阅读说明：本技术 两轮平衡车及其控制方法 (Two-wheeled balance vehicle and control method thereof ) 是由 刘亿军 傅丹 颜俊 于 2021-08-19 设计创作，主要内容包括：本发明提供一种两轮平衡车,其车体包括支撑骨架及脚踏板；第一车轮轴安装在支撑骨架上并能转动,第一脚踏板固定在第一车轮轴上,第二车轮轴固定在支撑骨架上,第二脚踏板固定在第二车轮轴上。还包括检测支撑骨架的前后倾仰角度变化信息的倾仰角度感应装置、控制器和检测第一脚踏板相对于支撑骨架的旋转角度变化信息的旋转角度感应装置；控制器根据倾仰角度感应装置和旋转角度感应装置的角度变化信息得到第一脚踏板的前后倾仰角度变化信息并驱动第一车轮运动；控制器根据倾仰角度感应装置的角度变化信息得到第二脚踏板的前后倾仰角度变化信息并驱动第二车轮运动。本方案不仅结构简单可靠、零部件少、制造成本低,而且骑行操控体验好,可玩性好。(The invention provides a two-wheeled balance car, the car body of which comprises a supporting framework and a pedal; the first wheel shaft is arranged on the supporting framework and can rotate, the first pedal is fixed on the first wheel shaft, the second wheel shaft is fixed on the supporting framework, and the second pedal is fixed on the second wheel shaft. The device also comprises a leaning and pitching angle sensing device for detecting the front and back leaning and pitching angle change information of the supporting framework, a controller and a rotating angle sensing device for detecting the rotating angle change information of the first pedal relative to the supporting framework; the controller obtains the front-back inclination angle change information of the first pedal according to the inclination angle sensing device and the angle change information of the rotation angle sensing device and drives the first wheel to move; the controller obtains the front-back inclination angle change information of the second pedal plate according to the angle change information of the inclination angle sensing device and drives the second wheel to move. The scheme has the advantages of simple and reliable structure, few parts, low manufacturing cost, good riding control experience and good playability.)

1. A two-wheeled balance car comprises a car body, a first wheel (51) and a second wheel (52) which are respectively arranged on the left side and the right side of the car body, wherein the car body comprises a supporting framework (1), a battery (2), a main control circuit board (3) and pedals for a user to step on, and the pedals comprise a first pedal (41) and a second pedal (42); the first wheel (51) and the second wheel (52) are both hub motors, a hub motor shaft of the first wheel (51) is a first wheel shaft (511), a hub motor shaft of the second wheel (52) is a second wheel shaft (521), and the first wheel shaft (511) and the second wheel shaft (521) are respectively installed on the left side and the right side of the support framework (1), and the bicycle is characterized in that the first wheel shaft (511) is installed on the support framework (1) and can rotate, the first pedal (41) is fixed on the first wheel shaft (511), the second wheel shaft (521) is fixed on the support framework (1), and the second pedal (42) is fixed on the second wheel shaft (521); the device is characterized by further comprising a tilting angle sensing device, a controller and a rotating angle sensing device (61), wherein the tilting angle sensing device detects the front-back tilting angle change information of the supporting framework (1), and the rotating angle sensing device (61) detects the rotating angle change information of the first pedal (41) relative to the supporting framework (1); the controller obtains the forward and backward inclination angle change information of the first pedal (41) according to the inclination angle sensing device and the angle change information of the rotating angle sensing device (61) and drives the first wheel (51) to move, and the reaction force of the first wheel (51) to move is transmitted to the first pedal (41) so as to promote the first pedal (41) to realize balance; the controller obtains the front-back inclination angle change information of the second pedal plate (42) according to the angle change information of the inclination angle sensing device and drives the second wheel (52) to move, and the reaction force of the movement of the second wheel (52) is transmitted to the second pedal plate (42) so as to promote the second pedal plate (42) to realize balance.

2. The two-wheeled balance vehicle as claimed in claim 1, wherein the tilting angle sensing device and the controller are arranged on a main control circuit board (3), and the main control circuit board (3) and the battery (2) are fixedly arranged on the support frame (1); the rotating angle sensing device (61) is arranged on the first wheel axle (511), the first pedal (41) or the supporting framework (1); the inclination angle sensing device comprises a gyroscope and an acceleration sensor; the rotation angle sensing device is a photoelectric encoder or a Hall encoder.

3. A two-wheeled balance vehicle according to claim 1, characterised in that the first foot pedal (41) is fixedly mounted on the first foot mounting seat (411) by means of fasteners, the first foot mounting seat (411) being fixedly connected to or integral with the first wheel axle (511); the second pedal (42) is fixedly arranged on the second pedal mounting seat (421) through a fastener, and the second pedal mounting seat (421) is fixedly connected with the second wheel shaft (521) or integrally formed.

4. A two-wheeled balance vehicle according to claim 1, characterised in that the first foot pedal (41) is fixedly mounted on the first foot mounting seat (411) by means of a fastener, the first foot mounting seat (411) being fitted over the first wheel axle (511) and fixedly connected thereto by means of a positioning pin, a positioning key and/or a locking nut; the second pedal (42) is fixedly arranged on the second pedal mounting seat (421) through a fastener, and the second pedal mounting seat (421) is sleeved on the second wheel shaft (521) and is fixedly connected with the second wheel shaft through a positioning pin, a positioning key and/or a locking nut.

