WO2020087907A1 - 一种多模转向自平衡电动车 - Google Patents

一种多模转向自平衡电动车 Download PDF

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Publication number
WO2020087907A1
WO2020087907A1 PCT/CN2019/086774 CN2019086774W WO2020087907A1 WO 2020087907 A1 WO2020087907 A1 WO 2020087907A1 CN 2019086774 W CN2019086774 W CN 2019086774W WO 2020087907 A1 WO2020087907 A1 WO 2020087907A1
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WO
WIPO (PCT)
Prior art keywords
steering
electric vehicle
lever
self
balancing electric
Prior art date
Application number
PCT/CN2019/086774
Other languages
English (en)
French (fr)
Inventor
刘则锋
Original Assignee
深圳市未来狗科技有限公司
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Application filed by 深圳市未来狗科技有限公司 filed Critical 深圳市未来狗科技有限公司
Publication of WO2020087907A1 publication Critical patent/WO2020087907A1/zh

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Classifications

    • 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
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • 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
    • B62K21/00—Steering devices
    • B62K21/12—Handlebars; Handlebar stems
    • B62K21/16—Handlebars; Handlebar stems having adjustable parts therein

Definitions

  • the invention relates to the field of balancing vehicles, and in particular to a multi-mode steering self-balancing electric vehicle, which can make the driver more flexible in handling and safer when driving on complex roads.
  • the invention provides a multi-mode steering self-balancing electric vehicle, which can more flexibly control the direction of the balancing vehicle in undulating roads and daily complex driving activities, and compensate for the abnormal deviation of the driving direction in a natural way.
  • the technical solution adopted by the present invention is to provide a multi-mode steering self-balancing electric vehicle, which includes a main frame and wheel assemblies mounted on both sides of the main frame, and a steering system for controlling the steering of the wheel assemblies , A direction handle that can rotate clockwise and counterclockwise, and a steering lever that can swing left and right.
  • the steering system is also used to detect the clockwise and counterclockwise rotation angles of the direction handle and the left and right swing angle of the steering lever And calculate the steering control amount of the vehicle by adding or subtracting the rotation angle and the swing angle, and controlling the steering of the wheel assembly according to the steering control amount.
  • the steering system includes a first angle sensor for detecting the rotation angle of the steering handle clockwise and counterclockwise, and for detecting the steering lever swinging left and right
  • a first angle sensor for detecting the rotation angle of the steering handle clockwise and counterclockwise
  • the controller is used to add the angle signals obtained by the first angle sensor and the second angle sensor to each other Or mutual subtraction calculation, and control the steering of the wheel assembly according to the calculated steering control amount.
  • the direction handle is connected to the steering lever and swings left and right in synchronization with the steering lever.
  • the steering lever is vertically installed on the main frame, the direction handle is placed horizontally and the middle portion is installed on the top of the steering lever, and It is perpendicular to the steering lever, so that the direction handle and the steering lever are arranged in a "T" shape as a whole.
  • the first angle sensor is installed at any position from the bottom to the top of the vertical axis of the direction handle, and the second angle sensor is installed at the steering
  • the horizontal axis of the lever is anywhere from the front to the rear.
  • the direction handle includes a telescopic sleeve, a handle lever that is movably inserted in the telescopic sleeve, and a mechanism for locking the telescopic sleeve and the handle
  • the steering lever includes a base mounted on the front of the main frame, a bearing mounted on the top of the base, and a steering rod connected to the base through the bearing And a connection seat fixedly connected with the top of the steering rod, the connection seat and the telescopic sleeve are hingedly connected and locked by a folding lock.
  • the direction handle and the steering lever are both foldable structures.
  • both the direction handle and the steering lever are provided with an automatic centering mechanism.
  • the wheel assembly includes tires and a motor that drives the tires to rotate.
  • the multimode steering self-balancing electric vehicle also includes a battery for providing power to the motor.
  • the motor is an integrated hub motor or gear reduction motor, the gear reduction motor is placed on the hub or on the main frame; the battery is placed on the seat Under or in the main frame.
  • the multi-mode steering self-balancing electric vehicle uses the direction handle rotation and the steering lever swing to control the steering of the balance vehicle at the same time.
  • the deviation of the steering lever from the uneven road surface is compensated and corrected by the direction handle, and it can be used when turning at high speed.
