阅读说明：本技术 电动滑板车及其双向控制方法 (Electric scooter and bidirectional control method thereof ) 是由 钭子奇 于 2021-07-09 设计创作，主要内容包括：本发明具体涉及电动滑板车及其双向控制方法,方法步骤包括：获取第一开关与第二开关的闭合信号或者断开信号；判断第一开关与第二开关的组合信号状态；当组合信号状态由双断开状态转变成单闭合状态时,控制器控制电机以1-4码缓步骑行并且依据第一开关闭合或是第二开关闭合分别控制电动滑板车前向缓步骑行与后向缓步骑行并在组合信号状态转变成双闭合状态后控制电机前向正常骑行或是后向正常骑行；当组合信号状态由双闭合状态转变成单闭合状态时,控制器控制电机缓步减速骑行直至车速为零或者组合信号状态转变成双断开状态后控制电机制动刹车或者组合信号状态恢复双闭合状态后控制电机以当前骑行方向正常骑行。具有操作便利、控制可靠的特点。(The invention relates to an electric scooter and a bidirectional control method thereof, and the method comprises the following steps: acquiring a closing signal or an opening signal of a first switch and a second switch; judging the combined signal state of the first switch and the second switch; when the combined signal state is changed from a double-off state to a single-off state, the controller controls the motor to slowly ride in 1-4 yards, controls the electric scooter to slowly ride forward and slowly ride backward respectively according to the closing of the first switch or the closing of the second switch, and controls the motor to normally ride forward or normally ride backward after the combined signal state is changed to the double-off state; when the combined signal state is changed from the double-closing state to the single-closing state, the controller controls the motor to slowly step and decelerate to ride until the vehicle speed is zero or the combined signal state is changed into the double-opening state, and then controls the motor to brake or controls the motor to normally ride in the current riding direction after the combined signal state is restored to the double-closing state. The device has the characteristics of convenience in operation and reliability in control.)

1. The bidirectional control method of the electric scooter is characterized in that the electric scooter comprises a scooter body (10), a front wheel (21) and a rear wheel (22) which are arranged on the bottom side in parallel with the scooter body, and a reversing mechanism which controls the front wheel and the rear wheel to turn by twisting the scooter body,

the bidirectional control device is characterized in that an accommodating chamber is arranged in the vehicle body, the accommodating chamber accommodates a controller and a battery pack (15) which are electrically communicated, a first switch (11) and a second switch (12) which are electrically communicated with the controller are arranged on the top side of the vehicle body along the front-back direction, and a motor which is electrically communicated with the controller is arranged on the wheel shaft part of the front wheel and/or the rear wheel, and the bidirectional control method comprises the following steps:

acquiring a closing signal or an opening signal of a first switch and a second switch;

judging the combined signal state of the first switch and the second switch;

when the combined signal state is changed from a double-off state to a single-off state, the controller controls the motor to slowly ride in 1-4 yards, controls the electric scooter to slowly ride forward and backward respectively according to the closing of the first switch or the closing of the second switch, and controls the motor to normally ride forward or normally ride backward after the combined signal state is changed to the double-off state;

when the combined signal state is changed from the double-closing state to the single-closing state, the controller controls the motor to slowly step and decelerate until the vehicle speed is zero or the combined signal state is changed into the double-opening state, and then controls the motor to brake or controls the motor to normally ride in the current riding direction after the combined signal state is restored to the double-closing state.

2. The bi-directional control method according to claim 1, wherein the controller comprises a first controller (13) and a second controller (14) in electrical communication, the motors comprise a first motor and a second motor respectively mounted on the front and rear wheels, and the first and second controllers are in electrical communication with the first motor and the second motor respectively and with the first switch and the second switch respectively.

