WO2018120534A1 - 电动助力滑板及其控制方法 - Google Patents

电动助力滑板及其控制方法 Download PDF

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Publication number
WO2018120534A1
WO2018120534A1 PCT/CN2017/081468 CN2017081468W WO2018120534A1 WO 2018120534 A1 WO2018120534 A1 WO 2018120534A1 CN 2017081468 W CN2017081468 W CN 2017081468W WO 2018120534 A1 WO2018120534 A1 WO 2018120534A1
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WO
WIPO (PCT)
Prior art keywords
sensor
motor
pedal
foot
controller
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PCT/CN2017/081468
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English (en)
French (fr)
Inventor
李一鹏
龙乐坪
闫学凯
Original Assignee
蔡优飞
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Application filed by 蔡优飞 filed Critical 蔡优飞
Publication of WO2018120534A1 publication Critical patent/WO2018120534A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/12—Roller skates; Skate-boards with driving mechanisms
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/0006—Accessories
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/01—Skateboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof

Definitions

  • the present invention relates to the field of skateboard technology, and in particular to an electric power assist slide and a control method thereof.
  • the controller of the general electric power assist slide is provided with a wireless signal receiver, and then a handheld wireless remote controller is used, and the handheld wireless remote controller is used to transmit the commands of acceleration and braking.
  • the electric power-assisted skateboard can slide down the power of the motor, it is not convenient to use, and requires the user to spend more time familiar with the operation, and the learning cost is high.
  • An electric power assisted skateboard comprising:
  • a sensor disposed on the pedal, the sensor for outputting a load signal
  • a control method of an electric power assisted slideboard comprising a pedal, a roller, a motor, a sensor and a controller, wherein the roller is rotatably disposed on the pedal, and the motor is used to drive the roller to rotate,
  • the sensor is disposed on the pedal, the sensor is configured to output a load signal, and the controller is configured to control the motor according to the load signal, the method comprising:
  • the controller controls the motor to provide power to drive the roller to rotate;
  • the controller controls the motor to be in an unpowered state.
  • FIG. 1 is a schematic structural view of an electric assist slide in an embodiment
  • Figure 2 is an exploded view of the electric power assisting slide shown in Figure 1;
  • FIG. 3 is a schematic structural view of an electric assist slide in another embodiment
  • Figure 5 is a flow chart of the control method of the electric power assisting slide shown in Figure 1;
  • FIG. 6 is a flow chart of specific steps of step S120 in FIG. 5.
  • the electric power assisting slide 10 can realize electric assisted sliding and has a simple structure.
  • the electric assist slide 10 includes a pedal 100, a roller 200, a power source 300, a motor 400, a controller 500, and a sensor 600.
  • the pedal 100 is used to carry a load, such as when the user's foot is stepped on the pedal 100, and the electric assisted slide 10 drives the user to slide.
  • the pedal 100 includes a first surface 110 and a second surface 120 that are disposed opposite each other. It can be understood that, in other embodiments, both ends of the pedal 100 can be bent toward a side close to the first surface 110 to form a fold, which is convenient for the user to operate the electric assist slide 10 .
  • the roller 200 is rotatably disposed on the pedal 100. Specifically, in the present embodiment, the roller 200 is rotatably provided on the pedal 100 via the rotating shaft 210.
  • a knuckle 220 is disposed between the rotating shaft 210 and the pedal 100, and the knuckle 220 is used to control the moving direction of the electric assisting slide 200.
  • the knuckle 220 is disposed on the second surface 120 of the pedal 100.
  • the rotating shaft 210 is disposed on the knuckle 220, and the roller 200 is rotatably disposed on the rotating shaft 210, so that the roller 120 is rotatably disposed on the pedal 100.
  • the rotating shaft 210 and the steering knuckle 220 constitute a steering axle, and the number of the steering axles is two, and the two steering axles are spaced apart. There are four rollers 200, and a roller 220 is disposed at both ends of the two rotating shafts 210.
  • the power source 300 is disposed on the pedal 100, and the power source 300 is used to supply energy to the motor 400 to rotate the electrode 400.
  • the power source 300 is disposed on the second surface 120, and the power source 300 is a battery.
  • the motor 400 is used to drive the roller 200 to rotate, and the motor 400 drives at least one roller 200 to rotate.
  • the motor 400 is disposed in the roller 200, and the motor 400 directly drives the roller 200 to rotate.