5. The two-wheeled balance vehicle as claimed in claim 1, wherein the first wheel axle (511) is rotatably arranged on one side of the support frame (1) through a bearing (111), the second wheel axle (521) is fixed on the other side of the support frame (1) through a fixing member (12), and the bearing (111) is sleeved on the first wheel axle (511) and is fixedly arranged on the support frame (1) through a bearing mounting member (11).

6. The two-wheeled balance vehicle of claim 5, wherein the bearing mounting part (11) and the fixing part (12) are both pressing blocks with mounting grooves, correspondingly, the left side and the right side of the support frame (1) are respectively provided with a bearing mounting part (112) and a fixing part (122) which are matched with the bearing mounting part (11) and the fixing part (12), the bearing mounting part (11) is fixed on the bearing mounting part (112) of the support frame (1) through a fastener and presses and fixes the bearing (111), and the fixing part (12) is fixed on the fixing part (122) of the support frame (1) through a fastener and is matched with a limit surface (522) on the second wheel shaft (521) to limit the rotation of the second wheel shaft (521).

7. A two wheel balance vehicle according to claim 5 wherein the bearing mount (11) is provided on the first wheel axle (511) at a location between the first wheel (51) and the first foot mount (411) and the fixing member (12) is provided on the second wheel axle (521) at a location between the second wheel (52) and the second foot mount (421).

8. A two-wheeled balance vehicle according to claim 1, characterised in that the rotation angle sensing means comprise a gearwheel (611), a pinion (613), a mounting bracket (615) and an encoder assembly, the mounting bracket (615) being fixed to the support frame (1), the shaft (614) of the pinion (613) being rotatably mounted on the mounting bracket (615), the gearwheel (611) being fixed to the first wheel axle (511) and being in meshing transmission with the pinion (613), and the ratio of the gearwheel to the pinion being greater than 1; the encoder assembly comprises a trigger component and a sensing component, wherein the trigger component is fixed on a rotating shaft (614) and rotates along with the rotating shaft (614), and the sensing component is fixed on a mounting frame (615).

9. A two-wheeled balance vehicle according to claim 1, further comprising a first sensor switch (71) for detecting whether a person is present on the first foot pedal (41) and a second sensor switch (72) for detecting whether a person is present on the second foot pedal (42), the first sensor switch (71) comprising a first photoelectric emitter (711) and a first photoelectric receiver (712), the first photoelectric emitter (711) and the first photoelectric receiver (712) being disposed on the same side or on opposite sides of the first foot pedal (41), the second sensor switch (72) comprising a second photoelectric emitter (721) and a second photoelectric receiver (722), the second photoelectric emitter (721) and the second photoelectric receiver (722) being disposed on the same side or on opposite sides of the second foot pedal (42); the first inductive switch (71) and the second inductive switch (72) are infrared induction devices comprising an infrared transmitting end and an infrared receiving end.

10. The control method of a two-wheeled balance car according to any one of claims 1 to 9, wherein the controller obtains forward and backward tilting angle variation information of the first pedal (41) and drives the first wheel (51) to move according to the angle variation information of the tilting angle sensing means and the rotation angle sensing means (61); the controller obtains the front-back inclination angle change information of the second pedal (42) according to the angle change information of the inclination angle sensing device and drives the second wheel (52) to move; when the front-back inclination angle change information of the first pedal (41) is the same as the front-back inclination angle change information of the second pedal (42), the two-wheeled balance vehicle moves straight or stops; when the front-back inclination angle change information of the first pedal (41) is different from the front-back inclination angle change information of the second pedal (42), the two-wheeled balance car turns.

Technical Field

The invention relates to an electric balance car, in particular to a two-wheeled balance car and a control method thereof.

Background

The operation principle of two-wheeled balance vehicle, also called electric balance vehicle and thinking vehicle is mainly based on a basic principle called dynamic stability, and it uses gyroscope and acceleration sensor in the vehicle body to detect the change of vehicle body attitude, and uses servo control system to accurately drive motor to make corresponding regulation so as to keep the balance of the system.

The existing two-wheeled balance vehicle is generally divided into two types, namely an operating rod type two-wheeled balance vehicle and a non-operating rod type two-wheeled balance vehicle, wherein the two-wheeled balance vehicle with the operating rod type two-wheeled balance vehicle is specifically operated and controlled by the operating rod type two-wheeled balance vehicle. The two-wheeled balance car without the operating rod is characterized in that the forward movement and the backward movement of the two-wheeled balance car are controlled by the inclination of the whole two-wheeled balance car, and the steering is realized by stepping on a pedal platform by a user and controlling through the relative rotation angle difference between the two pedal platforms. In the prior art, two-wheeled balance cars without operating rods mainly have two kinds: a product is that the left and right two car body parts form the angular difference of the relative motion through the middle part of car body (axis of rotation) swing joint to realize turning, the left and right two pedal parts are set up in two car bodies separately, take patent literature of publication No. CN104029769A to disclose two-wheeled self-balancing car as the representative, the inner cup in this two-wheeled balance car includes left inner cup and right inner cup set up symmetrically, and the left inner cup is rotated and connected relative to right inner cup, this kind of balance car product structure is more complicated, adopt the detection of the angle of heeling of the double platform, the circuit is complicated, spare part is more, the manufacturing cost is higher; the other product is that the middle part of the bicycle body is not movably connected, namely, does not rotate, and the steering is realized through the pressure induction difference of the pedal part, represented by a two-wheeled balance vehicle disclosed in the patent document with the publication number of CN111591382A, the relative twisting range of the two pedals of the balance vehicle product is very small, the riding operation experience is poor, and the playability is not enough.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide a two-wheeled balance car and a control method thereof.