3. An electric scooter characterized by using the bidirectional control method as set forth in claim 1 or 2.

4. The electric scooter of claim 3, wherein the steering mechanism comprises a bottom fork (32) connected to both sides of the wheel and a bearing frame (31) for supporting the bottom fork to rotate horizontally and vertically with the body, the top side of the bottom fork (32) is provided with a first fitting portion (36), the bottom side of the body is provided with a second fitting portion (35) adapted to the first fitting portion for adjusting the steering angle of the wheel, through holes for accommodating the bearing frame (31) are vertically formed at both ends of the body (10), and the through holes at least leave a spacing gap with the left and right sides of the bearing frame.

5. The electric scooter of claim 4, wherein one of the first engagement portion (36) and the second engagement portion (35) is configured as a vertically-opened slot or notch, and the other is configured as a movable rod extending into the slot or notch.

6. The electric scooter of claim 5, wherein the movable bar is configured as a resilient rigid member with a slot on a bottom surface.

7. The electric scooter according to claim 4, wherein the body (10) has a post protruding outwards corresponding to the left and right sides of the frame (31), the post has a through hole axially penetrating and communicating with the limiting gap, the elastic member (37) is limited inside the through hole, and the inner side of the elastic member (37) abuts against the frame (31).

8. The electric scooter of claim 4, wherein the bearing frame (31) has a first axle hole (33) opened in a transverse direction, the first axle hole is rotatably provided with a first axle shaft adapted to the positioning hole of the scooter body, the bearing frame (31) is fixedly provided with a second axle shaft in a longitudinal direction, and the bottom fork is provided with a second axle hole (34) adapted to the second axle shaft.

9. The electric scooter of claim 8, wherein the first engagement portion (36) is interposed between the second axle hole (34) and the wheel.

10. The electric scooter of claim 4, wherein the two ends of the scooter body (10) are tilted and designed to be pointed, and the bottom side of the scooter body is provided with an avoiding hole for the wheel to partially penetrate.

Technical Field

The invention relates to the technical field of electric scooter, in particular to an electric scooter and a bidirectional control method thereof.

Background

The scooter is a new generation of young people's fashion sports product because of its fashionable appearance.

The scooter which is relatively common in the market generally comprises a scooter body, a front wheel and a rear wheel which are assembled at the front end and the rear end of the scooter body, and a vertical pipe and a handle which are connected to the front wheel, and the scooter is complicated in mechanical structural part, large in size and not beneficial to storage and carrying; moreover, the design of the product usually needs to twist a handlebar to drive the front wheel to turn, and only the front wheel is in charge of turning, so that the corresponding turning radius is larger, and the turning flexibility is poor.

In order to promote the usual in-wheel motor drive wheel of going out efficiency of scooter and move ahead through controller control to the single switch that is linked together through with the controller changes the vehicle state of riding, this implementation has the weak point: the current electric scooter driving mode is various (including double wheel drive and single wheel drive), the maneuverability of single switch is not strong, the reliability is lower, even can realize also must lead to control procedure complicated, the vehicle cost promotes, in addition, the realization mode of its structure and control method is comparatively single, can't be suitable for the electric scooter of two-way riding.

Disclosure of Invention

One of the objectives of the present invention is to provide a bidirectional control method with convenient operation and reliable control.

The second purpose of the present invention is to provide an electric scooter with a simplified structure, which controls the direction change by manually twisting the scooter body, and particularly to adopt the above-mentioned bidirectional control method.

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

the bidirectional control method of the electric scooter comprises a scooter body, front wheels and rear wheels which are parallel to the scooter body and arranged on the bottom side, and a reversing mechanism for controlling the front wheels and the rear wheels to turn by twisting the scooter body, wherein an accommodating chamber is arranged in the scooter body, a controller and a battery pack which are electrically communicated are accommodated in the accommodating chamber, a first switch and a second switch which are electrically communicated with the controller are arranged on the top side of the scooter body along the front-back direction, a motor which is electrically communicated with the controller is arranged on the wheel shaft part of the front wheels and/or the rear wheels, and the bidirectional control method which is realized by adopting the structure comprises the following steps:

acquiring a closing signal or an opening signal of a first switch and a second switch; judging the combined signal state of the first switch and the second switch;

