CN216580833U - Two-wheeled electrodynamic balance car that can single foot controlled - Google Patents
Two-wheeled electrodynamic balance car that can single foot controlled Download PDFInfo
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- CN216580833U CN216580833U CN202123032724.9U CN202123032724U CN216580833U CN 216580833 U CN216580833 U CN 216580833U CN 202123032724 U CN202123032724 U CN 202123032724U CN 216580833 U CN216580833 U CN 216580833U
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Abstract
The utility model belongs to the technical field of balance cars, and particularly relates to a two-wheeled electric balance car capable of being controlled by a single foot and a control method. Aiming at the defect that the two-wheeled electric balance car needs to be controlled by two feet, the utility model adopts the following technical scheme: a two-wheeled, single-foot-steerable motorized balance car, comprising: a first wheel having a first motor; a second wheel having a second motor; a first pedal; a second pedal; a controller; the first pedal and/or the second pedal are/is provided with a straight sensor electrically connected with the controller; the two-wheeled electric balance car has a single-foot control mode, and in the single-foot control mode, the controller controls the first motor and the second motor to be synchronous only according to information of a certain straight-going sensor, so that the two-wheeled electric balance car moves straight. The two-wheeled electric balance car has the beneficial effects that: realize single-foot control.
Description
Technical Field
The utility model belongs to the technical field of balance cars, and particularly relates to a two-wheeled electric balance car capable of being controlled by a single foot.
Background
The two-wheeled electrodynamic balance car of prior art, mostly include first wheel, first sensor, second wheel, second sensor and controller, and the controller receives the information of first sensor and second sensor and control first wheel and second wheel. Specifically, the first sensor acquires the front-back inclination angle of the first pedal, the second sensor acquires the front-back inclination angle of the second pedal, when the front inclination angles of the two pedals are basically consistent, the balance car moves forward, when the two pedals tilt forward but the front inclination angle is larger than a certain value, the balance car turns forward, when the back inclination angles of the two pedals are basically consistent, the balance car moves backward, and when the back inclination angles of the two pedals are larger than a certain value, the balance car turns backward.
Two-wheeled electrodynamic balance car now, be equipped with about two footboards, need both feet to control, it is extremely unfriendly to the disabled personage.
SUMMERY OF THE UTILITY MODEL
The utility model provides a two-wheeled electric balance vehicle capable of being controlled by a single foot, aiming at the defect that the existing two-wheeled electric balance vehicle needs to be controlled by two feet, so that the applicability of the two-wheeled electric balance vehicle is improved. The utility model also provides an operation method of the two-wheeled electric balance vehicle.
In order to achieve the purpose, the utility model adopts the following technical scheme: a two-wheeled, single-foot-steerable motorized balance car, comprising:
a controller;
a first wheel having a first motor controlled by the controller;
a second wheel having a second electric machine controlled by the controller;
a first pedal;
a second pedal;
the straight-moving sensor is electrically connected with the controller and is used for detecting the front-back inclination angle of the first pedal or the second pedal;
the two-wheeled electric balance car has a single-foot control mode, and in the single-foot control mode, the controller sends the same instruction to the first motor and the second motor according to the information of the straight-going sensor, and the first motor and the second motor are synchronous, so that the two-wheeled electric balance car runs straight.
The two-wheeled electric balance car has a single-foot control mode, and in the single-foot control mode, the controller controls the first motor and the second motor to be synchronous only according to the information of a certain straight sensor, so that the two-wheeled electric balance car moves straight, and single-foot control is achieved. In a popular way, two front-back inclination angles collected by the existing balance car are a and b, the balance car controls two motors according to the sizes of the a and the b and the difference between the a and the b, and the two motors may be synchronous and may not be synchronous; the inclination angle acquired by the straight-going balance car is c, the balance car is only synchronous with two motors according to the c controller, or when two straight-going sensors are arranged, only one straight-going sensor works at the same time, or when two straight-going sensors are arranged, two straight-going sensors work at the same time, but the controller only controls the two motors to be synchronous according to the information of one straight-going sensor, and does not process the information of the other straight-going sensor. When the balance car controls the first motor and the second motor according to the straight-ahead sensor on the first pedal, the controller balances the first pedal regardless of whether the second pedal is balanced.
As an improvement, the controller controls the first motor to keep the first pedal balanced, and controls the second motor to ensure that the second pedal is synchronous with the first pedal.