  • the characteristics of the steering lever and the body's synchronized tilt control steering make up for the lack of steering handle turning. Therefore, the balance car control of the present invention is more flexible, the ability to adapt to complex roads is stronger, and it is safer; at the same time, the angle sensor from the steering handle is used.
  • FIG. 1 is a schematic structural diagram of an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an exploded structure of an embodiment of the present invention.
  • FIG. 3 is a schematic view of the structure of the embodiment of the present invention when the steering handle is used alone for steering;
  • FIG. 4 is a schematic structural view of the embodiment of the present invention when using a single steering steering
  • FIG. 5 is a schematic structural view of an embodiment of the present invention when the direction handle and the steering lever are used in the same direction at the same time;
  • FIG. 6 is a schematic structural view of an embodiment of the present invention when the direction handle and the steering lever are used in the opposite direction at the same time.
  • the multimode steering self-balancing electric vehicle provided by the embodiment of the present invention includes a main frame 1, a wheel assembly 2, a directional handle 3 that can rotate clockwise and counterclockwise, and a steering that can swing left and right
  • the wheel assembly 2 includes: a tire 21, a wheel hub 22, and a motor 23.
  • the tire 21 is provided with a total of two, which are installed on both sides of the main frame 1, the tire 21 is installed outside the wheel hub 22, and the motor 23 is installed inside the wheel hub 22 .
  • the tire 21 in this embodiment uses anti-skid tires; in order to make the frame suspension structure more active space, the motor 23 that provides power is installed in the wheel hub 22 to save space; this implementation
  • the motor 23 in the example is a hub motor, which is installed at the central position of the hub 22, and in other embodiments, the motor 23 may also be installed at an eccentric position.
  • the steering system is used to detect the clockwise and counterclockwise rotation angles of the direction handle 3 and the left and right swing angles of the steering lever 4, and to add or subtract the rotation angle and the swing angle to obtain the steering control amount of the vehicle, and The steering of the wheel assembly 2 is controlled according to the steering control amount.
  • the steering system specifically includes a first angle sensor 51 for detecting the clockwise and counterclockwise rotation angle of the direction handle 3, a second angle sensor 52 for detecting the left and right swing angle of the steering lever 4, and a first angle sensor 51 and a first
  • the controller 53 connected to the two-angle sensor 52 is used to perform mathematical calculation on the angle signals obtained by the first angle sensor 51 and the second angle sensor 52, and control the steering of the wheel assembly 2 according to the calculated steering control amount.
  • the controller 53 can be set in advance.
  • the first angle sensor 51 measures the direction handle 3 to rotate clockwise at an angle of 15 degrees, 30 degrees, and 45 degrees
  • the corresponding input mathematical quantities are 1, 2, 3.
  • the direction handle 3 rotates counterclockwise at an angle of 15 degrees, 30 degrees, and 45 degrees respectively, and the corresponding input mathematical quantities are -1, -2, and -3; when the second angle sensor 52 measures the steering lever 4 to the right When the swing angle is 15 degrees, 30 degrees, and 45 degrees, the corresponding input mathematical quantities are 1, 2, 3, and the steering lever 4 swings to the left at 15 degrees, 30 degrees, and 45 degrees.
  • the controller 53 controls the wheel assembly 2 to turn to the right, and the larger the value, the smaller the turning radius .
  • the controller 53 controls the wheel assembly 2 to turn to the left, and the smaller the value, the smaller the turning radius.
  • the controller 53 controls the wheel assembly 2 to travel straight.
  • the user who uses the balance car provided by this embodiment can counteract the wrong angle of the steering lever by rotating the direction handle in the opposite direction, so that the balance car can still travel straight and correct the road surface fluctuations. Wrong steering angle, maintain the basic straight line of the balanced car, increase the driver's driving safety; Secondly, through mathematical operations on the signals from the direction handle angle sensor and steering lever angle sensor, such as addition and subtraction, etc., to obtain more diverse control, more It is ergonomic and allows the driver to get a more comfortable handling and driving experience.
  • the steering handle 3 in this embodiment is installed on the top of the steering handle 4 and swings left and right in synchronization with the steering handle 4, but the steering handle 3 can still be rotated to make the balance car turn at high speed
  • the steering lever 4 is synchronized with the body to control the steering, the steering handle 3 can be used to make up for the lack of turning. Therefore, the balance car of the present invention is more flexible in control, stronger in adapting to complex roads, and safer.