  • the motor 400 is a DC brushless motor, which is small in size, light in weight, and has a wide speed range. It can be understood that in other embodiments, the motor 400 can also be disposed on the pedal 100 to drive the roller 200 to rotate by a transmission mechanism such as a belt.
  • the controller 500 is disposed on the pedal 100, and the controller 500 is used to control the motor 400. Specifically, in the present embodiment, the controller 500 is disposed on the second surface 120 of the pedal 100. It can be understood that in other embodiments, the controller 500 can also be disposed at other positions of the electric assist slide 10 as long as the motor 400 can be controlled.
  • the sensor 600 is disposed on the pedal 100 for determining whether the electric assist slide 10 has a load and outputting a load signal.
  • the sensor 600 is electrically connected to the controller 500, and the controller 500 receives the load signal output from the sensor 600 and controls the motor 400 according to the load signal.
  • the sensor 600 is a foot sensor, is disposed on the first surface 110 of the pedal 100, and is disposed at the rear end of the pedal 100.
  • the foot sensor can be a membrane switch, a mechanical stroke switch, a photoelectric sensor or a strain gauge.
  • the number of sensors 600 can be specifically set as desired, as shown in FIG. 3, in another embodiment, the first surface 110 of the pedal 100 can be provided with three sensors 600.
  • the senor 600 can also be a pressure sensor. As shown in FIG. 4, a pressure sensor is disposed between the steering knuckle 220 and the pedal 100.
  • a control method of the electric power assisting slide 10 shown in FIG. 1 specifically includes the following steps:
  • Step S110 It is detected by the controller 500 whether the sensor 600 outputs a load signal.
  • the controller 500 detects whether the sensor 600 outputs a load signal to control the mode of the electric assist slide 10. If the sensor 600 outputs a load signal and is detected by the controller 500, it indicates that electric power is required to be performed, and step S120 is performed; if no load signal is detected, it indicates that the sensor 600 has no output load signal, and the electric assist slide 10 does not need to be Electric assist, at this time step S130 is performed.
  • the sensor 600 is a foot sensor. When the sensor 600 receives the pedaling signal, the sensor 600 outputs a load signal; when the sensor 600 does not receive the pedaling signal, the sensor 600 does not output the load signal.
  • the sensor 600 may be a pressure sensor. When the pressure received by the pressure sensor is greater than or equal to the preset pressure, the sensor 600 outputs a load signal; when the pressure received by the pressure sensor is less than the preset pressure, the sensor 600 does not. Output load signal.
  • the controller 500 before the step of detecting whether the sensor 600 outputs the load signal by the controller 500, the controller 500 further detects that the rotation speed of the motor 400 is greater than the preset rotation speed.
  • the controller 500 Before the controller 500 detects whether the sensor 600 outputs the load signal, it is necessary to determine in advance whether the rotational speed of the motor 400 is greater than a preset rotational speed. That is, the electric assisted slide 10 is required to have a certain initial speed to enable electric assisted sliding. When the user just stands on the pedal 100, the motor 400 does not provide power to drive the roller 200 to rotate, which is safe and reliable.
  • the sensor 600 is a foot sensor
  • the front portion of the pedal 100 can be pressed by the front leg, and the rear leg is strongly accelerated to make the electric assist slide 10 have a certain initial speed.
  • the rear foot does not press the sensor 600, there is no load signal, so the entire electric power assisting slide 10 is accelerated by the user like an ordinary unpowered skateboard.
  • the motor 400 rotates with the roller 200.
  • the controller 500 detects whether the sensor 600 outputs a load signal.
  • the senor 600 may be a pressure sensor.
  • the controller 500 controls The motor 400 remains in an unpowered state and the motor 400 does not provide power to drive the roller 200 to rotate.
  • the front portion of the pedal 100 can also be pressed by the front foot, and the rear leg is strongly accelerated to make the electric assist slide 10 have a certain initial speed.
  • the controller 500 detects whether the sensor 600 outputs a load signal.
  • the electric assisted sliding can be realized after the electric assisting slide 10 is not required to have a certain initial speed. It is also possible to directly stand on the electric power assisting slide 10 to realize electric assisted sliding.
  • the most energy-consuming acceleration phase of the electric power assisting slide 10 is completed by human power, thereby reducing the energy consumption of the motor 400. Under the same battery capacity, the battery can be made smaller and smaller under the same voyage. The volume and weight of the electric power assisted slide 10.
  • Step S120 The controller 500 controls the motor 400 to provide power to drive the roller 200 to rotate.