As an improvement, the two-wheeled electrodynamic balance car includes with the automobile body of first motor and second motor rigid coupling, first footboard and second footboard with the automobile body swing back and forth is connected, first footboard or second footboard with be equipped with the detachable between the automobile body and prevent the footboard wobbling and prevent the pendulum spare.
As an improvement, the lower surfaces of the first pedal and the second pedal are provided with mode change-over switches which are electrically connected with the controller and are triggered by the anti-swing piece.
As an improvement, the two-wheeled electric balance car comprises two straight-moving sensors. Both pedals are provided with straight sensors, and both pedals can swing back and forth. However, the controller controls the two motors to be synchronized only based on the information from one of the inline sensors.
As an improvement, the two straight-moving sensors move synchronously, when one of the straight-moving sensors is damaged, the running of the balance car is not influenced, and the balance car is special for single-foot control.
As an improvement, a first human body detection switch is arranged on the first pedal, and a second human body detection switch is arranged on the second pedal.
As an improvement, a steering sensor connected with the controller is further arranged on the first pedal and/or the second pedal.
As an improvement, the first pedal and/or the second pedal can swing left and right, and the controller controls the first motor and the second motor to be asynchronous according to the left and right inclination angle of the first pedal and/or the second pedal, so that left and right steering is realized.
As an improvement, the controller controls the first motor and the second motor to be asynchronous according to the left-right inclination angle difference of the two steering sensors so as to realize left-right steering. When the road surface is uneven left and right, the motor is controlled according to the left and right inclination angle difference, and the control is more accurate.
As an improvement, a left-turning trigger piece which can incline along with the lower leg to the left and a right-turning trigger piece which can incline along with the lower leg to the right are arranged at the first pedal and/or the second pedal.
As an improvement, the controller controls the first motor and the second motor to be asynchronous according to the left-right inclination amplitude of the left-turn trigger piece and the right-turn trigger piece, so that left-right steering is realized.
As an improvement, pressure sensors are arranged at the left-turn trigger part and the right-turn trigger part; the left-turn trigger piece and the right-turn trigger piece are acted with reset pieces.
An operation method of a two-wheeled electric balance vehicle, the operation method comprising:
s1, turning on a power switch, and selecting or directly entering a single-pin control mode;
s2, one or two feet are stepped on, after the balance car runs at high power, a single pedal is operated to incline forwards or lean backwards, the controller controls the first motor and the second motor to be synchronous only according to the information of a certain straight running sensor, and the two-wheeled electric balance car runs straight;
and S3, enabling the left-right steering to be realized by inclining a single foot left and right, or enabling the left-right steering to be realized by inclining a single leg left and right.
The two-wheeled electric balance car has the beneficial effects that: the two-wheeled electric balance car has a single-foot control mode, and in the single-foot control mode, the controller controls the first motor and the second motor to be synchronous only according to information of a certain straight sensor, so that the two-wheeled electric balance car moves straight, and single-foot control is achieved.
The operation method of the two-wheeled electric balance car has the advantages that: single-foot control can be realized.
Drawings
Fig. 1 is a block diagram of a two-wheeled electric balance vehicle according to a first embodiment of the present invention.
Fig. 2 is a step diagram of an operation method of the two-wheeled electric balance car according to the first embodiment of the utility model.
Fig. 3 is a block diagram of a two-wheeled electric balance vehicle according to a second embodiment of the present invention.
Fig. 4 is a step diagram of an operation method of the two-wheeled electric balance car according to the second embodiment of the utility model.
Fig. 5 is a block diagram showing a two-wheeled electric balance vehicle according to a third embodiment of the present invention.
Fig. 6 is a step diagram of an operation method of the two-wheeled electric balance car according to the third embodiment of the utility model.
Fig. 7 is a schematic structural view of a two-wheeled electric balance car according to a first embodiment of the present invention.
Fig. 8 is an exploded view of the two-wheeled electric balance car according to the first embodiment of the present invention.
Fig. 9 is a schematic structural view of a pedal and a mode selector switch of the two-wheeled electric balance car according to the first embodiment of the present invention.
In the figure, 1, a first wheel;
2. a second wheel;
3. a first pedal;
4. a second pedal; 41. positioning a groove;
5. a vehicle body;
6. preventing the ornament;
7. a mode selector switch.
