angle theta *, then
According to the differential seat angle θerror, the first controller is according to differential seat angle θerrorGeneration driving electric signal is first to control the driving
The output torque of part simultaneously finally causes the pedal dynamic to be in horizontality.
Specifically, wheel skidding device can also include second sensor, and the second sensor is first for sensing the driving
The current rotating speed of part.
In addition, it is necessary to explanation, in some concrete application scenes, can not also consider when generation drives electric signal
Current rate of pitch.
In addition, it is necessary to explanation, it, can not also when determining the expectation pitch angle in some concrete application scenes
Second controller is configured, but is multiplexed the first controller.That is the first controller is configurable to working as according to the driving element
The preceding rotating speed V and maximum (top) speed V of setting*It determines the expectation pitching angle theta *, is also configured as the phase according to the pedal
The differential seat angle generation hoped between pitching angle theta * and the current pitching angle theta drives electric signal to control the output of the driving element
Torque.
In addition, it is necessary to explanation, the output signal of driving element can also other forms, output torque is in the present embodiment
In simply illustrate, different driving element have different types of output signal.
In an other concrete application scene, if being configured with second controller, the second controller can also be multiplexed with
First controller.I.e. second controller is configurable to be turned according to the current rotating speed V of the driving element and the maximum of setting
Fast V*It determines the expectation pitching angle theta *, is also configured as the expectation pitching angle theta * according to the pedal and the current pitching
Differential seat angle generation between the θ of angle drives electric signal to control the output torque size of the driving element.
Figure 10 is the structure diagram that auxiliary earth element is set in the utility model embodiment ten；As shown in Figure 10, exist
The front and back of pedal 101 set auxiliary earth element 110a, a 110b respectively on the basis of above-mentioned Fig. 1, respectively to leaning forward and
The maximum angle of hypsokinesis is limited.
In the present embodiment, specifically, fixed block 111 can be set below pedal 101, auxiliary earth element 110a or
110b is fixed on fixed block 111.
It should be noted that it can also increase with reference to Figure 10 on the basis of except other wheel skidding device embodiments shown in FIG. 1
Add auxiliary earth element.
In addition, the quantity of auxiliary earth element does not limit, for example only set in application scenes in front of pedal
Auxiliary earth element is put, alternatively, only setting auxiliary earth element at pedal rear.
In addition, the auxiliary earth number of elements for being arranged on front or behind does not also limit, it is one that can set multiple
Group.
The rolling circumference of the main earth element is more than the rolling circumference of the auxiliary earth element.
In the present embodiment, the auxiliary earth element is arranged on the front of the main earth element, for working as the pedal
It is contacted when turning forward with ground, limits the maximum angle that the pedal leans forward, do not surpassed with the numerical value for controlling the output signal
Cross the first thresholding of setting.The auxiliary earth element is integrally located at below the pedal.Specifically, the pedal lower surface is set
Front fork structure is equipped with, the main ground unit of auxiliary is arranged on by the front fork structure below the pedal.
In the present embodiment, the auxiliary earth element is arranged on the rear of the main earth element, for working as the pedal
It is contacted when tilting backwards with ground, limits the maximum angle of the pedal hypsokinesis, do not surpassed with the numerical value for controlling the output signal
Cross the second thresholding of setting.The auxiliary earth element is integrally located at below the pedal.Specifically, the pedal lower surface is set
Back fork structure is equipped with, the main ground unit of auxiliary is arranged on by the back fork structure below the pedal.
In addition, it is necessary to explanation, auxiliary earth element is except that can show that the inclined maximum angle of pedal plays speed limit
Effect, can also play the role of assistant sliding.
It should be noted that in above-described embodiment, wheel skidding device may operate in the electric drive state of motor, can also
Work in manpower driving condition.
In order to turn to, the rotation direction sensor is used to sense foot posture of the driver on the pedal；It is each described
3rd controller is for output of the step posture to corresponding driving element according to driver on its corresponding described pedal
Signal is controlled so that the speed turned to for the single wheel skidding device is formed between its corresponding two described earth element
It spends poor (such as following First Speed are poor, second speed is poor) and to be formed for two skiddings dresses between two wheel skidding devices
Put the speed difference integrally turned to (such as following third speeds are poor).