  • the steering lever 4 is installed vertically on the main frame, the steering handle 3 is placed horizontally and the middle part is installed on the top of the steering lever 4, and is perpendicular to the steering lever 4, so that the connected steering handle 3 and steering lever are connected 4 Integrally form a "T" shape.
  • the direction handle 3 includes a horizontally placed handle lever 31, a telescopic sleeve 32 and a locking clip 33.
  • the diameter of the telescopic sleeve 32 is slightly larger than the diameter of the handle lever 31, so that the handle lever 31 can be inserted into the telescopic
  • the sleeve 32 is telescopically adjusted up and down to adjust the appropriate length to suit drivers of different heights. After the length adjustment is completed, the handle bar 31 can be clamped on the telescopic sleeve 32 by turning the locking clamp 33 Make the two rotate synchronously; when you need to adjust again, just release the locking clamp 33, the operation is very simple and convenient.
  • the steering lever 4 in this embodiment includes a base 41 vertically mounted on the front of the main frame 1, a bearing mounted on the top of the base 41, and a steering rod 42 connected to the base 41 through the bearing And a connecting seat 43 fixedly connected to the top of the steering rod 42, the base 41 can swing left and right on the main frame 1, and at the same time, the steering rod 42 and the connecting seat 43 can be driven to swing left and right, and the steering rod can be driven by the bearing 42 and the connecting base 43 can still rotate clockwise or counterclockwise when swinging.
  • the lower end of the telescopic sleeve 32 is hingedly connected to the upper end of the connecting seat 43, and the folding lock 6 is used to lock or open, so that when the folding lock 6 is locked, the telescopic sleeve 32 can drive the connecting seat 43 to rotate synchronously, folding lock 6
  • the steering lever 4 When opened, the steering lever 4 can be folded down and folded.
  • the bottom of the base 41 can also be connected to the main frame 1 in a hinged manner to achieve front-to-back folding and folding, so that the balance car can be folded as a whole, reducing the overall size of the balance car, and being convenient for storage and transportation.
  • the controller 53 is a control board based on the principle of an inverted pendulum and controlled by a gyroscope and an accelerometer, which is installed at a lower position in the middle of the main frame 1.
  • the first angle sensor 51 can be installed at any position on the vertical axis of the direction handle 3, such as the bottom to top of the telescopic sleeve 32 or the steering rod 42, and the second angle sensor 52 can be installed at the horizontal axis of the steering lever 4 Position; preferably, the first angle sensor 51 is installed at the bottom of the steering rod 42 and the second angle sensor 52 is installed at the center of the bottom of the base 41, so that the first angle sensor 51 and the second angle sensor 52 are close to the controller 53 , Easy to route, higher reliability.
  • the direction handle 3 and the steering lever 4 in this embodiment are respectively provided with a first automatic centering mechanism 34 that assists the direction handle 3 times and assists steering
  • the second automatic return mechanism 44 in the back of the lever are respectively provided with a first automatic centering mechanism 34 that assists the direction handle 3 times and assists steering
  • the second automatic return mechanism 44 in the back of the lever is respectively provided with a first automatic centering mechanism 34 that assists the direction handle 3 times and assists steering
  • the second automatic return mechanism 44 in the back of the lever.
  • the multi-mode steering self-balancing electric vehicle also includes a battery for powering all electrical appliances on the vehicle, a seat battery bracket 7 mounted on the main frame 1 and a seat 8 mounted on the top of the seat battery bracket 7
  • the battery holder 7 of the chair is provided with a groove matching the shape and size of the battery, so that the battery can be installed in the battery holder 7 of the seat, and at the same time, the user can realize the seated driving balance car through the battery holder 7 and the seat 8, Reduce driver load, more suitable for leisure driving and long distance driving.
  • the seat 8 and the seat battery bracket 7 are detachably connected, and the bottom of the seat battery bracket 7 is hingedly connected to the main frame 1 so that it can rotate back and forth; when the seat 8 is used, the seat battery bracket 7 is detachable through a
  • the connecting rod 9 is connected to the base 41, so that the seat battery bracket 7, the connecting rod 9, and the base 41 together form a triangular stable structure.