  • the electric assisted slide 10 When the electric assisted slide 10 is accelerated, after a certain speed, the user's rear foot is stepped on the rear of the pedal 100, the sensor 600 is pressed, the sensor 600 outputs a load signal, and the controller 500 detects the load signal output by the sensor 600, and controls The device 500 controls the rotation of the motor 400 to drive the roller 200 to rotate to realize electric assisted sliding.
  • step S120 specifically includes:
  • Step S122 The controller 500 acquires the current rotational speed of the motor 400 as the first rotational speed.
  • the controller 500 acquires the rotational speed of the motor 400 at this time, and uses the current rotational speed of the motor 400 as the first rotational speed.
  • Step S124 According to the first rotation speed, the controller 500 maintains the rotation speed of the motor 400 to be the same as the first rotation speed, and the motor 400 drives the roller 200 to rotate at a constant speed.
  • the controller 500 targets the obtained first rotational speed, the controller 500 maintains the rotational speed of the motor 400 to be the same as the first rotational speed, and the motor 400 drives the roller 200 to rotate at a constant speed to drive the electric assisted slide 10 at a constant speed.
  • the controller 500 controls the motor 400 to switch from the unpowered state to the powered state, the electric assisted slide 10 does not have a process of accelerating or decelerating, and the electric assisted slide 10 does not have an emergency stop, which is safe and reliable.
  • the controller 500 when the controller 500 detects the load signal, the controller 500 can also control the motor 400 to decelerate according to a preset reduction ratio, and the electric assist slide 10 is very slow for a certain period of time. Slow down and slow down to the speed that the user feels appropriate.
  • the controller 500 controls the motor 400 to accelerate at a preset reduction ratio, and when accelerated to a suitable speed, the controller 500 maintains the current speed.
  • Step S130 The controller 500 controls the motor 400 to be in an unpowered state.
  • the motor 400 can be freely rotated, the motor 400 is in an unpowered state, and the entire electric assist slide 10 can slide freely, just like an ordinary unpowered skateboard.
  • the rear foot is lifted up, the ground is supported, or the electric foot assisted slide 10 is jumped off the foot, the sensor 600 is not pressed, and the sensor 600 does not output a load signal, and the motor 400
  • the electric assist slide 10 enters a free-sliding state, which is consistent with an ordinary unpowered skateboard.
  • the front leg is pressed against the front portion of the pedal 100 by the front leg, and the rear leg is strongly accelerated to make the electric assist slide 10 have a certain initial speed.
  • the rear foot is emptied, the foot sensor is not pressed, the sensor 600 does not output a load signal, and the motor 400 is free to rotate, and the entire electric power assisting slide 10 is accelerated by the user like an ordinary unpowered skateboard.
  • the motor 400 begins to provide power to drive the roller 200, and maintains the speed of the current electric assist slide 10. Since the maximum speed is only the limit that the human body can reach, it is only about 15km/h, so the speed is lower and safer. Unlike other pure-powered skateboards that reach 30km/h or higher, it is safe and reliable.
  • the rear foot When the user wants to stop or get off the vehicle, the rear foot is lifted up, the ground support or the feet are jumped off the electric power assist slide 10, the sensor 600 is not pressed, the sensor 600 does not output the load signal, the motor 400 cuts off the power, and the electric power is assisted.
  • the skateboard 10 enters a free-sliding state, which is consistent with a conventional unpowered skateboard.
  • the electric power assisting slide 10 of the present embodiment can define some special commands by the foot pedal sensor 600. For example, when the sensor 600 receives a preset number of consecutive pedaling signals, the sensor 600 continuously outputs a preset number of load signals, and controls.
  • the device 500 controls the motor 400 to accelerate or decelerate, and the electric assist slide 10 performs an acceleration or acceleration function.
  • the number of sensors 600 can be specifically set as needed.
  • the sensor 600 is a foot sensor, and the number of the sensors 600 is two.
  • the two sensors 600 are respectively disposed at both ends of the pedal 100, so that the use state of the electric assist slide 10 can be obtained more accurately.
  • the controller 500 controls the motor 400 to freely rotate, and the motor 400 is in an unpowered state.
  • both sensors 600 output a load signal
  • the controller 500 controls the motor 400 to provide power to drive the roller 200 to rotate, and the electric assist slide 10 moves at a constant speed.