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

a two-wheeled balance car comprises a car body, a first wheel (51) and a second wheel (52) which are respectively arranged on the left side and the right side of the car body, wherein the car body comprises a supporting framework (1), a battery (2), a main control circuit board (3) and pedals for a user to step on, and the pedals comprise a first pedal (41) and a second pedal (42); the first wheel (51) and the second wheel (52) are both hub motors, a hub motor shaft of the first wheel (51) is a first wheel shaft (511), a hub motor shaft of the second wheel (52) is a second wheel shaft (521), the first wheel shaft (511) and the second wheel shaft (521) are respectively installed on the left side and the right side of the support framework (1), the first wheel shaft (511) is installed on the support framework (1) and can rotate, the first pedal (41) is fixed on the first wheel shaft (511), the second wheel shaft (521) is fixed on the support framework (1), and the second pedal (42) is fixed on the second wheel shaft (521). The device is characterized by further comprising a tilting angle sensing device, a controller and a rotating angle sensing device (61), wherein the tilting angle sensing device detects the front-back tilting angle change information of the supporting framework (1), and the rotating angle sensing device (61) detects the rotating angle change information of the first pedal (41) relative to the supporting framework (1); the controller obtains the forward and backward inclination angle change information of the first pedal (41) according to the inclination angle sensing device and the angle change information of the rotating angle sensing device (61) and drives the first wheel (51) to move, and the reaction force of the first wheel (51) to move is transmitted to the first pedal (41) so as to promote the first pedal (41) to realize balance; the controller obtains the front-back inclination angle change information of the second pedal plate (42) according to the angle change information of the inclination angle sensing device and drives the second wheel (52) to move, and the reaction force of the movement of the second wheel (52) is transmitted to the second pedal plate (42) so as to promote the second pedal plate (42) to realize balance.

Preferably, the inclination angle sensing device and the controller are arranged on the main control circuit board (3), and the main control circuit board (3) and the battery (2) are fixedly arranged on the support framework (1).

Preferably, the rotation angle sensing device (61) is arranged on the first wheel axle (511), the first pedal (41) or the support frame (1).

Preferably, the inclination angle sensing device comprises a gyroscope and an acceleration sensor; the rotation angle sensing device is a photoelectric encoder or a Hall encoder.

Preferably, the first pedal (41) is fixedly mounted on the first pedal mounting seat (411) through a fastener, and the first pedal mounting seat (411) is fixedly connected with the first wheel axle (511) or integrally formed; the second pedal (42) is fixedly arranged on the second pedal mounting seat (421) through a fastener, and the second pedal mounting seat (421) is fixedly connected with the second wheel shaft (521) or integrally formed.

Preferably, the first pedal (41) is fixedly mounted on the first pedal mounting seat (411) through a fastener, and the first pedal mounting seat (411) is sleeved on the first wheel shaft (511) and fixedly connected through a positioning pin, a positioning key and/or a locking nut; the second pedal (42) is fixedly arranged on the second pedal mounting seat (421) through a fastener, and the second pedal mounting seat (421) is sleeved on the second wheel shaft (521) and is fixedly connected with the second wheel shaft through a positioning pin, a positioning key and/or a locking nut.

Preferably, a first pedal anti-skid pad (412) is installed on the first pedal (41), and a second pedal anti-skid pad (422) is installed on the second pedal (42).

Preferably, the first wheel shaft (511) is rotatably arranged on one side of the support framework (1) through a bearing (111), the second wheel shaft (521) is fixed on the other side of the support framework (1) through a fixing piece (12), and the bearing (111) is sleeved on the first wheel shaft (511) and is fixedly arranged on the support framework (1) through a bearing mounting piece (11).

Preferably, the bearing mounting piece (11) and the fixing piece (12) are both pressing blocks with mounting grooves, correspondingly, a bearing mounting part (112) and a fixing part (122) which are matched with the bearing mounting piece (11) and the fixing piece (12) are respectively arranged on the left side and the right side of the supporting framework (1), the bearing mounting piece (11) is fixed on the bearing mounting part (112) of the supporting framework (1) through a fastener and presses and fixes the bearing (111), and the fixing piece (12) is fixed on the fixing part (122) of the supporting framework (1) through the fastener and is matched with a limiting surface (522) on the second wheel shaft (521) to limit the rotation of the second wheel shaft (521).