  • the user can sit on the seat 8 to drive the vehicle smoothly; when it needs to be folded
  • the seat battery bracket 7 can be folded forward to be parallel to the base 41, which increases the driver's operating space, makes the driving operation more flexible, and is more suitable for intense driving Or extreme driving; when you need to store it, further fold the direction handle 3 and steering lever 4 to reduce the overall volume of the balance car, making it easy to store and transport.

Abstract

一种多模转向自平衡电动车，包括主车架（1）和安装在所述主车架两侧的车轮组件（2），还包括用于控制所述车轮组件转向的转向系统，可顺时针和逆时针旋转的方向把手（3）以及可左右摇摆的转向扶杆（4），所述转向系统还用于检测所述方向把手的顺时针和逆时针旋转角度以及所述转向扶杆的左右摇摆角度，并对所述旋转角度和摇摆角度进行互加或互减计算得出车辆的转向控制量，并根据所述转向控制量控制所述车轮组件的转向。该自平衡电动车可在起伏路面和日常复杂的驾驶活动中更加灵活的控制平衡车方向，用自然的方式补偿驾驶方向的不正常偏移。

Description

一种多模转向自平衡电动车 技术领域
本发明涉及平衡车领域，具体而言，涉及一种多模转向自平衡电动车，它可以让驾驶者操控更灵活，行驶在复杂路面时更安全。
 背景技术
由于平衡车的特殊工作原理，现有的平衡车，大多数采用转向扶杆左右摇摆的方式控制方向，存在起伏路面误转弯的风险，少部分使用方向把手旋转控制方向，但是又存在高速转弯时方向扶杆不能跟随身体倾斜控制方向的缺点。
 技术问题
本发明提供一种多模转向自平衡电动车，其可在起伏路面和日常复杂的驾驶活动中更加灵活的控制平衡车方向，用自然的方式补偿驾驶方向的不正常偏移。
 技术解决方案
本发明采用的技术方案是：提供一种多模转向自平衡电动车，包括主车架和安装在所述主车架两侧的车轮组件，还包括用于控制所述车轮组件转向的转向系统、可顺时针和逆时针旋转的方向把手以及可左右摇摆的转向扶杆，所述转向系统还用于检测所述方向把手的顺时针和逆时针旋转角度以及所述转向扶杆的左右摇摆角度，并对所述旋转角度和摇摆角度进行互加或互减计算得出车辆的转向控制量，并根据所述转向控制量控制所述车轮组件的转向。
在本发明所述的多模转向自平衡电动车中，所述转向系统包括用于检测所述方向把手顺时针和逆时针旋转角度的第一角度传感器、用于检测所述转向扶杆左右摇摆角度的第二角度传感器以及分别与所述第一角度传感器和第二角度传感器相连的控制器，所述控制器用于对所述第一角度传感器和第二角度传感器各自获得的角度信号进行互加或互减计算，并根据计算得出的转向控制量控制所述车轮组件转向。
在本发明所述的多模转向自平衡电动车中，所述方向把手与所述转向扶杆相连，与所述转向扶杆同步左右摇摆。
在本发明所述的多模转向自平衡电动车中，所述转向扶杆垂直安装于所述主车架上，所述方向把手水平放置且其中间部分安装于所述转向扶杆顶端，并与所述转向扶杆互相垂直，使所述方向把手和所述转向扶杆整体呈”T”型设置。
在本发明所述的多模转向自平衡电动车中，所述第一角度传感器安装在所述方向把手竖直轴向底部到顶部的任何位置处，所述第二角度传感器安装在所述转向扶杆水平轴向前部至后部的任何位置处。