when the combined signal state is changed from a double-off state to a single-off state, the controller controls the motor to slowly ride in 1-4 yards, controls the electric scooter to slowly ride forward and backward respectively according to the closing of the first switch or the closing of the second switch, and controls the motor to normally ride forward or normally ride backward after the combined signal state is changed to the double-off state;

when the combined signal state is changed from the double-closing state to the single-closing state, the controller controls the motor to slowly step and decelerate until the vehicle speed is zero or the combined signal state is changed into the double-opening state, and then controls the motor to brake or controls the motor to normally ride in the current riding direction after the combined signal state is restored to the double-closing state.

Preferably, the controller includes a first controller and a second controller electrically connected to each other, the motor includes a first motor and a second motor respectively mounted on the front and rear wheels, and the first and second controllers are respectively electrically connected to the first motor and the second motor and respectively electrically connected to the first switch and the second switch.

The invention also provides an electric scooter which adopts the bidirectional control method.

Preferably, the reversing mechanism is provided with a bottom fork connected to two sides of the wheel and a bearing frame for supporting the bottom fork to horizontally rotate and vertically rotate with the vehicle body, a first matching portion is arranged on the top side of the bottom fork, a second matching portion matched with the first matching portion and used for adjusting the reversing angle of the wheel is arranged on the bottom side of the vehicle body, through holes for accommodating the bearing frame are vertically formed in two ends of the vehicle body, and limit gaps are at least reserved between the through holes and the left side and the right side of the bearing frame. Bearing among this technical scheme accomodates to the automobile body through-hole for this reversing mechanism compact structure, the flexible action, the switching-over reliability promotes, and at the in-process of wrench movement about controlling the automobile body through the step control, spacing clearance restriction automobile body limit steering angle avoids falling the vehicle because the too big human unbalance in inclination, thereby guarantees the comfortable safety of the process of riding.

Preferably, one of the first and second engaging portions is a slot or a notch formed in the vertical direction, and the other is a movable rod extending into the slot or the notch. The steering matching mode in the technical scheme has the characteristics of flexible structure, low possibility of loss and long service life in a rigid connection mode; meanwhile, the vehicle body torsion is applied to drive the wheels to deflect and turn towards the inner side of the vehicle body, so that the control is flexible, and the application range is wide.

Preferably, the movable rod is configured as an elastic rigid member with a groove on the bottom surface. The rigid material design of the movable rod in the technical scheme improves the strength of the movable rod, and the movable rod is not easy to wear in the long-term matching process; the design of the groove on the bottom surface of the movable rod enables the matching part to be tightly abutted, prevents the riding from twisting and stabilizes the advancing direction.

Preferably, the vehicle body is provided with a column part protruding outwards corresponding to the left side and the right side of the bearing frame respectively, the column part is provided with a through hole which is axially communicated with the limiting gap, an elastic part is limited at the inner side of the through hole, and the inner side of the elastic part is abutted against the bearing frame. The 4 sets of elastic component structures that arrange symmetrically in this technical scheme can balance the steering control stability of automobile body and wheel, and preferred is the spring.

Preferably, the bearing frame is provided with a first shaft hole which is transversely formed, a first rotating shaft which is matched with the positioning hole of the vehicle body is rotatably arranged in the first shaft hole, a second rotating shaft is fixedly arranged in the longitudinal direction of the bearing frame, and the bottom fork is provided with a second shaft hole which is matched with the second rotating shaft.

Preferably, the first fitting portion is interposed between the second shaft hole and the wheel. The technical scheme further enables the reversing mechanism to be compact in structure.

Preferably, the two ends of the vehicle body are tilted upwards and designed to be pointed, and the bottom side of the vehicle body is provided with a avoiding hole for the wheel to partially penetrate into. The automobile body among this technical scheme adopts surfing board-like two tip designs, has to turn to the characteristics nimble, that the resistance of riding is little and the quality is light, and in addition, the wheel design of local portion stretching into automobile body inside can effectively reduce the vehicle focus, and it is stable and safe to ride.