In a concrete application scene, the rotation direction sensor senses foot appearance of the driver on the correspondence pedal
State and respectively generation first turn to sensed data, the second steering sensed data, and the 3rd controller is configured to：According to each described turn
To sensor sensing to foot posture of the driver on the correspondence pedal generate the first steering sensed data, second respectively
Turn to sensed data；The instruction of first course changing control is generated according to the first steering sensed data and should be counted according to the second steering feeling
According to generation the second course changing control instruction；It is instructed according to first course changing control instruction, second course changing control to its each
Two corresponding earth elements carry out action control, with respectively so that being formed to control between main earth element described in each two
Make turn to First Speed is poor, forms to control the of steering between second speed difference and two wheel skidding device entirety
Three speed differences.
Figure 11 is rotating direction control method flow diagram in the utility model embodiment 13；As shown in figure 11, including：
It in the present embodiment, is illustrated exemplified by configuring two pressure sensors on each wheel skidding device, while also configures the 3rd control
Device processed, the 3rd controller are configured to perform and directly or indirectly turn to related technology, specifically, two skiddings
Device is fitted together by connector, and rotating direction control method includes：
S1101, foot posture difference of the driver on the correspondence pedal is sensed according to each two pressure sensor
Generate first pressure sensed data, second pressure sensed data；
In the present embodiment, the step posture can be horizontal rubbing of the driver on the pedal.
S1102, sensed data generation the first course changing control instruction is turned to according to first：Number is sensed according to the first pressure
According to generation the first course changing control instruction；
S1103, included according to second steering sensed data generation the second course changing control instruction：According to the second pressure sense
Data is answered to generate the instruction of the second course changing control.
As previously described, because there are two pressure sensor, then a pressure sensor generations one for each wheel skidding device configuration
A sensed data is then turning to sensed data generation the first course changing control instruction according to first, should according to two the first steering feelings
The difference of data generates the instruction of the first course changing control, similarly, is turned to according to the difference generation second of two second steering sensed datas
Control instruction.
S1104, according to first course changing control instruction, second course changing control instruction to its each corresponding to two
A earth element carries out action control, with respectively so that being formed to control turn to first between earth element described in each two
It is formed to control the third speed turned to poor between speed difference, second speed difference and two wheel skidding device entirety.
In the present embodiment, since each wheel skidding device includes at least two wheels, when turning to, each wheel skidding device itself
It needs to rotate, in addition, to be relatively rotated between two wheel rotary devices.Therefore, in order to realize two each rotations of wheel skidding device
Dynamic, there are speed discrepancy i.e. the first speed discrepancy, the second speed discrepancies between two wheels of each wheel skidding device；Two wheel skidding devices it
Between relatively rotated, then there are the 3rd speed discrepancies between two wheel skidding device entirety.
For example when one implements, if turned left, from left to right, the rotating speed of wheel is incremented by, if turned right, from
Left-to-right, the rotating speed of wheel successively decreases, so as to form above-mentioned first speed discrepancy, the second speed discrepancy, the 3rd speed discrepancy.
First speed discrepancy described in the present embodiment, the formation basic theory of the second speed discrepancy are turned to similar to above-mentioned single wheel skidding device
The speed discrepancy of control.
Alternately, in another embodiment, the rotation direction sensor that each wheel skidding device includes can also be different type.
Alternately, in an other embodiment, the rotation direction sensor is steering spindle, and the steering spindle is driven for sensing
Foot posture of the person of sailing on the pedal with generate the first steering induced moment and/or second turn to induced moment；Accordingly,
Sensed data, which is turned to, according to first generates the instruction of the first course changing control：Induced moment generation first is turned to according to described first to turn to
Control instruction；And/or included according to second steering sensed data generation the second course changing control instruction：It is turned to according to described second
Induced moment generates the instruction of the second course changing control.The steering spindle is configured to vertical with the wheel skidding device direct of travel.
Alternately, in another embodiment, the rotation direction sensor is gyroscope, and the gyroscope drives for sensing
Foot posture of the person on the pedal is to generate the first angular movement sensed data and/or the second angular movement sensed data；It is corresponding
Ground turns to sensed data according to first and generates the instruction of the first course changing control：According to the first angular movement sensed data generation the
One course changing control instructs；And/or included according to second steering sensed data generation the second course changing control instruction：According to described
Two angular movement sensed datas generate the instruction of the second course changing control.