Preferably, the bearing mount (11) is disposed on the first wheel axle (511) at a position between the first wheel (51) and the first pedal mount (411), and the fixing member (12) is disposed on the second wheel axle (521) at a position between the second wheel (52) and the second pedal mount (421).

Preferably, the rotation angle sensing device comprises a large gear (611), a small gear (613), a mounting rack (615) and an encoder assembly, the mounting rack (615) is fixed on the supporting framework (1), a rotating shaft (614) of the small gear (613) is rotatably mounted on the mounting rack (615), the large gear (611) is fixed on the first wheel axle (511) and is in meshing transmission with the small gear (613), and the transmission ratio of the large gear to the small gear is larger than (1); the encoder assembly comprises a trigger component and a sensing component, wherein the trigger component is fixed on a rotating shaft (614) and rotates along with the rotating shaft (614), and the sensing component is fixed on a mounting frame (615).

Preferably, the bicycle further comprises a shell (10) wrapped outside the supporting framework (1), a first wheel cover (101) used for covering the first wheel (51) and a second wheel cover (102) used for covering the second wheel (52) are respectively arranged on the left side and the right side of the shell (10), and the first pedal (41) and the second pedal (42) are located above the left side and the right side of the bicycle body shell (10).

Preferably, the foot pedal device further comprises a first inductive switch (71) for detecting whether a person is on the first foot pedal (41) and a second inductive switch (72) for detecting whether a person is on the second foot pedal (42), the first inductive switch (71) comprises a first photoelectric emitter (711) and a first photoelectric receiver (712), the first photoelectric emitter (711) and the first photoelectric receiver (712) are arranged on the same side of the first foot pedal (41), the second inductive switch (72) comprises a second photoelectric emitter (721) and a second photoelectric receiver (722), and the second photoelectric emitter (721) and the second photoelectric receiver (722) are arranged on the same side of the second foot pedal (42).

Preferably, the device further comprises a first inductive switch (71) for detecting whether a person is on the first pedal (41) and a second inductive switch (72) for detecting whether a person is on the second pedal (42), the first photoelectric emitter (711) and the first photoelectric receiver (712) are respectively and oppositely arranged on the left side and the right side of the first pedal (41), and the second photoelectric emitter (721) and the second photoelectric receiver (722) are respectively and oppositely arranged on the left side and the right side of the second pedal (42).

Preferably, the vehicle pedal device further comprises a first inductive switch (71) used for detecting whether a person is on the first pedal (41) and a second inductive switch (72) used for detecting whether a person is on the second pedal (42), wherein the first inductive switch (71) is arranged on the side wall of the first wheel cover (101) close to the first pedal (41), and the second inductive switch (72) is arranged on the side wall of the second wheel cover (102) close to the second pedal (42).

Preferably, the first inductive switch (71) and the second inductive switch (72) are infrared sensing devices including an infrared emitting end and an infrared receiving end.

A control method of a two-wheeled balance car comprises the following steps: the controller obtains the front-back inclination angle change information of the first pedal (41) according to the inclination angle sensing device and the angle change information of the first rotating angle sensing device (61) and drives the first wheel (51) to move; the controller obtains the front-back inclination angle change information of the second pedal (42) according to the angle change information of the inclination angle sensing device and drives the second wheel (52) to move; when the front-back inclination angle change information of the first pedal (41) is the same as the front-back inclination angle change information of the second pedal (42), the two-wheeled balance vehicle moves straight or stops; when the front-back inclination angle change information of the first pedal (41) is different from the front-back inclination angle change information of the second pedal (42), the two-wheeled balance car turns.

According to the invention, the technical scheme is adopted, and the left pedal part and the right pedal part are respectively fixed with the motor shafts of the two wheels to form an integration, so that the driving feedback between the pedals and the wheels is simpler and more direct, the structure is simplified, and the human-computer interaction experience is better; one wheel axle is rotatably connected with the supporting framework, and the other wheel axle is fixedly connected with the supporting framework, so that the supporting framework is rotated along with one side of the supporting framework in a pedal manner, and the inclination angles of the two pedal parts can be detected only by arranging one inclination angle sensing device (a gyroscope and an acceleration sensor) and one rotation angle sensing device, so that the pedal parts have simple structures and few parts, and the vehicle body structure is simpler. The balance car is simple and reliable in structure, few in parts, low in manufacturing cost, good in riding control experience and good in playability.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a schematic structural view of the present invention;

FIG. 3 is a schematic view of the structure of the present invention with the non-slip mat installed;

FIG. 4 is an exploded view of the present invention;

FIG. 5 is a schematic view of an arrangement of the inductive switch of the present invention (first pedal);

FIG. 6 is a schematic view of an arrangement of the inductive switch of the present invention (second foot pedal);

FIG. 7 is a schematic view of another arrangement of the inductive switch of the present invention (first pedal);

FIG. 8 is a schematic view of another arrangement of the inductive switch of the present invention (second foot pedal);

FIG. 9 is a schematic view of a third embodiment of the inductive switch of the present invention;

FIG. 10 is a schematic view of an embodiment of the rotation angle sensing device according to the present invention;