在本发明所述的多模转向自平衡电动车中，所述方向把手包括伸缩套管、活动插设于所述伸缩套管中的把手扶杆以及用于锁紧所述伸缩套管和把手扶杆的锁紧夹块；所述转向扶杆包括安装于所述主车架前部的基座、安装在所述基座顶部的轴承、通过所述轴承与所述基座连接的转向杆以及与所述转向杆顶部固定相连的连接座，所述连接座和伸缩套管铰接相连并通过折叠锁扣锁紧。
在本发明所述的多模转向自平衡电动车中，所述方向把手和转向扶杆均为可折叠结构。
在本发明所述的多模转向自平衡电动车中，所述方向把手和转向扶杆均设有自动回中机构。
在本发明所述的多模转向自平衡电动车中，所述车轮组件包括轮胎和驱动轮胎旋转的电机，该多模转向自平衡电动车还包括用于为所述电机提供电源的电池。
在本发明所述的多模转向自平衡电动车中，所述电机为一体式轮毂电机或齿轮减速电机，所述齿轮减速电机置于轮毂或置于主车架；所述电池置于座椅下或者主车架内。
 有益效果
本发明提供的多模转向自平衡电动车，利用方向把手旋转和转向扶杆摇摆同时控制平衡车的转向，不平路面对转向扶杆产生的偏差由方向把手补偿纠正，高速转弯时又可以利用转向扶杆与身体同步倾斜控制转向的特点弥补方向把手转弯的不足，所以，应用本发明的平衡车控制更灵活，适应复杂路面的能力更强，也更安全；同时，利用来自方向把手角度传感器和转向扶杆角度传感器信号进行数学运算，例如加减等，获得更加多样的控制，以便更加符合人体工学，让驾驶者获得更加舒适的驾驶体验；具有多种驾驶模式，整车可以折叠，便于收纳和运输。
 附图说明
下面将结合附图及实施例对本发明作进一步说明，附图中：
图1是本发明实施例的结构示意图；
图2是本发明实施例的分解结构示意图；
图3是本发明实施例单独使用方向把手转向时的结构示意图；
图4是本发明实施例使用单独转向扶转向时的结构示意图；
图5是本发明实施例同时同方向使用方向把手和转向扶转向时的结构示意图；
图6是本发明实施例同时反方向使用方向把手和转向扶转向时的结构示意图。
 本发明的实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
如图1和图2所示，本发明实施例提供的多模转向自平衡电动车，包括主车架1、车轮组件2、可顺时针和逆时针旋转的方向把手3、可左右摇摆的转向扶杆4以及用于控制车轮组件2转向的转向系统。其中，车轮组件2包括：轮胎21、轮毂22、电机23，轮胎21共设有两个，分别安装在主车架1的两侧，轮胎21安装在轮毂22外侧，电机23安装在轮毂22内侧。为了让平衡车适应湿滑的路面，本实施例中的轮胎21使用防滑轮胎；为了让车架悬挂结构有更多的活动空间，提供动力的电机23被安装在轮毂22里面节约空间；本实施例中的电机23为轮毂电机，其安装在轮毂22的中心位置，在其他实施例中，电机23亦可安装在偏心位置。所述转向系统用于检测方向把手3的顺时针和逆时针旋转角度以及转向扶杆4的左右摇摆角度，并对旋转角度和摇摆角度进行互加或互减得出车辆的转向控制量，并根据转向控制量控制车轮组件2的转向。转向系统具体包括用于检测方向把手3顺时针和逆时针旋转角度的第一角度传感器51、用于检测转向扶杆4左右摇摆角度的第二角度传感器52以及分别与第一角度传感器51和第二角度传感器52相连的控制器53，控制器53用于对第一角度传感器51和第二角度传感器52获得的角度信号进行数学计算，并根据计算得出的转向控制量控制车轮组件2转向。如，可提前对控制器53进行设定，当第一角度传感器51测得方向把手3顺时针旋转角度分别为15度、30度、45度时，对应输入的数学量分别为1、2、3，方向把手3逆时针旋转角度分别为15度、30度、45度时对应输入的数学量分别为-1、-2、-3；当第二角度传感器52测得转向扶杆4向右摆动角度为15度、30度、45度时，对应输入的数学量分别为1、2、3，转向扶杆4向左摆动角度为15度、30度、45度时，对应输入的数学量分别为-1、-2、-3；当旋转角度的输入量和摆动角度的输入量相加后为正数时，控制器53控制车轮组件2向右转，且数值越大转弯半径越小，当旋转角度的输入量和摆动角度的输入量相加后为负数时，控制器53控制车轮组件2向左转，且数值越小转弯半径越小，当旋转角度的输入量和摆动角度的输入量相加后为零时，控制器53控制车轮组件2直行。