According to foot's posture life of the driver that the rotation direction sensor senses horizontal rubbing of carry out on the pedal
Into the instruction of the first course changing control and/or the instruction of the second course changing control.
Alternately, in a further embodiment, spring is configured with so that institute at left and right sides of the pedal of the wheel skidding device
Stating pedal can tilt, and the rotation direction sensor is photoelectric sensor, and the photoelectric sensor is used to sense driver in institute
Foot's posture on pedal is stated so that the pedal can tilt to generate the first optoelectronic induction data and/or the second light inductance
Answer data；Accordingly, turn to sensed data according to first and generate the instruction of the first course changing control：According to the first optoelectronic induction number
According to generation the first course changing control instruction；And/or included according to second steering sensed data generation the second course changing control instruction：Root
The instruction of the second course changing control is generated according to the second optoelectronic induction data.
For the single wheel skidding device for including two main earth elements, the generating principle of speed discrepancy is as follows：According to
Foot posture generation of the driver that the rotation direction sensor senses on the pedal turns to sensed data；According to described turn
To sensed data generation course changing control instruction；Two earth elements are controlled such that according to course changing control instruction
It is formed to control the speed difference turned between described two earth elements.The rotation direction sensor can be above-mentioned photoelectric sensing
Device, steering spindle etc..
On the basis of above-described embodiment, skidding described in the manned sensor sensing that is configured at least one wheel skidding device
Whether single-point standing has driver on device；If so, the rotation direction sensor of configuration senses driver in the correspondence pedal
On foot's posture with generate it is described first turn to sensed data and/or it is described second turn to sensed data.
It should be noted that data communication can be carried out between above-mentioned two wheel skidding device, when one of wheel skidding device
When generation first turns to sensed data, trigger another wheel skidding device generation second and turn to sensed data, therefore, this other one
A wheel skidding device can not configure rotation direction sensor.
In the present embodiment, the first controller is multiplexed with the 3rd controller.However, it is desirable to explanation, if not increasing individually
3rd controller, then the 3rd controller is except that can be multiplexed above-mentioned first controller, alternatively, second controller can also be multiplexed,
If alternatively, individually increasing by the 3rd controller, the 3rd controller can be multiplexed with above-mentioned first controller or second controller.
In the above-described embodiments, motor is specially wheel hub motor, still, in other embodiments, motor or height
Speed motor.
In the above-described embodiments, wheel cover can also be configured to wheel.
In addition, in an other embodiment, if each wheel skidding device includes rotation direction sensor, each skidding dress
It puts including rotation direction sensor, pedal, the 3rd controller and a main earth element, then, the rotation direction sensor is used to sense
Foot posture of the driver on the pedal；Each 3rd controller be used for according to driver at its it is corresponding described in step on
Step posture on plate controls the output signal of corresponding driving element so that is formed and is used between two wheel skidding devices
The speed difference that two wheel skidding devices integrally turn to.
Specifically, in an application scenarios, each rotation direction sensor senses driver on the correspondence pedal
To generate the first steering sensed data, the second steering sensed data respectively, the 3rd controller is configured to foot's posture：
Sensed data, which is turned to, according to first generates the instruction of the first course changing control and according to the second steering sensed data generation
Second course changing control instructs；
According to first course changing control instruction, second course changing control instruction, to it, each corresponding two are grounded
Element carries out action control, with respectively so that being formed to control the third speed turned between two main earth elements
Difference.
The main earth element that each wheel skidding device includes only there are one when, course changing control is similar to a wheel skidding device bag
Situation when the main earth element included is two, by controlling the output torque size of respective motor, so as to which two masters be controlled to connect
The rotating speed of ground element ultimately forms to control the speed discrepancy turned to.
Figure 12 is the structure diagram of electrodynamic balance vehicle in the utility model embodiment 12；As shown in figure 12, single wheel
The structure of sliding device as shown in Figure 1, the connector 300 by two wheel skidding devices end to end mode group in a longitudinal direction
It is fitted together.