  • both sensors 600 When both sensors 600 are not stepped on, neither of the two sensors 600 outputs a load signal, the controller 500 controls the motor 400 to stop rotating, and the electric assist slide 10 is in a braking state. In this way, when an unexpected jump occurs, the electric assist slide 10 will automatically brake to prevent accidental collision with other items to ensure safety.
  • the sensor 600 is a foot sensor, and the sensor 600 may also be provided with three, which are a first foot sensor, a second foot sensor and a second foot sensor.
  • the first foot sensor and the second foot sensor are disposed at one end of the pedal 100, the third foot sensor is disposed at the other end of the pedal 100, and the first foot sensor is located at the second foot sensor and the third foot sensor. between.
  • the first foot sensor When the first foot sensor is stepped on, the first foot sensor outputs a load signal, and the controller 500 controls the motor 400 to provide power to drive the roller 200 to rotate. That is, when the user's rear foot is stepped on the first foot sensor, the electric assist is realized at this time, and the electric assist slide 10 moves at a constant speed.
  • the controller 500 controls the motor 400 to stop rotating, and the electric assist slide 10 is in a braking state.
  • the brake is realized at this time, and the electric power assist slide 10 is safe and convenient to use.
  • the controller 500 controls the motor 400 to rotate freely, the motor 400 is in an unpowered state, and the electric assist slide 10 can freely slide.
  • the user can step on the first foot sensor on the front foot, and the rear foot is accelerated to make the electric power assisted slide 10 have a certain initial speed.
  • the third pedal sensor may not be provided, and only the first pedal sensor and the second pedal sensor may be disposed. In the embodiment, the third foot sensor is disposed.
  • the above electric power assisting slide 10 and its control method have at least the following advantages:
  • the controller 500 controls the motor 400 to provide power to drive the roller 200 to rotate, thereby achieving electric assisted coasting.
  • the electric power assisted slide 10 is controlled by a load signal outputted by the sensor 600.