通过以上设置，使本实施例提供的多模转向自平衡电动车可以单独旋转方向把手转向（如图3所示），也可以单独左右摇摆转向扶杆转向（如图4所示），还可以旋转方向把手和左右摇摆转向扶杆同时进行（如图5和图6所示），驾驶者根据驾驶需要灵活确定如何转向，或在平衡车行驶于崎岖路面以及上下陡坡时形成互补方向，用自然的方式纠正复杂路面的转向扰动，大幅增加平衡车的行驶安全和控制灵活性。如图6所示，当平衡车直线行走时一个轮子被石头或起伏路面抬起来了，驾驶者因为直立站立会带着转向扶杆保持直立姿势，此时平衡车转向扶杆会输出转弯的错误信号，为使平衡车继续直线行驶，使用本实施例提供的平衡车的用户可通过方向把手反方向旋转抵消转向扶杆的错误角度，从而使平衡车仍能直线行驶，纠正路面起伏带来的错误转向角度，保持平衡车基本直线，增加驾驶员的驾驶安全性；其次，通过对来自方向把手角度传感器和转向扶杆角度传感器信号进行数学运算，例如加减等，获得更加多样的控制，更加符合人体工学，让驾驶者获得更加舒适的操控和驾驶体验。
为实现最佳的操控和驾驶体验，本实施例中的方向把手3安装于转向扶杆4顶部，与转向扶杆4同步左右摇摆，但方向把手3仍可旋转，以使平衡车在高速转弯时可以利用转向扶杆4与身体同步倾斜控制转向的特点弥补方向把手3转弯的不足，所以，应用本发明的平衡车控制更灵活，适应复杂路面的能力更强，也更安全。转向扶杆4垂直安装于主车架上，方向把手3水平放置且其中间部分安装于转向扶杆4顶端，并与转向扶杆4互相垂直设置，使连接后的方向把手3和转向扶杆4整体形成”T”型。具体的，方向把手3包括水平放置的把手扶杆31、伸缩套管32及锁紧夹块33，伸缩套管32的直径稍大于把手扶杆31的直径，使把手扶杆31可插入至伸缩套管32中并上下伸缩调节合适的长度，以适应不同身高的驾驶者，当长度调节完成后，通过拨动锁紧夹块33即可将把手扶杆31夹紧在伸缩套管32上，使两者同步转动；需要再次调节时，松开锁紧夹块33即可，操作十分的简单方便。本实施例中的转向扶杆4包括垂直安装于主车架1前部的基座41、安装在所述基座41顶部的轴承、通过所述轴承与所述基座41连接的转向杆42以及与所述转向杆42顶部固定相连的连接座43，所述基座41可在主车架1上左右摇摆，同时将带动转向杆42和连接座43左右摇摆，在轴承的作用下转向杆42和连接座43在摇摆时仍可顺时针或逆时针旋转。伸缩套管32的下端和连接座43的上端铰接相连，并通过折叠锁扣6实现锁紧或打开，使折叠锁扣6锁紧时伸缩套管32可带动连接座43同步旋转，折叠锁扣6打开时，转向扶杆4可向下翻折折叠。同理，基座41底部亦可通过铰接的方式与主车架1相连，以实现前后翻折折叠，使平衡车可整体实现折叠，减少平衡车的总尺寸，便于收纳及运输。伸缩套管32或转向杆42底部到顶部
进一步的，控制器53为基于倒立摆原理并且利用陀螺仪和加速度计进行控制的控制板，其安装在主车架1中间下侧位置处。第一角度传感器51可安装在方向把手3上竖直轴向的任何位置处，如伸缩套管32或转向杆42底部到顶部，第二角度传感器52可安装在转向扶杆4的水平轴向位置处；优选的，第一角度传感器51安装在转向杆42的底部，第二角度传感器52安装在基座41底部中央位置处，使第一角度传感器51和第二角度传感器52靠近控制器53，易于走线，可靠性更高。为使该多模转向自平衡电动车更易于驾驶、更安全，本实施例中的方向把手3和转向扶杆4分别设有帮助方向把手3回中的第一自动回中机构34和帮助转向扶杆4回中的第二自动回中机构44。