In the present embodiment, specifically, the afterbody of the pedal 101 of a wheel skidding device sets the first fixed block wherein
101a sets the second fixed block 101b, described 200 one end of connector in 101 stem of pedal of another wheel skidding device
It is fixed on the first fixed block 101a, other end is fixed on the second fixed block 101b.
Figure 13 is the structure diagram of electrodynamic balance vehicle in the utility model embodiment 13；As shown in figure 13, the company
The both ends of fitting 200 are separately fixed at two opposite one sides of wheel skidding device as shown in Figure 10, and two wheel skidding devices are assembled
Together, specifically, the connector is used to two wheel skidding devices being assembled in one in a manner that horizontal direction or so connects
It rises.
Figure 14 is the structure diagram of electrodynamic balance vehicle in the utility model embodiment 14；As shown in figure 14, the company
The both ends of fitting 200 are separately fixed at two opposite one sides of wheel skidding device as shown in Figure 1, and two wheel skidding devices are assembled in
Together, specifically, the connector is used to fit together two wheel skidding devices in a manner that horizontal direction or so connects.
Figure 15 is the structure diagram of electrodynamic balance vehicle in the utility model embodiment 15；As shown in figure 15, Fig. 1's
On the basis of increase and aid in main ground unit 110a, 110b, while the fixed pedestal 100 in Fig. 3 b is revised as along vertical direction
It sets and is fixed on the lower surface of the pedal, pore structure is provided on the fixed pedestal, the transmission shaft of the motor passes through
Pore structure, meanwhile, a main ground unit 102 is respectively coupled at the both ends of the transmission shaft, so as to which main ground connection is first
Part 102 is integrally provided in the lower section of the pedal 102.
In the above-described embodiments, one end of the connector is connected on the transmission shaft of one of them wheel skidding device,
Other end is connected on the transmission shaft of another wheel skidding device.
In the above-described embodiments, optionally, the connector is configured to adjustable in length, is filled with adjusting two neighboring skidding
Spacing between putting.
In the above-described embodiments, optionally, rotating mechanism is also set up in the middle position of connector, in rotating mechanism
Under the action of, the section connecting element at left and right sides of rotating mechanism can be freely rotated.
In addition, when by the connector, two wheel skidding devices are assemblied together, the pedal of two skidding dresses
It can individually lean forward or hypsokinesis, be operated by the foot posture of driver, may be such that the electrodynamic balance vehicle of the formation of assembling is whole
Body travels forward or moves backward.
In addition, above-mentioned first controller, second controller, the 3rd controller can be arranged on fixed pedestal, to be applicable in
The relative position of main earth element and pedal is adjusted in horizontal plane.
Certainly, in an other embodiment, if do not carried out to the relative position of main earth element and pedal in horizontal plane
Adjustment, then above-mentioned first controller, second controller, the 3rd controller can be arranged in pedal.
In the disclosure, statement is " including (include) " or " may include (may include) " refers to corresponding function, behaviour
The presence of work or element, without limiting one or more additional functions, operation or element.In the disclosure, such as " including
(include) " and/or the term of " having (have) " can be regarded as representing some characteristics, number, step, operation, composition member
Part, element or its combination, and be not to be construed as excluding one or more of the other characteristic, number, step, operation, constituent element, member
Part or its combination there is a possibility that or it is additional.
In the disclosure, state " A or B ", " at least one in A or/and B " or " one or more of A or/and B "
It may include all possible combination of Listed Items.For example, statement " A or B ", " at least one in A and B " or " in A or B
It is at least one " it may include：(1) at least one A, (2) at least one B or (3) at least one A and at least one B.
Statement " first ", " second ", " first " or " described used in the various embodiments of the disclosure
Two " can modify various parts and unrelated with order and/or importance, but these statements do not limit corresponding component.It is presented above
It is only used for the purpose for distinguishing element and other elements.For example, the first user equipment and second user equipment represent different
User equipment, although being both user equipment.For example, on the premise of without departing substantially from the scope of the present disclosure, first element can claim
Make second element, similarly, second element can be referred to as first element.