FIG. 11 is a perspective view of one embodiment of the rotation angle sensing device of the present invention;

FIG. 12 is an exploded view of one embodiment of the angle of rotation sensing device of the present invention;

FIG. 13 is a schematic structural diagram of a rotation angle sensing device according to an embodiment of the present invention;

FIG. 14 is a schematic view illustrating the installation of another embodiment of the rotation angle sensing device according to the present invention;

fig. 15 is a perspective view of another embodiment of the rotation angle sensing device of the present invention;

fig. 16 is an exploded view of another embodiment of the rotation angle sensing device of the present invention;

wherein the reference numerals are as follows:

a support frame 1; a housing 10; a first wheel cover 101; a second wheel cover 102; a bearing mount 11; a bearing 111; a bearing mounting portion 112; a fixing member 12; a fixed portion 122; a battery 2; a main control circuit board 3; a first foot pedal 41; a first foot mount 411; a first step cleat 412; a first foot circuit board 413; a second foot board 42; a second foot mount 421; a second tread cleat 422; a second foot circuit board 423; a first wheel 51; a first wheel axle 511; a second wheel 52; a second wheel axle 521; a stop surface 522; a rotation angle sensing means 61; a Hall circuit board 610; a bull gear 611; a magnetic element 612; a pinion gear 613; a rotating shaft 614; a mounting block 615; a third bearing 616; a third bearing mount 617; a magnet mount 618; a first inductive switch 71; a first photoemitter 711; a first photoelectric receiver 712; a second inductive switch 72; a second photoemitter 721; a second photo-receiver 722.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.

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

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," "retained," and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

For convenience of description, the horizontal direction parallel to the straight running direction of the two-wheeled balance car is taken as the front-back direction, the horizontal direction perpendicular to the straight running direction of the two-wheeled balance car is taken as the left-right direction, and the vertical direction perpendicular to the straight running direction of the two-wheeled balance car is taken as the up-down direction.

Example 1:

a two-wheeled balance vehicle as shown in fig. 1 to 4, comprising a vehicle body and a first wheel 51 and a second wheel 52 respectively mounted on the left and right sides of the vehicle body, wherein the vehicle body comprises a support frame 1, a battery 2, a main control circuit board 3 and pedals for a user to step on, the pedals comprise a first pedal 41 and a second pedal 42; the first wheel 51 and the second wheel 52 are both hub motors, a hub motor shaft of the first wheel 51 is a first wheel shaft 511, a hub motor shaft of the second wheel 52 is a second wheel shaft 521, the first wheel shaft 511 and the second wheel shaft 521 are respectively installed on the left side and the right side of the support frame 1, the first wheel shaft 511 is installed on the support frame 1 and can rotate, the first pedal 41 is fixed on the first wheel shaft 511, the second wheel shaft 521 is fixed on the support frame 1, and the second pedal 42 is fixed on the second wheel shaft 521.

The device further comprises a tilting angle sensing device, a controller and a rotation angle sensing device, wherein in the embodiment, the tilting angle sensing device detects the front-back tilting angle change information of the supporting framework 1, and the rotation angle sensing device 61 detects the rotation angle change information of the first pedal 41 relative to the supporting framework 1; the controller obtains the forward and backward inclination angle change information of the first pedal 41 according to the inclination angle sensing device and the angle change information of the rotation angle sensing device 61 and drives the first wheel 51 to move, and the reaction force of the first wheel 51 to move is transmitted to the first pedal 41 so as to promote the first pedal 41 to realize balance; the controller obtains the forward and backward tilting angle variation information of the second pedal 42 according to the angle variation information of the tilting angle sensing device and drives the second wheel 52 to move, and the reaction force of the second wheel 52 movement is transmitted to the second pedal 42 to promote the second pedal 42 to realize balance.

Therefore, the left pedal part and the right pedal part are respectively fixed with the motor shafts of the two wheels to form an integration, so that the driving feedback between the pedals and the wheels is simpler and more direct, the structure is simplified, and the human-computer interaction experience is better; one wheel axle is rotatably connected with the supporting framework, and the other wheel axle is fixedly connected with the supporting framework, so that the supporting framework is rotated along with one side of the supporting framework in a pedal manner, and the inclination angles of the two pedal parts can be detected only by arranging one inclination angle sensing device (a gyroscope and an acceleration sensor) and one rotation angle sensing device, so that the pedal parts have simple structures and few parts, and the vehicle body structure is simpler.

In this embodiment, the inclination angle sensing device and the controller are disposed on the main control circuit board 3, and the main control circuit board 3 and the battery 2 are fixedly mounted on the support frame 1. The controller can be a main controller which controls and drives two wheels to move simultaneously, or two sub-controllers which respectively and independently control and drive the two wheels to move. In other embodiments, there may be a plurality of sub-circuit boards for respectively providing the tilt angle sensing device and/or the sub-controller. The sub circuit board may also be a foot circuit board mounted below the foot pedal.

In the present embodiment, the rotation angle sensing device 61 is disposed between the first wheel axle 511 and the support frame 1. In other embodiments, the rotation angle sensing device may be directly disposed between the foot board and the support frame. In a preferred embodiment, the circuit portion of the rotation angle sensing device 61 is mounted on a supporting frame to facilitate wiring.