该多模转向自平衡电动车还包括用于为车上所有电器提供电源的电池、安装在主车架1上的座椅电池支架7和安装在座椅电池支架7顶部的座椅8，座椅电池支架7内部设有与电池形状大小相匹配的沟槽，使电池可安装在座椅电池支架7内，同时，用户可通过座椅电池支架7和座椅8实现坐式驾驶平衡车，减少驾驶者负荷，更适合休闲驾驶及长途驾驶。座椅8与座椅电池支架7为可拆卸连接，座椅电池支架7底部与主车架1铰接相连，使其可以前后旋转；在使用座椅8时，座椅电池支架7通过一可拆卸的连杆9与基座41相连，使座椅电池支架7、连杆9、基座41共同形成一三角稳固结构，此时，用户可平稳的坐于座椅8上驾驶车辆；当需要折叠时，将座椅8和连杆9拆下，即可使座椅电池支架7向前翻折至与基座41平行，使驾驶者操作空间加大，使驾驶操作更加灵活，更适合激烈驾驶或极限驾驶；当需要收藏时，则进一步折叠方向把手3和转向扶杆4，减少平衡车整体体积，使其易于收纳和运输。
以上结合附图对本发明的实施例进行了描述，但是本发明并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本发明的启示下，在不脱离本发明宗旨和权利要求所保护的范围情况下，还可做出很多形式，这些均属于本发明的保护之内。

Claims (10)

  1. 一种多模转向自平衡电动车，包括主车架和安装在所述主车架两侧的车轮组件，其特征在于：还包括用于控制所述车轮组件转向的转向系统、可顺时针和逆时针旋转的方向把手以及可左右摇摆的转向扶杆，所述转向系统还用于检测所述方向把手的顺时针和逆时针旋转角度以及所述转向扶杆的左右摇摆角度，并对所述旋转角度和摇摆角度进行互加或互减计算得出车辆的转向控制量，并根据所述转向控制量控制所述车轮组件的转向。
  2. 根据权利要求1所述的多模转向自平衡电动车，其特征在于：所述转向系统包括用于检测所述方向把手顺时针和逆时针旋转角度的第一角度传感器、用于检测所述转向扶杆左右摇摆角度的第二角度传感器以及分别与所述第一角度传感器和第二角度传感器相连的控制器，所述控制器用于对所述第一角度传感器和第二角度传感器各自获得的角度信号进行互加或互减计算，并根据计算得出的转向控制量控制所述车轮组件转向。
  3. 根据权利要求1所述的多模转向自平衡电动车，其特征在于：所述方向把手与所述转向扶杆相连，与所述转向扶杆同步左右摇摆。
  4. 根据权利要求3所述的多模转向自平衡电动车，其特征在于：所述转向扶杆垂直安装于所述主车架上，所述方向把手水平放置且其中间部分安装于所述转向扶杆顶端，并与所述转向扶杆互相垂直，使所述方向把手和所述转向扶杆整体呈”T”型设置。
  5. 根据权利要求2所述的多模转向自平衡电动车，其特征在于：所述第一角度传感器安装在所述方向把手竖直轴向底部到顶部的任何位置处，所述第二角度传感器安装在所述转向扶杆水平轴向前部至后部的任何位置处。
  6. 根据权利要求1所述的多模转向自平衡电动车，其特征在于：所述方向把手包括伸缩套管、活动插设于所述伸缩套管中的把手扶杆以及用于锁紧所述伸缩套管和把手扶杆的锁紧夹块；所述转向扶杆包括安装于所述主车架前部的基座、安装在所述基座顶部的轴承、通过所述轴承与所述基座连接的转向杆以及与所述转向杆顶部固定相连的连接座，所述连接座和伸缩套管铰接相连并通过折叠锁扣锁紧。
  7. 根据权利要求1所述的多模转向自平衡电动车，其特征在于：所述方向把手和转向扶杆均为可折叠结构。
  8. 根据权利要求1所述的多模转向自平衡电动车，其特征在于：所述方向把手和转向扶杆均设有自动回中机构。
  9. 根据权利要求1所述的多模转向自平衡电动车，其特征在于：所述车轮组件包括轮胎和驱动轮胎旋转的电机，该多模转向自平衡电动车还包括用于为所述电机提供电源的电池。
  10. 根据权利要求9所述的多模转向自平衡电动车，其特征在于：所述电机为一体式轮毂电机或齿轮减速电机，所述齿轮减速电机置于轮毂或置于主车架；所述电池置于平衡车座椅下或者主车架内。
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