When an element (for example, first element) referred to as " (operationally or can with another element (for example, second element)
Communicatedly) connection " or " (operationally or communicably) being attached to " another element (for example, second element) or " being connected to " are another
During one element (for example, second element), it is thus understood that an element is connected directly to another element or an element
Another element is indirectly connected to via another element (for example, third element).On the contrary, it is appreciated that when element (for example,
First element) it referred to as " is directly connected to " or during " directly connection " to another element (second element), then without element (for example, the
Three elements) it is inserted between the two.
Statement " being configured to " can alternatively be used with following statement as used in this article：" being suitable for " " has ...
Ability ", " being designed as ", " being suitable for ", " being fabricated to " or " can ".Term " being configured to " can need not mean on hardware " special
It is designed as ".Alternately, in some cases, statement " equipment being configured to ... " can mean the equipment and miscellaneous equipment or portion
Part is together " can ... ".It is used only for performing phase for example, phrase " being suitable for the processor that (or being configured to) performs A, B and C " is gratifying
The application specific processor (for example, embeded processor) that should operate may be implemented within one or more of storage device
Software program performs the general processor (for example, central processing unit (CPU) or application processor (AP)) of corresponding operating.
The apparatus embodiments described above are merely exemplary, wherein the module illustrated as separating component can
To be or may not be physically separate, the component shown as module may or may not be physics mould
Block, you can be located at a place or can also be distributed on multiple network modules.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Claims (39)
1. a kind of electrodynamic balance vehicle, which is characterized in that including at least two wheel skidding devices, set between two neighboring wheel skidding device
There is connector, for two wheel skidding devices to be assembled integrally, each wheel skidding device includes：Pedal, main earth element, driving member
Part, the first controller and first sensor, the pedal are coupled to the main earth element, and the main earth element is coupled to
The driving element, first controller are coupled to the driving element and the first sensor；The pedal is configured to
Suitable for driver, single-point is stood on wheel skidding device, and is configured to forward or retreat when single-point is stood after assembling
Tiltedly, the first sensor is used to sense posture of the driver on the pedal；The driving element controls institute for generating
It states earth element action and maintains the wheel skidding device generally in the output signal of equilibrium state；The main earth element is matched somebody with somebody
It is set to and is acted under the driving of the driving element, first controller is configured to export letter according to the gesture stability
Number generation.
2. electrodynamic balance vehicle according to claim 1, which is characterized in that the connector is configured to adjustable in length, with
Adjust the spacing between two neighboring wheel skidding device.
3. electrodynamic balance vehicle according to claim 1, which is characterized in that the connector be connecting rod, the connection
The both ends of rod piece are separately fixed at two opposite one sides of wheel skidding device, and two wheel skidding devices are fitted together.
4. electrodynamic balance vehicle according to claim 1, which is characterized in that the connector is used for two wheel skidding device edges
The end to end mode of longitudinal direction to fit together.
5. electrodynamic balance vehicle according to claim 4, which is characterized in that the pedal of a wheel skidding device wherein
Afterbody sets the first fixed block, and the second fixed block, the connector are set in the pedal stem of another wheel skidding device
One end is fixed on first fixed block, and other end is fixed on second fixed block.
6. electrodynamic balance vehicle according to claim 1, which is characterized in that the connector is used to press two wheel skidding devices
It is fitted together according to the mode that horizontal direction or so connects.
7. electrodynamic balance vehicle according to claim 4, which is characterized in that one end of the connector is connected to one of them
On the transmission shaft of the wheel skidding device, other end is connected on the transmission shaft of another wheel skidding device.
8. electrodynamic balance vehicle according to claim 1, which is characterized in that each wheel skidding device further includes：Fixed pedestal, institute
It states earth element to be coupling on the fixed pedestal, the fixed pedestal is fixed on the lower surface of the pedal.
9. electrodynamic balance vehicle according to claim 1, which is characterized in that for wheel skidding device described in wherein at least one,
Rotation axis is provided with below the pedal, the main earth element is rotated around the rotation axis, so that the main earth element
Width of the direction of action along the length direction of the pedal or the direction of action of the main earth element along the pedal
Spend direction.
10. electrodynamic balance vehicle according to claim 9, which is characterized in that for wheel skidding device described in wherein at least one,
It further includes：Rotary stopper unit, for maintaining the direction of action of the main earth element along the length direction of the pedal or
Person maintains width of the direction of action of the main earth element along the pedal.