Detailed Description
The technical solutions of the embodiments of the present invention will be explained and explained below with reference to the drawings of the embodiments of the present invention, but the embodiments described below are only preferred embodiments of the present invention, and are not all embodiments. Other embodiments obtained by persons skilled in the art without any inventive work based on the embodiments in the embodiment belong to the protection scope of the utility model.
Referring to fig. 1, 7 to 9, a two-wheeled motor-driven balancing vehicle that can be operated by one foot includes:
a controller;
a first wheel 1 having a first motor controlled by the controller;
a second wheel 2 having a second electric machine controlled by the controller;
a first pedal 3;
a second pedal 4;
the straight-moving sensor is electrically connected with the controller and is used for detecting the front-back inclination angle of the first pedal 3 or the second pedal 4;
the two-wheeled electric balance car has a single-foot control mode, and in the single-foot control mode, the controller sends the same instruction to the first motor and the second motor according to the information of the straight-going sensor, and the first motor and the second motor are synchronous, so that the two-wheeled electric balance car runs straight.
In this embodiment, the first pedal 3 is provided with a first human body detection switch, and the second pedal 4 is provided with a second human body detection switch. The first human body detection switch and the second human body detection switch can be set to be power output when only one is triggered by the balance car, so that the balance car is suitable for disabled persons not provided with artificial limbs, or the first human body detection switch and the second human body detection switch are set to be power output when both are triggered, so that the balance car is suitable for disabled persons provided with artificial limbs.
In this embodiment, the first pedal 3 and the second pedal 4 are both provided with a direct sensor electrically connected to the controller. The straight-moving sensors comprise a first straight-moving sensor on the first pedal 3 and a second straight-moving sensor on the second pedal 4, when a user steps on the first pedal 3 and then steps on the second pedal 4, or the user only steps on the first pedal 3, the controller controls the left motor and the right motor to synchronously run according to the information of the first straight-moving sensor, and the information of the second straight-moving sensor is not processed, so that the balance car moves straight.
In other embodiments, the first pedal 3 and the second pedal 4 swing synchronously, the two rectilinear motion sensors swing synchronously, and when one of the rectilinear motion sensors is damaged, the balance car can still run normally.
In this embodiment, the two-wheeled electrodynamic balance car includes with automobile body 5 of first motor and second motor rigid coupling, first footboard 3 and second footboard 4 with automobile body 5 swing back and forth is connected, be equipped with detachable and prevent that the footboard swing prevents pendulum piece 6 between first footboard 3 or second footboard 4 with automobile body 5.
In this embodiment, the first pedal 3 and the second pedal 4 are provided with positioning grooves 41, the anti-swing member 6 has a tapered portion, and the anti-swing member 6 is positioned in the positioning grooves 41 and supported by the vehicle body 5. The anti-swing member 6 is axially centered between the step and the vehicle body 5 from the axial end. The anti-swing part 6 is provided with two parts which are distributed back and forth relative to the rotating center of the pedal.
In this embodiment, the lower surfaces of the first pedal 3 and the second pedal 4 are provided with a mode switch 7 electrically connected to the controller and triggered by the anti-swing part 6. The mode switching switch 7 may be an electro-optical proximity switch. The mode is controlled to the both feet and the mode is controlled to the single foot to the storage in the controller of balance car of this embodiment, and when preventing goods of furniture for display rather than for use 6 when the installation, the mode is controlled to the both feet by default to the controller, prevents that pendulum 6 triggers mode change over switch 7 after preventing goods of furniture for display rather than for use 6 when the installation, controls the mode switch to the single foot from the both feet and controls the mode. Meanwhile, one pedal cannot swing back and forth, so that the disabled can step on the pedal capable of swinging back and forth with flexible feet and step on the pedal incapable of swinging back and forth with inflexible feet, and the operation is easier.
In this embodiment, there are two mode switches 7, and the two mode switches 7 are triggered in parallel, that is, when any one mode switch 7 is triggered, a mode switching signal is sent to the controller.
Although the two-wheeled electric balance car in the embodiment can only move straight when being operated by a single foot, the two-wheeled electric balance car is still a new choice for disabled people.
The two-wheeled electric balance car provided by the embodiment of the utility model has a single-foot control mode, and in the single-foot control mode, the controller controls the first motor and the second motor to be synchronous only according to the information of a certain straight sensor, so that the two-wheeled electric balance car moves straight, and single-foot control is realized; the two-wheeled electrodynamic balance car is modified on the basis of the existing two-wheeled electrodynamic balance car, the existing double-foot control mode can be adopted, and single-foot control can also be realized.