The invention has at least the following beneficial effects by adopting the technical scheme.

Firstly, adopt the front and back wheel that is arranged parallel to the automobile body, the rider side direction is stood, and speed of riding and human balance all have showing and promote, and when the automobile body cuts off the power supply or meets uneven road surface, the human body is difficult for tumbling and produces the incident, but can adapt to various road conditions, guarantees the safety of riding.

The front wheel and the rear wheel are controlled to steer through twisting of the scooter body, the steering control of the scooter handle is compared, mechanical structural parts are greatly simplified, the scooter body is small and convenient to carry, steering mechanisms can be arranged corresponding to the front wheel and the rear wheel respectively, the steering angles of the front wheel and the rear wheel can be adjusted simultaneously, the turning radius of the wheels is smaller, and the turning flexibility is improved.

And thirdly, the switches are respectively arranged aiming at the front wheel and the rear wheel to control the riding mode of the vehicle, when the combined signal state of the switches is changed from a double-closed state or a double-open state into a single-closed state, the vehicle is controlled to slowly ride in the advancing direction of the wheels on one side of the closed switches, the convenient control of the bidirectional riding of the vehicle is realized, the operability is high, and the riding is safe and reliable.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of an electric scooter according to an embodiment of the present invention;

fig. 2 is a sectional view of the electric scooter according to the embodiment of the present invention;

FIG. 3 is a diagram illustrating the engagement between the body and the bottom fork according to the embodiment of the present invention;

FIG. 4 is a block diagram of dual-motor control according to an embodiment of the present invention;

fig. 5 is a block diagram of a single motor control according to an embodiment of the present invention.

Detailed Description

In order to make the technical features, objects and effects of the present invention more clearly understood, a detailed description of embodiments of the present invention will be given below with reference to the accompanying drawings.

In the description of the present application, it is to be understood that the terms "central," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," "transverse," "longitudinal," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity of description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present invention.

It should be noted that the terms "first" and "second" are used herein for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any 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 application, "a plurality" means two or more unless specifically limited otherwise.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 3, the present application provides an electric scooter, which includes a scooter body 10, a front wheel 21 and a rear wheel 22 disposed on a bottom side parallel to the scooter body, a steering mechanism for controlling the front wheel and the rear wheel to steer by twisting the scooter body, and a driving mechanism for electrically controlling the steering mechanism.

The car body in this embodiment adopts similar surfboard appearance, possesses that the resistance of riding is little, and car body light in weight and the nimble characteristics of switching-over are more specific, the car body both ends are equipped with the hole of dodging that supplies the wheel part to wear to stretch into, can effectively reduce the vehicle focus, ride stably and safety for the tip design, the car body in this embodiment.

The reversing mechanism is arranged at two ends of the vehicle body 10 and comprises a bottom fork 32 and a bearing frame 31, the bearing frame 31 is provided with a first shaft hole 33 which is transversely arranged, a first rotating shaft matched with the positioning hole of the vehicle body is rotatably arranged in the first shaft hole, a second rotating shaft is longitudinally and fixedly arranged on the bearing frame 31, the bottom fork 32 is provided with a second shaft hole 34 matched with the second rotating shaft, the bottom fork 32 is connected with two sides of the wheel and can horizontally rotate around the second rotating shaft, a first matching part 36 is arranged on the bottom fork 32 between the wheel and the second shaft hole 34, a second matching part 35 matched with the first matching part 36 and used for adjusting the reversing angle of the wheel is arranged at the bottom side of the vehicle body, in the embodiment, the vehicle body is reversed by controlling the left and right small-angle change of the inclination angle of the vehicle body through footsteps, further pushing the horizontal steering angle of the bottom fork to change, and compared with the steering control of the scooter, the wheel turning mechanism has the advantages of simple structure, convenience in operation and easiness in carrying, and the turning angles of the front wheel and the rear wheel can be adjusted simultaneously due to the fact that the turning mechanisms can be arranged corresponding to the front wheel and the rear wheel respectively, the turning radius of the wheels is smaller, and the turning flexibility is improved. In a preferred embodiment, the first rotating shaft and the first shaft hole and the second rotating shaft and the second shaft hole are rotatably connected through bearings, so that the rotation is smooth, and the reversing is sensitive.