In this embodiment, as shown in fig. 3 and 4, the first pedal 41 is fixedly mounted on the first pedal mounting seat 411 by a fastener, and the first pedal mounting seat 411 is fixedly connected with or integrally formed with the first wheel axle 511; the second pedal 42 is fixedly mounted on the second pedal mounting seat 421 by a fastener, and the second pedal mounting seat 421 is fixedly connected with or integrally formed with the second wheel shaft 521. In a preferred embodiment, the first pedal mounting seat 411 is sleeved on the first wheel axle 511 and fixedly connected with the first wheel axle 511 through a positioning pin, a positioning key and/or a locking nut; the second pedal mounting seat 421 is sleeved on the second wheel axle 521 and is fixedly connected with the second wheel axle through a positioning pin, a positioning key and/or a locking nut.

In this embodiment, as shown in fig. 3 and 4, a first tread anti-slip pad 412 is installed on the first tread 41, and a second tread anti-slip pad 422 is installed on the second tread 42. Set up anti-skidding callus on the sole above the running-board, multiplicable pedal parts's wearability and frictional force also can improve user's use travelling comfort, play better waterproof dustproof effect in addition to increase comfort level, pleasing to the eye degree, degree of safety. In other embodiments, an anti-slip structure (e.g., anti-slip pattern) or an anti-slip component (e.g., anti-slip patch or anti-slip mat) may be disposed on the footrest by molding, covering, assembling, or adhering.

In this embodiment, as shown in fig. 3 and 4, the first wheel axle 511 is rotatably disposed on one side of the support frame 1 through a bearing 111, the second wheel axle 521 is fixedly mounted on the other side of the support frame 1 through a fixing member 12, and the bearing 111 is sleeved on the first wheel axle 511 and is fixedly mounted on the support frame 1 through a bearing mounting member 11.

In this embodiment, the bearing mounting part 11 and the fixing part 12 are both pressing blocks having mounting grooves, accordingly, the left and right sides of the supporting frame 1 are respectively provided with the bearing mounting part 112 and the fixing part 122 which are matched with the bearing mounting part 11 and the fixing part 12, the bearing mounting part 11 is fixed on the bearing mounting part 112 of the supporting frame 1 through a fastener and presses and fixes the bearing 111, and the fixing part 12 is fixed on the fixing part 122 of the supporting frame 1 through a fastener and limits the rotation of the second wheel shaft 521 through matching with the limiting surface 522 on the second wheel shaft 521. Thus, the structure is simple and the installation is convenient. In other embodiments, the bearing mounting member may also be a bearing seat, the bearing seat is fixedly connected to the support frame or integrally formed with the support frame, and the bearing seat are sleeved on the wheel axle and axially fixed by a snap spring or a nut.

Preferably, the bearing mount 11 is disposed on the first wheel axle 511 between the first wheel 51 and the first pedal mount 411, and the fixing member 12 is disposed on the second wheel axle 521 between the second wheel 52 and the second pedal mount 421. In other embodiments, the first wheel axle 511 is mounted to the support frame 1 by a plurality of bearing mounts 11, with the first pedal mount 411 being located between two bearing mounts 11. The wheel shafts are used as bearing parts, and the supporting framework is used as a rigid connecting part of the two wheel shafts, so that the structure is simpler and more reasonable, and the structural strength is better.

In the embodiment, the supporting framework 8 is made of aluminum section, so that the cost is low and the processing is convenient. The support framework is preferably made of metal. The metal material rigidity support performance is good, not only can install each part fixed to can effectively ensure the power explosion-proof, improve the security. The metal material is preferably an aluminum material. In other embodiments, all or part of the supporting framework may be a rigid component made of metal, or may be made of non-metallic materials with certain rigidity, such as wood, plate, rigid plastic, etc. The support framework can be formed in one step, or can be formed through multiple processes, such as turning, milling, grinding, drawing, welding and the like.

In this embodiment, the main body of the supporting frame 1 is a plate-shaped frame structure, a battery compartment for storing the battery 2 is disposed in the center of the frame structure, and the main control circuit board 3 is mounted above the battery 2. The bearing mounting portion 112 and the fixing portion 122 are integrally formed on both left and right sides of the support frame 1. Like this, adopt frame structure's support chassis, the structure is succinct, and processing materials are convenient for, low in manufacturing cost to the area space is big, intensity is high, thickness is thin, and the spare part of being convenient for arranges the installation, especially battery simple to operate, makes the ground clearance of vehicle great, and trafficability characteristic is good. In other embodiments, the supporting frame may be an integrally molded plate-like structure, rod-like structure, tubular structure, block-like structure, tubular structure, or lid structure, or may be a structure that is molded separately and then directly fixed or indirectly fixed and integrally connected. For example, as shown in fig. 10 and 14, the support frame 1 has a flat plate shape, the main control circuit board 3 is mounted above the support frame 1, the battery 2 is mounted at a lower central position of the support frame 1, and the detection portion of the rotation angle sensing device 61 is also mounted below the support frame 1 and located on the left side or the right side of the battery 2, respectively. The first bearing mounting portion 112 and the second bearing mounting portion 122 are fixed to the left and right sides above the support frame 1 by fasteners. Therefore, the vehicle body structure is simpler and more reasonable, and the manufacturing cost is lower.