  • the electric power assist slide 10 does not require an additional hand-held remote control device, and has a simple structure and an effective cost reduction.
  • the electric power assisting skateboard 10 is consistent with the traditional skateboard operation.
  • the electric power assisting skateboard 10 conforms to the user's usage habits, is simple and convenient to use, and does not require special learning, even if the beginner can quickly adapt to the operation, the learning cost is low.

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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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Abstract

一种电动助力滑板（10）及其控制方法。该电动助力滑板（10）包括踏板（100）、滚轮（200）、电机（400）、控制器（500）及传感器（600）。滚轮（200）可转动地设置于踏板（100）上。电机（400）用于驱动滚轮（200）转动。传感器（600）设置于踏板（100）上。传感器（600）用于输出负载信号。控制器（500）检测传感器（600）是否输出负载信号，若是，控制器（500）控制电机（400）提供动力驱动滚轮（200）转动；若否，则控制器（500）控制电机（400）处于无动力状态。

Description

电动助力滑板及其控制方法
本申请要求于2016年12月29日提交中国专利局、申请号为2016112489785、发明名称为“一种电动助力滑板及控制方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
【技术领域】
本发明涉及滑板技术领域，特别是涉及一种电动助力滑板及其控制方法。
【背景技术】
随着科技的不断发展，目前市面上出现了带有电动助力的滑板。为了实现电动助力滑板的加减速，一般的电动助力滑板的控制器内均设置有无线信号接收器，然后再配备一个手持无线遥控器，利用手持无线遥控器来发送加速和刹车的命令。
该种电动助力滑板虽然能够在电机的助力下滑行，但是其使用起来并不方便，需要用户花费较多时间熟悉操作，学习成本较高。
【发明内容】
基于此，有必要针对上述问题，提供一种使用更方便的电动助力滑板及其控制方法。
一种电动助力滑板，包括：
踏板；
滚轮，可转动地设置于所述踏板上；
电机，用于驱动所述滚轮转动；
传感器，设置于所述踏板上，所述传感器用于输出负载信号；及
控制器，用于根据所述负载信号控制所述电机。
一种电动助力滑板的控制方法，所述电动助力滑板包括踏板、滚轮、电机、传感器及控制器，所述滚轮可转动地设置于所述踏板上，所述电机用于驱动所述滚轮转动，所述传感器设置于所述踏板上，所述传感器用于输出负载信号，所述控制器用于根据所述负载信号控制所述电机，所述方法包括：
通过所述控制器检测所述传感器是否输出负载信号；
若是，所述控制器控制所述电机提供动力驱动滚轮转动；及
若否，则所述控制器控制所述电机处于无动力状态。
【附图说明】
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为一实施方式中的电动助力滑板的结构示意图；
图2为图1所示电动助力滑板的爆炸图；
图3为另一实施方式中的电动助力滑板的结构示意图；
图4为另一实施方式中的电动助力滑板的爆炸图；
图5为图1所示电动助力滑板的控制方法的流程图；
图6为图5中步骤S120的具体步骤流程图。
【具体实施方式】
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳的实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及／或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1及图2，一实施方式中的电动助力滑板10，能够实现电动助力滑行，结构简单。该电动助力滑板10包括踏板100、滚轮200、电源300、电机400、控制器500及传感器600。
踏板100用于承载负荷，如用户的脚踩踏在踏板100上，电动助力滑板10带动用户滑行。踏板100包括相对设置的第一表面110及第二表面120。可以理解的是，在其他实施方式中，踏板100的两端可以向靠近第一表面110的一侧弯折形成折边，方便用户操作电动助力滑板10。