Referring to fig. 1 and 2, a method for operating a two-wheeled electric balance vehicle according to a first embodiment of the present invention includes:
s1, turning on a power switch, and selecting or directly entering a single-pin control mode;
s2, one or two feet are stepped on, after the balance car runs at high power, a single pedal is operated to incline forwards or lean backwards, and the controller controls the first motor and the second motor to be synchronous only according to the information of a certain straight running sensor, so that the two-wheeled electric balance car runs straight.
Example two
Referring to fig. 3, a two-wheeled electric balance vehicle capable of being operated by one foot according to a second embodiment of the present invention includes:
a controller;
a first wheel having a first motor controlled by the controller;
a second wheel having a second electric machine controlled by the controller;
a first pedal;
a second pedal;
the first steering sensor is electrically connected with the controller and is used for detecting the left-right inclination angle of the first pedal;
the second steering sensor is electrically connected with the controller and is used for detecting the left-right inclination angle of the second pedal;
the two-wheeled electric balance car has a single-foot control mode, and in the single-foot control mode, the controller controls the first motor and the second motor to be asynchronous according to information of the first steering sensor and the second steering sensor, so that the two-wheeled electric balance car turns left and right.
In this embodiment, left-right steering may be achieved by a gyroscope, which detects the front-back tilt angle and the left-right tilt angle of the pedal. The structure of the pedal capable of swinging back and forth and left and right can refer to the prior art.
In other embodiments, the first pedal and/or the second pedal are further provided with a left-turning trigger which can incline to the left along with the lower leg and a right-turning trigger which can incline to the right along with the lower leg, so that the left-right turning is realized. The left-turn trigger and the right-turn trigger are higher than the pedal. The steering sensor is a pressure sensor arranged at the left-turn trigger part and the right-turn trigger part, and the left-turn trigger part and the right-turn trigger part are acted with a reset part. When the shank touches and turns left and right the sensor, the balance car turns to about, and current flatbed can be referred to specific structure.
Referring to fig. 3 and 4, an operation method of a two-wheeled electric balance vehicle according to a first embodiment of the present invention includes:
s1, turning on a power switch, and selecting or directly entering a single-pin control mode;
s2, one or two feet are stepped on, after the balance car runs at high power, the operation pedal tilts left and right, and the information of the controller steering sensor controls the first motor and the second motor to be asynchronous, so that left and right steering is realized.
EXAMPLE III
Referring to fig. 5, a two-wheeled electric balance car capable of being operated by one foot according to a third embodiment of the present invention includes:
a controller;
a first wheel having a first motor controlled by the controller;
a second wheel having a second electric machine controlled by the controller;
a first pedal;
a second pedal;
the first straight-line sensor is electrically connected with the controller and is used for detecting the front-back inclination angle of the first pedal;
the second straight-moving sensor is electrically connected with the controller and is used for detecting the front-back inclination angle of the second pedal;
the first steering sensor is electrically connected with the controller and is used for detecting the left-right inclination angle of the first pedal;
the second steering sensor is electrically connected with the controller and is used for detecting the left-right inclination angle of the second pedal;
the two-wheeled electric balance car has a single-foot control mode, and in the single-foot control mode, the controller controls the first motor and the second motor to be synchronous according to information of one of the first straight-moving sensor and the second straight-moving sensor, so that the two-wheeled electric balance car moves straight; the controller controls the first motor and the second motor to be asynchronous according to the information of the first steering sensor and the second steering sensor, so that the two-wheeled electric balance car turns left and right.
In this embodiment, the controller controls the first motor and the second motor to be asynchronous according to the left-right inclination angle difference of the two steering sensors, so as to realize left-right steering.
Referring to fig. 5 and 6, a method for operating a two-wheeled electric balance vehicle according to a third embodiment of the present invention includes:
s1, turning on a power switch, and selecting or directly entering a single-pin control mode;
s2, stepping on one or two feet, and operating the balance car at high power;
s31, an operating pedal tilts forward or tilts backward, and the controller controls the first motor and the second motor to be synchronous only according to the information of a certain straight-moving sensor, so that the two-wheeled electric balance car moves straight;
and S32, the single leg inclines left and right, and the controller controls the first motor and the second motor to be asynchronous according to the information of the steering sensor, so that left and right steering is realized.