In some preferred embodiments, one of the first engaging portion 36 and the second engaging portion 35 is a slot or a notch formed vertically, and the other is a movable rod extending into the slot or the notch. Specifically, the movable rod is constructed as an elastic rigid piece with a groove on the bottom surface. The rigid material design of the movable rod of the embodiment improves the strength, is not easy to wear in the long-term matching process and prolongs the service life; the design of the groove on the bottom surface of the movable rod enables the matching part to be tightly abutted, prevents the riding from twisting and stabilizes the advancing direction.

Specifically, through holes for accommodating the bearing frame 31 are vertically formed at two ends of the vehicle body 10, and at least a limit gap is reserved between the through holes and the left side and the right side of the bearing frame 31. In this embodiment, make overall structure compact through accomodating bearing frame in the automobile body through-hole, the action is nimble, turns to the reliability and promotes, and wrench movement in-process about controlling the automobile body through the step control, spacing clearance restriction automobile body limit turns to the angle, avoids falling the vehicle because the too big human unbalance in inclination to guarantee the comfortable safety of the process of riding.

In a preferred embodiment, the body 10 has a pillar portion protruding outward corresponding to the left and right sides of the carrier 31, the pillar portion has a through hole penetrating in the axial direction and communicating with the limiting gap, the elastic member 37 is limited inside the through hole, and the inner side of the elastic member 37 abuts against the carrier 31. The 4-pair symmetrically-arranged elastic member structure in the embodiment can balance the steering control stability of the vehicle body and the wheels, and is preferably a spring.

The driving mechanism comprises a controller and a battery pack 15 which are contained in a containing chamber in the vehicle body and are electrically communicated, a first switch 11 and a second switch 12 which are arranged on the top side of the vehicle body along the front-back direction and are electrically communicated with the controller, and a motor which is arranged on the wheel axle part of the front wheel and/or the rear wheel and is electrically communicated with the controller.

In one embodiment, the electric scooter is a dual-drive type, the controller comprises a first controller 13 and a second controller 14 electrically connected to each other, the motor comprises a first motor and a second motor respectively mounted on the front and rear wheels, and the first and second controllers are respectively electrically connected to the first motor and the second motor and respectively electrically connected to the first switch and the second switch.

Referring to fig. 4, the bidirectional control method for an electric scooter provided by the above dual driving method includes the following steps:

and S10, acquiring a closing signal or an opening signal of the first switch and the second switch.

And S20, judging the combined signal state of the first switch and the second switch.

And S21, when the combined signal state is changed from a double-off state (00) to a single-on state (10), the first switch is turned on and the second switch is turned off, and the first controller and the second controller respectively control the first motor and the second motor to ride in a 1-4-code forward slow stepping mode.

And S22, when the combined signal state is changed from the single-closing state (10) to the double-closing state (11), the first switch and the second switch are both closed, and the first controller and the second controller respectively control the first motor and the second motor to normally ride at the preset riding speed in the forward direction.

And S23, when the combined signal state is changed from a double-break state (00) to a single-close state (01), the first switch is disconnected and the second switch is closed, and the first controller and the second controller respectively control the first motor and the second motor to slowly ride the bicycle in a 1-4 code backward direction.

S24, when the combined signal state is changed from the single-close state (01) to the double-close state (11), the first switch and the second switch are both closed, and the first controller and the second controller respectively control the first motor and the second motor to normally ride at the preset riding speed.