For the purpose of decorating and covering and protecting internal parts, as shown in fig. 9, the vehicle body further includes a housing 10 wrapped outside the support frame 1, and the left and right sides of the housing 10 are respectively provided with a first wheel cover 101 for covering the first wheel 51 and a second wheel cover 102 for covering the second wheel 52. The housing 10 generally includes an upper housing and a lower housing fixed to a support frame, or a front housing and a rear housing fixed to a support frame, or a left housing and a right housing fixed to a support frame. The support frame is not limited to be hidden inside the vehicle body, and in other embodiments, the support frame may be entirely or partially exposed outside the vehicle body, for example, the support frame may be used as a lower shell or an upper shell of the vehicle body, or a small portion of the support frame may be exposed outside the vehicle body shell.

First and second pedals 41 and 42 are preferably made of metal. The metal material has good rigid supporting performance, and the metal material is preferably an aluminum material. In other embodiments, all or part of the pedal may be a rigid member made of metal, or may be made of non-metallic materials with certain rigidity, such as wood, plate, rigid plastic, etc. The pedal plate may be formed in one step, or may be formed by multiple processes, such as turning, milling, grinding, drawing, and welding.

In this embodiment, as shown in fig. 9, the first pedal 41 and the second pedal 42 are disposed above the left and right sides of the body shell 10, so that the interior space of the body shell is large, and it is convenient to dispose various components and functional components such as lights and sounds, and the pedals can rotate flexibly, and the pedals and the body are naturally limited without specially disposing limiting components. In other embodiments, the first pedal 41 and the second pedal 42 may be accommodated in a receiving groove or a space of the vehicle body housing 10, and the pedals and the vehicle body housing may be connected by a flexible member, an elastic member, or a corrugated member adapted to deform so as to close the gap and prevent dust. In other embodiments, a relatively separate housing is also secured to the footrest.

In order to detect whether a person is stepped on the pedal plates, a first inductive switch 71 for detecting whether a person is on the first pedal plate 41 and a second inductive switch 72 for detecting whether a person is on the second pedal plate 42 are provided, respectively. In this embodiment, as shown in fig. 4, 5 and 6, the first inductive switch 71 includes a first photo-emitter 711 and a first photo-receiver 712, the first photo-emitter 711 and the first photo-receiver 712 are disposed on the same side of the first pedal 41, the second inductive switch 72 includes a second photo-emitter 721 and a second photo-receiver 722, and the second photo-emitter 721 and the second photo-receiver 722 are disposed on the same side of the second pedal 42. In other embodiments, as shown in fig. 7 and 8, the first photo-emitter 711 and the first photo-receiver 712 are disposed opposite to each other on the left and right sides of the first foot pedal 41, and the second photo-emitter 721 and the second photo-receiver 722 are disposed opposite to each other on the left and right sides of the second foot pedal 42. In other embodiments, as shown in fig. 9, the first inductive switch 71 is disposed on a side wall of the first wheel cover 101 near the first pedal 41, and the second inductive switch 72 is disposed on a side wall of the second wheel cover 102 near the second pedal 42. The first inductive switch 71 and the second inductive switch 72 are preferably infrared inductive devices including an infrared emitting end and an infrared receiving end.

In this embodiment, in order to facilitate installation of the inductive switch on the foot pedal, a first foot circuit board 413 is installed below the first foot pedal 41, and a second foot circuit board 423 is installed below the second foot pedal 42.

In this embodiment, the tilt angle sensing device includes a gyroscope and an acceleration sensor. The rotation angle sensing device is a photoelectric encoder, a Hall encoder and the like.

In the preferred embodiment, as shown in fig. 10 and 14, the rotation angle sensing device includes a large gear 611, a small gear 613, a mounting block 615 and an encoder assembly, the mounting block 615 is fixed on the support frame 1, a rotating shaft 614 of the small gear 613 is rotatably mounted on the mounting block 615, the large gear 611 is fixed on the first wheel shaft 511 or the second wheel shaft 521 and is in meshing transmission with the small gear 613, and the transmission ratio of the large gear to the small gear is greater than 1. The encoder assembly includes a trigger member fixed to the shaft 614 and rotating with the shaft 614, and a sensing member fixed to the mounting block 615. When the pedal drives the wheel shaft to rotate (or change the angle), the big gear can drive the small gear to rotate quickly, and the small gear drives the rotating shaft and the trigger part on the rotating shaft to rotate synchronously, so that correspondingly amplified angle change is formed, and the sensitivity of angle detection is improved. The encoder assembly is a Hall encoder assembly or a photoelectric encoder assembly.

In this embodiment, as shown in fig. 10 to 16, the triggering component is a magnetic element 612, the sensing component is a hall circuit board 610, and a plurality of hall elements inductively matched with the magnetic element 612 are disposed on the hall circuit board 610. When the pedal drives the wheel shaft to rotate (or change the angle), the large gear can drive the small gear to rotate quickly, and the small gear drives the rotating shaft and the magnet on the rotating shaft to rotate synchronously, so that the magnet and the Hall element on the Hall circuit board form correspondingly amplified angle change, and the sensitivity of angle detection is improved.