滚轮200可转动地设置于踏板100上。具体到本实施方式中，滚轮200通过转轴210可转动地设置于踏板100上。转轴210与踏板100之间设置有转向节220，转向节220用于控制电动助力滑板200的运动方向。转向节220设置于踏板100的第二表面120上，转轴210设置于转向节220上，滚轮200可转动地设置于转轴210上，从而将滚轮120可转动地设置于踏板100上。转动轴210及转向节220组成转向桥，转向桥的数量为两个，两个转向桥间隔设置。滚轮200为四个，两个转轴210的两端均设置一个滚轮220。
电源300设置于踏板100上，电源300用于为电机400提供能量，使电极400旋转。本实施方式中，电源300设置于第二表面120上，电源300为电池。
电机400用于驱动滚轮200转动，且电机400至少驱动一个滚轮200转动。本实施方式中，电机400设置于滚轮200内，电机400直接驱动滚轮200转动。电机400为直流无刷电机，体积小、重量轻，并且调速范围广。可以理解的是，在其他实施方式中，电机400也可以设置在踏板100上，通过皮带等传动机构驱动滚轮200转动。
控制器500设置于踏板100上，控制器500用于控制电机400。具体到本实施方式中，控制器500设置于踏板100的第二表面上120。可以理解的是，在其他实施方式中，控制器500也可以设置于电动助力滑板10的其他位置，只要能够控制电机400即可。
传感器600设置于踏板100上，传感器600用于判断电动助力滑板10是否具有负载，并且输出负载信号。传感器600与控制器500之间电连接，控制器500接收传感器600输出的负载信号，并根据负载信号控制电机400。本实施方式中，传感器600为脚踏传感器，设置于踏板100的第一表面110上，且设置于踏板100的后端。脚踏传感器可以为薄膜开关、机械行程开关、光电传感器或应变片。传感器600的数量可以根据需要具体设置，如图3所示，在另一实施方式中，踏板100的第一表面110可以设置三个传感器600。
在另一实施方式中，传感器600也可以是压力传感器。如图4所示，压力传感器设置于转向节220与踏板100之间。
请参阅图5，一种图1所示电动助力滑板10的控制方法，具体包括如下步骤：
步骤S110：通过控制器500检测传感器600是否输出负载信号。
当电动助力滑板10开机后，用户使用电动助力滑板10时，通过控制器500检测传感器600是否输出负载信号，来控制电动助力滑板10的模式。若传感器600输出负载信号并被控制器500检测到，则表明需要进行电动助力，此时执行步骤S120；若没有检测到负载信号，则表明传感600没有输出负载信号，电动助力滑板10不需要电动助力，此时执行步骤S130。
本实施方式中，传感器600为脚踏传感器，当传感器600接收到踩踏信号时，传感器600输出负载信号；当传感器600没有接收到踩踏信号时，则传感器600不输出负载信号。同理，在其他实施方式中，传感器600可以为压力传感器，当压力传感器受到的压力大于等于预设压力时，传感器600输出负载信号；当压力传感器受到的压力小于预设压力时，传感器600不输出负载信号。
本实施方式中，在通过控制器500检测传感器600是否输出负载信号的步骤之前还包括：控制器500检测电机400的转速，判断电机400的转速是否大于预设转速。
控制器500检测传感器600是否输出负载信号之前，需要预先判断电机400的转速是否大于预设转速。即需要电动助力滑板10具有一定的初始速度，才能够实现电动助力滑行。用户刚站在踏板100上时，电机400不提供动力驱动滚轮200转动，安全可靠。
本实施方式中，由于传感器600为脚踏传感器，可以通过前脚踩住踏板100的前部，后脚用力蹬地加速，使电动助力滑板10具有一定的初始速度。此时由于后脚并没有踩压传感器600，因此并没有负载信号，因此整个电动助力滑板10像普通无动力滑板一样，被用户操控加速。电机400随着滚轮200转动，当电机400的转速达到预设转速后，控制器500再检测传感器600是否输出负载信号。
在其他实施方式中，传感器600可以为压力传感器，当用户站在踏板100上时，虽然传感器600输出负载信号，但是由于电机400没有转动，电机400的转速不大于预设转速，控制器500控制电机400保持无动力状态，电机400不会提供动力驱动滚轮200转动。此时，也可以通过前脚踩住踏板100的前部，后脚用力蹬地加速，使电动助力滑板10具有一定的初始速度。当电机400的转速达到预设转速后，此时控制器500再检测传感器600是否输出负载信号。
可以理解的是，可以不要求电动助力滑板10具有一定的初始速度之后，才能够实现电动助力滑行。也可以是直接站在电动助力滑板10上，就可以实现电动助力滑行。本实施方式中，电动助力滑板10最为耗能的加速阶段由人力完成，因此降低了电机400的能耗，在同样的电池容量下，在同样的航程下，电池可以做的更小，减小电动助力滑板10的体积和重量。
步骤S120：控制器500控制电机400提供动力驱动滚轮200转动。
当电动助力滑板10被加速，具有一定的速度后，用户的后脚踩踏到踏板100的后部，传感器600被踩压，传感器600输出负载信号，控制器500检测到传感器600输出的负载信号，控制器500控制电机400转动，从而驱动滚轮200转动，实现电动助力滑行。
请一并参阅图6，本实施方式中，步骤S120具体包括：
步骤S122：控制器500获取当前电机400的转速为第一转速。