S25, during forward riding, when the combined signal state is changed from a double-closing state (11) to a single-closing state (10), the first switch is closed, the second switch is opened or changed to the single-closing state (01), and the first switch is opened and the second switch is closed, the first controller and the second controller respectively control the first motor and the second motor to slowly decelerate and ride until the vehicle speed is zero or the combined signal state is changed to the double-opening state (00) and then control the brake or control the first motor and the second motor to normally ride after the combined signal state is restored to the double-closing state (11) within 20 seconds.

S26, during backward riding, when the combined signal state is changed from a double-closing state (11) to a single-closing state (10), the first switch is closed, the second switch is opened or changed to the single-closing state (01), and the first switch is opened and the second switch is closed, the first controller and the second controller respectively control the first motor and the second motor to slowly decelerate and ride until the vehicle speed is zero or the combined signal state is changed to the double-opening state (00) and then control the brake or control the first motor and the second motor to normally ride after the combined signal state is restored to the double-closing state (11) within 20 seconds.

In another embodiment, the electric scooter is a single-drive type, which may be a front-drive type or a rear-drive type, and includes a motor, a controller and a battery pack, which are sequentially electrically connected, and the first switch and the second switch are electrically connected to the controller.

Referring to fig. 5, the bidirectional control method for an electric scooter provided by the present application in the above single driving manner specifically includes the steps of:

and S100, acquiring a closing signal or an opening signal of the first switch and the second switch.

And S200, judging the combined signal state of the first switch and the second switch.

And S210, when the combined signal state is changed from a double-off state (00) to a single-on state (10), the first switch is switched on, the second switch is switched off, and the controller controls the motor to slowly ride in the forward direction with 1-4 codes.

And S220, when the combined signal state is changed from the single-closing state (10) to the double-closing state (11), the first switch and the second switch are both closed, and the controller controls the motor to normally ride at a preset riding speed in the forward direction.

And S230, when the combined signal state is changed from a double-off state (00) to a single-on state (01), the first switch is switched off, the second switch is switched on, and the controller controls the motor to slowly ride the bicycle in a 1-4 code backward direction.

S240, when the combined signal state is changed from the single-close state (01) to the double-close state (11), the first switch and the second switch are both closed, and the controller controls the motor to normally ride at a preset riding speed.

S250, when the combined signal state is changed into a single-closed state (10) from a double-closed state (11) in forward riding, the first switch is closed, the second switch is opened or is changed into a single-closed state (01), the first switch is opened and the second switch is closed, the controller controls the motor to slowly step and decelerate riding until the vehicle speed is zero or the combined signal state is changed into a double-open state (00) and then controls the brake or the combined signal state is restored within 20 seconds and then controls the motor to normally ride forward.

And S260, when the combined signal state is changed into a single-closed state (01) from a double-closed state (11) to a single-closed state (11) in the back riding process, when the first switch is switched off and the second switch is switched on or is changed into a single-closed state (10), the controller controls the motor to slowly decelerate and ride until the vehicle speed is zero or the combined signal state is changed into a double-open state (00) and then controls the brake or the combined signal state is changed into a double-closed state (11) within 20 seconds and then controls the motor to normally ride in the back riding process.

The application provides a be applied to electric scooter's bilateral control method, installs the switch respectively to front and back wheel and in order to control the vehicle mode of riding, when the combination signal state of switch changed into single closure state by two closure states or two break-make states, the control vehicle slowly steps with the wheel direction of advance of closure switch one side and rides, has realized the convenient control that the vehicle was two-way ridden, and maneuverability is strong, rides safe and reliable.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

In the description of the present invention, "controller", "processor", and the like may include hardware, software, or a combination of both. A module may comprise hardware circuitry, various suitable sensors, communication ports, memory, may comprise software components such as program code, or may be a combination of software and hardware. The processor may be a central processing unit, microprocessor, image processor, digital signal processor, or any other suitable processor. The processor has data and/or signal processing functionality. The processor may be implemented in software, hardware, or a combination thereof. The physical device to which the controller corresponds may be the processor itself, or a part of software, a part of hardware, or a part of a combination of software and hardware in the processor.