11. electrodynamic balance vehicle according to claim 1, which is characterized in that for wheel skidding device described in wherein at least one,
The quantity of the main earth element is one, and accordingly, the quantity of the driving element is one.
12. electrodynamic balance vehicle according to claim 1, which is characterized in that for wheel skidding device described in wherein at least one,
The quantity of the main earth element be two, and the quantity of the driving element be one, the driving element with two described in
Main earth element coupling.
13. electrodynamic balance vehicle according to claim 1, which is characterized in that for wheel skidding device described in wherein at least one,
The quantity of the main earth element is two, and the quantity of the driving element is two, each main earth element configuration
One driving element.
14. according to claim 1-13 any one of them electrodynamic balance vehicles, which is characterized in that for described in wherein at least one
Wheel skidding device, the axle center of the main earth element is located at the pedal lower position and the main earth element be integrally located at it is described
Pedal lower position.
15. according to claim 1-13 any one of them electrodynamic balance vehicles, which is characterized in that for described in wherein at least one
Wheel skidding device, the axle center of the main earth element is located at the pedal lower position and the main earth element part projects upwards
In the pedal.
16. according to claim 1-13 any one of them electrodynamic balance vehicles, which is characterized in that for described in wherein at least one
Wheel skidding device, the main earth element are wheel, and the transmission shaft of the driving element is laterally set, the both ends point of the transmission shaft
Not She Zhi a main earth element, the driving element is embedded in the wheel hub of the wherein one main earth element, and passes through biography
Moving axis is directly connected to being embedded with the main earth element of the driving element, while the master with not being embedded with the driving element connects
Ground element coupling.
17. electrodynamic balance vehicle according to claim 1, which is characterized in that for wheel skidding device described in wherein at least one,
Two main earth elements are separately positioned at the position at edge at left and right sides of the pedal or are positioned close to institute
It states at the position of pedal centre.
18. electrodynamic balance vehicle according to claim 17, which is characterized in that at least one wheel skidding device further includes：
Auxiliary earth element, the auxiliary earth element configuration are the contact with ground when being tilted according to the pedal, are stepped on described in limitation
The inclined maximum angle of plate.
19. electrodynamic balance vehicle according to claim 18, which is characterized in that filled for skidding described in wherein at least one
It puts, the rolling circumference of the main earth element is more than the rolling circumference of the auxiliary earth element.
20. electrodynamic balance vehicle according to claim 18, which is characterized in that the auxiliary earth element is arranged on the master
The front of earth element for being contacted when the pedal turns forward with ground, limits the maximum angle that the pedal leans forward,
It is no more than the first thresholding of setting with the numerical value for controlling the output signal.
21. electrodynamic balance vehicle according to claim 18, which is characterized in that the auxiliary earth element is integrally located at described
Below pedal.
22. electrodynamic balance vehicle according to claim 18, which is characterized in that the pedal lower surface is provided with front fork knot
Structure, the auxiliary earth unit are arranged on by the front fork structure below the pedal.
23. electrodynamic balance vehicle according to claim 18, which is characterized in that the auxiliary earth element is arranged on the master
The rear of earth element for being contacted when the pedal is tilted backwards with ground, limits the maximum angle of the pedal hypsokinesis,
It is no more than the second thresholding of setting with the numerical value for controlling the output signal.
24. electrodynamic balance vehicle according to claim 22, which is characterized in that the auxiliary earth element is integrally located at described
Below pedal.
25. electrodynamic balance vehicle according to claim 23, which is characterized in that the pedal lower surface is provided with back vent knot
Structure, the auxiliary earth unit are arranged on by the back fork structure below the pedal.
26. electrodynamic balance vehicle according to claim 1, which is characterized in that for wheel skidding device described in wherein at least one,
It further includes：Second controller, the second controller are configured to：According to the current rotating speed of the driving element and setting most
Big rotating speed determines it is expected pitch angle.
27. electrodynamic balance vehicle according to claim 1, which is characterized in that for wheel skidding device described in wherein at least one,
First controller is further configured to：When the pedal is forward or when tilting backwards, current according to the pedal bows
Differential seat angle generation between elevation angle speed and expectation pitch angle and the current pitch angle of the pedal drives electric signal to control
The output signal magnitude of the driving element.