具体地，当控制器500检测到负载信号之后，控制器500获取此时电机400的转速，并将当前的电机400的转速作为第一转速。
步骤S124：根据第一转速，控制器500维持电机400的转速与第一转速相同，电机400驱动滚轮200匀速转动。
控制器500根据获得的第一转速作为目标，控制器500维持电机400的转速与第一转速相同，电机400驱动滚轮200匀速转动，使电动助力滑板10匀速行驶。控制器500控制电机400由无动力状态转换到提供动力状态时，电动助力滑板10没有一个加速或者减速的过程，电动助力滑板10不会出现急起急停的情况，安全可靠。
可以理解的的是，在其他实施方式中，当控制器500检测到负载信号时，控制器500也可以控制电机400按照预设的减速比进行减速，电动助力滑板10在一定时间内非常缓慢的减速，减速到用户觉得合适的速度。或者，控制器500控制电机400按照预设的减速比进行加速，当加速到合适的速度后，控制器500维持当前的速度。
步骤S130：控制器500控制电机400处于无动力状态。
当控制器500没有检测到负载信号时，电机400可以自由转动，电机400处于无动力状态，整个电动助力滑板10可以自由滑动，与普通的无动力滑板一样。本实施方式中，当用户想要停车或下车时，将后脚抬起悬空、撑地或者双脚跳下电动助力滑板10，则传感器600没被踩压，传感器600不输出负载信号，电机400切断动力，电动助力滑板10进入自由滑行状态，这与普通的无动力滑板一致。
通过上述控制方法，用户使用本实施方式的电动助力滑板10时，通过前脚踩住踏板100的前部，后脚用力蹬地加速，使电动助力滑板10具有一定的初始速度。此时由于后脚腾空，脚踏传感器没有被踩压，传感器600没有输出负载信号，电机400自由转动，整个电动助力滑板10像普通无动力滑板一样，被用户操控加速。
当电动助力滑板10具有一定速度之后，用户的后脚踩踏到传感器600，传感器600输出负载信号，电机400开始提供动力驱动滚轮200，并保持当前电动助力滑板10的速度。由于最大速度仅仅是人体能够达到的极限，大概只有15km/h，所以速度较低也更为安全，不像其他纯动力型的滑板达到30km/h或更高，安全可靠。
当用户想要停车或者下车时，将后脚抬起悬空、撑地或者双脚跳下电动助力滑板10，则传感器600没被踩压，传感器600不输出负载信号，电机400切断动力，电动助力滑板10进入自由滑行状态，这与普通的无动力滑板一致。
本实施方式的电动助力滑板10，可以通过脚踩踏传感器600来定义一些特殊命令，例如，当传感器600接收到预设数量的连续踩踏信号后，则传感器600连续输出预设数量的负载信号，控制器500控制电机400加速或者减速，电动助力滑板10实现加速或者加速功能。
传感器600的数量可以根据需要具体设置。在其中一个实施方式中，传感器600为脚踏传感器，传感器600的数量为两个，两个传感器600分别设置于踏板100的两端，可以更加精确地获得电动助力滑板10的使用状态。
当其中一个传感器600被踩踏时，其中一个传感器600输出负载信号，控制器500控制电机400自由转动，电机400处于无动力状态。当两个传感器600均被踩踏时，两个传感器600均输出负载信号，控制器500控制电机400提供动力驱动滚轮200转动，电动助力滑板10匀速运动。
当两个传感器600均未被踩踏时，两个传感器600均未输出负载信号，控制器500控制电机400停止转动，电动助力滑板10处于刹车状态。这样当出现意外跳车时，电动助力滑板10会自动刹车，防止意外地撞到其他物品，保证安全。
如图3所示，传感器600为脚踏传感器，传感器600也可以设置三个，分别为第一脚踏传感器、第二脚踏传感器及第二脚踏传感器。其中，第一脚踏传感器及第二脚踏传感器设置于踏板100的一端，第三脚踏传感器设置于踏板100的另一端，第一脚踏传感器位于第二脚踏传感器及第三脚踏传感器之间。
当第一脚踏传感器被踩踏时，第一脚踏传感器输出负载信号，控制器500控制电机400提供动力驱动滚轮200转动。即是，当用户的后脚踩踏在第一脚踏传感器时，此时实现电动助力，电动助力滑板10匀速运动。
当第二脚踏传感器被踩踏时，第二脚踏传感器输出负载信号，控制器500控制电机400停止转动，电动助力滑板10处于刹车状态。用户使用电动助力滑板10的过程中，当后脚从第一脚踏传感器上移动到第二脚踏传感器时，此时实现刹车，电动助力滑板10使用安全方便。
当第三脚踏传感器被踩踏时，第三脚踏传感器输出负载信号，控制器500控制电机400自由转动，电机400处于无动力状态，电动助力滑板10可以自由滑行。用户可以前脚踩踏在第一脚踏传感器上，后脚用力蹬地加速，使电动助力滑板10具有一定的初始速度。可以理解的是，在其他实施方式中，也可以不设置第三脚踏传感器，仅设置第一脚踏传感及第二脚踏传感器。本实施方式中，设置第三脚踏传感器，电动助力滑板10不使用时，电动助力滑板10不会自由滑动，电动助力滑板10运输及存放安全方便。
上述电动助力滑板10及其控制方法至少具有以下优点：