While the utility model has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that the utility model is not limited thereto but is intended to cover all modifications and equivalents as may be included within the spirit and scope of the utility model. Any modification which does not depart from the functional and structural principles of the utility model is intended to be included within the scope of the following claims.
Claims (10)
1. The utility model provides a but two-wheeled electrodynamic balance car that single foot was controlled which characterized in that: the two-wheeled electrodynamic balance car that can be controlled by one foot includes:
a first wheel having a first motor;
a second wheel having a second motor;
a first pedal;
a second pedal;
a controller;
the first pedal and/or the second pedal are/is provided with a straight sensor electrically connected with the controller;
the two-wheeled electric balance car has a single-foot control mode, and in the single-foot control mode, the controller controls the first motor and the second motor to be synchronous only according to information of a certain straight-going sensor, so that the two-wheeled electric balance car moves straight.
2. The two-wheeled electric balance vehicle capable of being operated by one foot according to claim 1, wherein: the controller keeps the first pedal balanced by controlling the first motor and ensures that the second pedal is synchronous with the first pedal by controlling the second motor.
3. The two-wheeled electrodynamic balance car capable of being operated by one foot according to claim 1, wherein: the two-wheeled electrodynamic balance car include with the automobile body of first motor and second motor rigid coupling, first footboard and second footboard with the automobile body swing back and forth is connected, first footboard or second footboard with be equipped with the detachable between the automobile body and prevent the footboard wobbling and prevent the pendulum spare.
4. The two-wheeled electric balance car capable of being operated by one foot according to claim 3, wherein: and the lower surfaces of the first pedal and the second pedal are provided with mode switching switches which are electrically connected with the controller and triggered by the anti-swing piece.
5. The two-wheeled electric balance vehicle capable of being operated by one foot according to claim 1, wherein: a first human body detection switch is arranged on the first pedal, and a second human body detection switch is arranged on the second pedal; and a steering sensor connected with the controller is further arranged on the first pedal and/or the second pedal.
6. The two-wheeled electric balance vehicle capable of being operated by one foot according to claim 5, wherein: the first pedal and/or the second pedal can swing left and right, and the controller controls the first motor and the second motor to be asynchronous according to the left and right inclination amplitude of the first pedal and/or the second pedal, so that left and right steering is realized.
7. The two-wheeled electric balance vehicle capable of being operated by one foot according to claim 1, wherein: the first pedal and/or the second pedal are/is further provided with a left-turning trigger piece capable of inclining left along with the shank and a right-turning trigger piece capable of inclining right along with the shank, and the left-turning trigger piece and the right-turning trigger piece are located on the left side and the right side of the same pedal.
8. The two-wheeled electrodynamic balance car capable of being operated by one foot according to claim 7, wherein: the controller controls the first motor and the second motor to be asynchronous according to the left-right inclination amplitude of the left-turn trigger piece and the right-turn trigger piece, and left-right steering is achieved.
9. The two-wheeled electric balance vehicle capable of being operated by one foot according to claim 7, wherein: the left-turn trigger piece and the right-turn trigger piece are acted with reset pieces.
10. The two-wheeled electric balance vehicle capable of being operated by one foot according to claim 7, wherein: and pressure sensors are arranged at the left-turn trigger piece and the right-turn trigger piece.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123032724.9U CN216580833U (en) | 2021-12-03 | 2021-12-03 | Two-wheeled electrodynamic balance car that can single foot controlled |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202123032724.9U CN216580833U (en) | 2021-12-03 | 2021-12-03 | Two-wheeled electrodynamic balance car that can single foot controlled |
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| CN216580833U true CN216580833U (en) | 2022-05-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115384671A (en) * | 2021-12-03 | 2022-11-25 | 钭俊龙 | Two-wheeled electric balance car capable of being controlled by single foot and operation method |
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2021
- 2021-12-03 CN CN202123032724.9U patent/CN216580833U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115384671A (en) * | 2021-12-03 | 2022-11-25 | 钭俊龙 | Two-wheeled electric balance car capable of being controlled by single foot and operation method |
| CN115384671B (en) * | 2021-12-03 | 2024-05-03 | 钭俊龙 | Single-foot-controllable two-wheel electric balance car and operation method |
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