In the preferred embodiment, as shown in fig. 10 and 14, the mounting frame 615 is disposed below the plate-shaped supporting frame 1, and the large gear 611 passes through a hollow hole disposed on the supporting frame 1 to be in meshing transmission with the small gear 613. The pinion gear 613 is fixedly connected to or integrally formed with its rotating shaft 614. The bull gear 611 is a sector gear. In the balance car field because compact structure, the space that interior structural design can occupy is little, use gear drive's rotation angle detection sensing assembly very few, and sectorial gear wheel structure occupation space is little, so that with other structures (structure such as the upper cover of running-board or balance car) installation around, furthermore, owing to sectorial structural design, the gear wheel part volume near first wheel axle or second wheel axle is less, do not influence other structures, sectorial structure's intermediate part has the advantage that structural design is nimble, can be according to structural design, lead to other big space departments (such as support skeleton lower part) installation with sectorial structure's gear portion, improve the flexibility of gear wheel mounted position, in addition, sectorial structure's gear portion can be according to the gear drive ratio demand, the size of design tooth more freely, quantity isoparametric.

In this embodiment, the rotation shaft 614 of the pinion gear 613 is mounted on the mounting frame 615 through the third bearing 616 and the third bearing mount 617. In other embodiments, the third bearing 616 may be a bushing. The third bearing mount 617 is a bearing gland. The use of the third bearing 616 and the third bearing mounting part 617 can reduce the wear at the joint between the rotating shaft 614 and the mounting frame 615, and prolong the service life of the rotating shaft, and on the other hand, can buffer the influence on the rotation angle of the rotating shaft 614 through the transmission of the mounting frame 615 under the condition that the stress of the supporting framework 1 borne by the bearing is unequal, and further improve the detection sensitivity. In addition, the mounting frame 615 is fixed to the support frame 1, and the large gear 611 is fixed to the first wheel shaft 511 or the second wheel shaft 521, so that the mounting stability of the rotation angle sensing device is improved, the displacement between the parts caused by uneven stress is reduced, and the service life is prolonged.

A preferred embodiment of the encoder assembly: as shown in fig. 10 to 13, a magnet mounting seat 618 is fixed at one end of the rotating shaft 614, the magnet mounting seat 618 includes an arc-shaped structure, the magnetic element 612 is fixed at the arc-shaped structure, the magnetic element 612 includes at least one magnet arranged in the thickness direction of the magnet mounting seat 618, and at least one hall element is arranged on the hall circuit board 610 around the arc-shaped structure.

Preferably, the magnetic element 612 is two rows of magnets arranged along the rotation direction of the magnet mounting seat 618, each row of magnets being arranged with the same polarity and the two rows of magnets being arranged with opposite polarities. For example, the N-level of one row of magnets is placed downwards, the S-level of the other row of magnets is placed downwards (one row of magnets may be one or more, and the magnetic poles of the same row of magnets are the same), the hall circuit board 610 is installed on one side of the mounting frame 615, a plurality of hall elements are arranged on the hall circuit board 610, and are arranged according to the circular arc distribution and cover the rotation range of the two rows of magnets, so that the plurality of hall elements and the magnets cooperate to realize the detection of the angular rotation of the rotating shaft. Therefore, the sensitivity of angle detection is improved, and the reliability and the accuracy of angle detection are improved.

Another preferred embodiment of the encoder assembly: as shown in fig. 14 to 16, a magnet mounting seat 618 is fixed at one end of the rotating shaft 614, at least one magnet mounting hole is formed in the magnet mounting seat 618, the magnetic element is a magnet, the magnet is mounted in the magnet mounting hole, a hall element is arranged on the hall circuit board 610, and the hall element and the magnet are matched to detect the angular rotation of the rotating shaft.

Preferably, only one hall element is arranged on the hall circuit board 610, and the hall element is located at an approximate axial center position of the axis direction of the rotating shaft 614; the magnet mounting base 618 is provided with a plurality of magnets, which are distributed around and rotate around the hall element, and the plurality of magnets are disposed in the same direction of magnetic poles to increase the magnetic field. The structure is simple and the cost is low.

The control method of the two-wheeled balance vehicle comprises the following steps: the controller obtains the forward and backward inclination angle change information of the first pedal 41 according to the inclination angle sensing device and the angle change information of the rotation angle sensing device 61 and drives the first wheel 51 to move; the controller obtains the front-back tilting angle change information of the second pedal 42 according to the angle change information of the tilting angle sensing device and drives the second wheel 52 to move; when the front-back inclination angle change information of the first pedal 41 is the same as the front-back inclination angle change information of the second pedal 42, the two-wheeled balance vehicle moves straight (including advancing, retreating, accelerating or decelerating) or stops; when the forward/backward inclination angle change information of the first pedal 41 is different from the forward/backward inclination angle change information of the second pedal 42, the two-wheeled balance vehicle turns (including forward turning, backward turning, or pivot turning).

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.