使用电动助力滑板10时，通过控制器500检测传感器600是否输出负载信号，当没有检测到负载信号时，电机400随着滚轮200自由转动，电机400处于无动力状态，整个电动助力滑板10可以自由滑动。当检测到负载信号时，则控制器500控制电机400提供动力驱动滚轮200转动，从而实现电动助力滑行。电动助力滑板10通过传感器600输出的负载信号来控制，电动助力滑板10无需额外的手持遥控器装置，结构简单，有效地降低了成本。电动助力滑板10与传统的的滑板操作相一致，电动助力滑板10符合用户的使用习惯，使用简单方便，无需专门学习，即使初学者也可很快适应操作，学习成本低。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种电动助力滑板，包括：
    踏板；
    滚轮，可转动地设置于所述踏板上；
    电机，用于驱动所述滚轮转动；
    传感器，设置于所述踏板上，所述传感器用于输出负载信号；及
    控制器，用于根据所述负载信号控制所述电机。
  2. 根据权利要求1所述的电动助力滑板，其特征在于，所述滚轮通过转轴可转动地设置于所述踏板上，所述转轴设置于所述踏板上，所述滚轮可转动地设置于所述转轴上。
  3. 根据权利要求2所述的电动助力滑板，其特征在于，所述转轴与所述踏板之间设置有转向节，所述转向节用于改变所述电动助力滑板的运动方向，所述转轴的两端均设置有所述滚轮。
  4. 根据权利要求3所述的电动助力滑板，其特征在于，所述传感器为压力传感器，所述压力传感器设置于所述转向节与所述踏板之间。
  5. 根据权利要求3所述的电动助力滑板，其特征在于，所述转轴与所述转向节组成转向桥，所述转向桥的数量为两个，所述滚轮的数量为四个，两个所述转向桥间隔设置，两个所述转轴的两端均设置有一个所述滚轮。
  6. 根据权利要求1所述的电动助力滑板，其特征在于，所述电机驱动至少一个所述滚轮转动。
  7. 根据权利要求1所述的电动助力滑板，其特征在于，所述电机设置于所述滚轮内，所述电机直接驱动所述滚轮转动。
  8. 根据权利要求1所述的电动助力滑板，其特征在于，所述传感器为脚踏传感器，所述踏板包括相对设置的第一表面及第二表面，所述控制器设置于所述第二表面上，所述脚踏传感器设置于所述第一表面上。
  9. 根据权利要求8所述的电动助力滑板，其特征在于，所述脚踏传感器为多个，多个所述脚踏传感器间隔设置。
  10. 根据权利要求9所述的电动助力滑板，其特征在于，所述脚踏传感器为三个。
  11. 根据权利要求8所述的电动助力滑板，其特征在于，所述脚踏传感器为薄膜开关、机械行程开关、光电传感器或应变片。
  12. 根据权利要求1所述的电动助力滑板，其特征在于，所述电机为直流无刷电机。
  13. 根据权利要求1所述的电动助力滑板，其特征在于，所述驱动装置还包括电源，所述电源设置于所述踏板上，所述电源用于为所述电机提供能量。
  14. 一种电动助力滑板的控制方法，所述电动助力滑板包括踏板、滚轮、电机、传感器及控制器，所述滚轮可转动地设置于所述踏板上，所述电机用于驱动所述滚轮转动，所述传感器设置于所述踏板上，所述传感器用于输出负载信号，所述控制器用于根据所述负载信号控制所述电机，所述方法包括：
    通过所述控制器检测所述传感器是否输出负载信号；
    若是，所述控制器控制所述电机提供动力驱动所述滚轮转动；及
    若否，则所述控制器控制所述电机处于无动力状态。
  15. 根据权利要求14所述的控制方法，其特征在于，通过所述控制器检测所述传感器是否输出负载信号之前，所述方法还包括：
    所述控制器检测所述电机的转速，判断所述电机的转速是否大于预设转速，若是，则通过所述控制器检测所述传感器是否输出负载信号；若否，则保持所述电机处于无动力状态。
  16. 根据权利要求15所述的控制方法，其特征在于，所述控制器控制所述电机提供动力驱动所述滚轮转动为：
    所述控制器获取当前所述电机的转速为第一转速，根据所述第一转速，所述控制器维持所述电机的转速与所述第一转速相同，所述电机驱动所述滚轮匀速转动。
  17. 根据权利要求15所述的控制方法，其特征在于，所述控制器控制所述电机提供动力驱动所述滚轮转动的步骤为：
    所述控制器控制所述电机按照预设的减速比进行减速；或
    所述控制器控制所述电机按照预设的加速比进行加速。
  18. 根据权利要求14所述的控制方法，其特征在于，所述传感器为脚踏传感器，当所述脚踏传感器连续输出预设数量的负载信号后，所述控制器控制所述电机加速或者减速转动。
  19. 根据权利要求14所述的控制方法，其特征在于，所述传感器为脚踏传感器，且所述脚踏传感器为两个，两个所述脚踏传感器分别设置于所述踏板的两端；
    当其中一个所述脚踏传感器输出负载信号时，所述控制器控制所述电机自由转动；
    当两个所述脚踏传感器均输出负载信号时，所述控制器控制所述电机提供动力驱动所述滚轮转动；
    当两个所述脚踏传感器均未输出负载信号时，所述控制器控制所述电机停止转动。
  20. 根据权利要求14所述的控制方法，其特征在于，所述传感器为脚踏传感器，且所述脚踏传感器为两个，两个所述脚踏传感器分别为第一脚踏传感器及第二脚踏传感器，所述第一脚踏传感器及所述第二脚踏传感器设置于所述踏板的一端，且所述第一脚踏传感器及所述第二脚踏传感器间隔设置；
    当所述第一脚踏传感器输出负载信号时，所述控制器控制所述电机提供动力驱动所述滚轮转动；
    当所述第二脚踏传感器输出负载信号时，所述控制器控制所述电机停止转动。
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