28. electrodynamic balance vehicle according to claim 26, which is characterized in that filled for skidding described in wherein at least one
It puts, further includes：Second sensor, the second sensor are used to sense the current rotating speed of the driving element.
29. electrodynamic balance vehicle according to claim 1, which is characterized in that each wheel skidding device includes at least two
Earth element and rotation direction sensor and the 3rd controller, the rotation direction sensor are used to sense driver in the pedal
Foot's posture；Each 3rd controller is used to be corresponded to according to step posture of the driver on its corresponding described pedal
The output signal of driving element controlled so that formed between its corresponding two described earth element for single described
The speed difference and to form the speed integrally turned to for two wheel skidding devices between two wheel skidding devices that wheel skidding device turns to
Degree is poor.
30. electrodynamic balance vehicle according to claim 29, which is characterized in that the rotation direction sensor is pressure sensor,
The pressure sensor is used to sense foot posture of the driver on the correspondence pedal.
31. electrodynamic balance vehicle according to claim 30, which is characterized in that the wheel skidding device is configured at least two pressures
Force snesor.
32. electrodynamic balance vehicle according to claim 29, which is characterized in that the rotation direction sensor is steering spindle, described
Steering spindle is used to sense foot posture of the driver on the pedal.
33. electrodynamic balance vehicle according to claim 32, which is characterized in that the steering spindle is configured to fill with the skidding
It is vertical to put direct of travel.
34. electrodynamic balance vehicle according to claim 29, which is characterized in that the rotation direction sensor is gyroscope, described
Gyroscope is used to sense foot posture of the driver on the pedal.
35. electrodynamic balance vehicle according to claim 29, which is characterized in that the rotation direction sensor senses driver in institute
State foot's posture of the horizontal rubbing of carry out on pedal.
36. electrodynamic balance vehicle according to claim 29, which is characterized in that match somebody with somebody at left and right sides of the pedal of the wheel skidding device
Spring is equipped with so that the pedal can tilt, the rotation direction sensor is photoelectric sensor, and the photoelectric sensor is used
In foot posture of the sensing driver on the pedal.
37. electrodynamic balance vehicle according to claim 1, which is characterized in that each wheel skidding device connects including a master
Ground element, rotation direction sensor and the 3rd controller, the rotation direction sensor are used to sense foot of the driver on the pedal
Portion's posture；Each 3rd controller is for the corresponding drive of step posture according to driver on its corresponding described pedal
The output signal of dynamic element is controlled so that the speed integrally turned to for two wheel skidding devices is formed between two wheel skidding devices
Degree is poor.
38. according to claim 29-37 any one of them electrodynamic balance vehicles, which is characterized in that the step posture includes driving
The person's of sailing horizontal rubbing of carry out on the pedal.
39. the electrodynamic balance vehicle according to claim 38, which is characterized in that further include：Manned sensor, the manned biography
For sensing, whether single-point standing has driver to sensor on the wheel skidding device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720928875.7U CN207450113U (en) | 2017-07-27 | 2017-07-27 | Electrodynamic balance vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720928875.7U CN207450113U (en) | 2017-07-27 | 2017-07-27 | Electrodynamic balance vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN207450113U true CN207450113U (en) | 2018-06-05 |
Family
ID=62248997
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| CN201720928875.7U Active CN207450113U (en) | 2017-07-27 | 2017-07-27 | Electrodynamic balance vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107512348A (en) * | 2017-07-27 | 2017-12-26 | 纳恩博（北京）科技有限公司 | Electrodynamic balance car |
| WO2019019905A1 (en) * | 2017-07-27 | 2019-01-31 | 纳恩博（北京）科技有限公司 | Roller skating device and electric balance vehicle |
-
2017
- 2017-07-27 CN CN201720928875.7U patent/CN207450113U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107512348A (en) * | 2017-07-27 | 2017-12-26 | 纳恩博（北京）科技有限公司 | Electrodynamic balance car |
| WO2019019905A1 (en) * | 2017-07-27 | 2019-01-31 | 纳恩博（北京）科技有限公司 | Roller skating device and electric balance vehicle |
| CN107512348B (en) * | 2017-07-27 | 2020-11-24 | 纳恩博（北京）科技有限公司 | Electric balance car |
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