阅读说明：本技术 电动平衡车的主控电路、主控组件和电动平衡车 (Electric balance car's master control circuit, master control subassembly and electric balance car ) 是由 尚坤 于 2021-09-15 设计创作，主要内容包括：本发明公开了一种电动平衡车的主控电路,包括设置在同一块主控电路板上的主控芯片U3、左侧陀螺仪、右侧陀螺仪、左侧电机连接端口、右侧电机连接端口、左侧霍尔元件连接端口和右侧霍尔元件连接端口；主控电路将常规平衡车的两块电路板合并为一块电路板,并去掉光电传感器接口,主控芯片U3的通过端口分别连接左侧陀螺仪和右侧陀螺仪；主控芯片U3的通过左侧电机连接端口和右侧电机连接端口分别连接平衡车的左侧电机和右侧电机；主控芯片U3的通过左侧霍尔元件连接端口和右侧霍尔元件分别连接平衡车左侧车轮的霍尔元件和右侧车轮的霍尔元件；电路相对比较复简单,单块电路板,生产加工和组装比较方便方便,避免了两块电路板控制的很多麻烦。(The invention discloses a main control circuit of an electric balance car, which comprises a main control chip U3, a left gyroscope, a right gyroscope, a left motor connecting port, a right motor connecting port, a left Hall element connecting port and a right Hall element connecting port, which are arranged on the same main control circuit board; the main control circuit combines two circuit boards of a conventional balance car into one circuit board, an interface of the photoelectric sensor is removed, and the through ports of the main control chip U3 are respectively connected with the left-side gyroscope and the right-side gyroscope; the main control chip U3 is respectively connected with a left motor and a right motor of the balance car through a left motor connecting port and a right motor connecting port; the main control chip U3 is respectively connected with a Hall element of a left wheel and a Hall element of a right wheel of the balance car through a left Hall element connection port and a right Hall element; the circuit is relatively complex and simple, the single circuit board is convenient and convenient to produce, process and assemble, and a lot of troubles of controlling the two circuit boards are avoided.)

1. A main control circuit of an electrodynamic balance car is characterized by comprising a main control chip U3, a left gyroscope, a right gyroscope, a left motor connecting port, a right motor connecting port, a left Hall element connecting port and a right Hall element connecting port which are arranged on the same main control circuit board (01);

the main control circuit combines two circuit boards of a conventional balance car into one circuit board, and removes a photoelectric sensor interface;

the main control chip U3 is respectively connected with the left gyroscope and the right gyroscope through ports;

the main control chip U3 is respectively connected with a left motor and a right motor of the balance car through a left motor connecting port and a right motor connecting port;

the main control chip U3 is respectively connected with the Hall element of the left wheel and the Hall element of the right wheel of the balance car through the left Hall element connection port and the right Hall element.

2. The main control circuit of the electric balance car according to claim 1, wherein the main control circuit board (01) is fixedly arranged in the middle of the balance car, the middle of the balance car is close to the left, or the middle of the balance car is close to the right;

the main control circuit board (01) is fixedly connected with the car body on one side of the balance car, and the main control circuit board (01) can be arranged in a rotating mode at an angle smaller than a set angle relative to the car body on the other side of the balance car.

3. The main control assembly of the electric balance car is characterized by comprising a main control circuit board (01), a main control shaft (02) and a mechanical rotation return assembly (03), wherein the mechanical rotation return assembly (03) rotatably supports the main control shaft (02), the main control shaft (02) can restore to a balance position after being twisted relative to the micromechanical rotation return assembly (03), and the main control circuit board (01) is arranged on the main control shaft (02) or the mechanical rotation return assembly (03); the main control shaft (02) and the mechanical rotation return assembly (03) are respectively used for connecting a pedal of the electric balance car.

4. The main control assembly of the electrodynamic balance car of claim 3, wherein the main control circuit board (01) is provided with a first hall element line interface, a second hall element line interface, a first motor line interface and a second motor line interface, and the main control circuit board (01) is not provided with a light sensor interface;

the first Hall element line interface is used for connecting a Hall element on one wheel, the second Hall element line interface is used for connecting a Hall element on the other wheel, the first motor line interface is used for connecting a driving motor of one wheel, and the second motor line interface is used for connecting a driving motor of the other wheel;

the main control circuit board (01) does not need to be arranged on the two pedals, the relative torsion angles of the two pedals are sensed by the optical sensors on the two pedals, and the mechanical rotation return component (03) and the main control shaft are matched with each other and return to the relative balance positions of the left pedal and the right pedal by means of a mechanical structure.

5. The main control assembly of the electrodynamic balance car of claim 4, wherein the main control circuit board (01) includes a main control chip U3, the chip model is AT32F413RCT 6;

and the left side and the right side of the main control circuit board (01) are respectively provided with a gyroscope.

6. The main control assembly of the electric balance car according to claim 4, wherein the mechanical rotation return assembly (03) comprises an upper housing (031), a lower housing (032), a bearing (033), a first spring (034) and a second spring (035), a first spring chamber (0311) and a second spring chamber (0312) are disposed between the upper housing (031) and the lower housing (032), and two lugs (021) are disposed on two sides of the main control shaft (02);

a part of the main control shaft (02) is rotatably supported between the upper shell (031) and the lower shell (032) through the bearing (033);

the first spring (034) and the second spring (035) are respectively placed into the first spring chamber (0311) and the second spring chamber (0312), and the two lugs (021) are respectively pressed at the outlets of the first spring chamber (0311) and the second spring chamber (0312);

normal condition, first spring (034) and second spring (035) are in balanced pressurized state, and after main control axle (02) took place to rotate for last casing (031) and/or lower casing (032), one of first spring (034) and second spring (035) received the extrusion force, and the extrusion force transmits to last casing (031), and because the effect of power is mutual, the counter force drive main control axle (02) that go up casing (031) and/or lower casing (032) produced resume to balanced state for last casing (031).

7. The main control assembly of the electric balance car according to claim 6, wherein the mechanical rotation return assembly (03) further comprises two caps (036), the two caps (036) covering the outlets of the first spring chamber (0311) and the second spring chamber (0312), respectively, the caps (036) separating the lug (021) from the first spring (034) and the second spring (035).

8. The main control assembly of the electric balance vehicle according to claim 7, characterized in that the number of the bearings (033) is 2, and 2 bearings (033) are respectively located at both sides of a longitudinal common tangent plane of the first spring (034) and the second spring (035).

9. An electrodynamic balance car is characterized by comprising a left wheel (1), a left car body (2), a right wheel (3) and a right car body (4), wherein the left wheel (1) rotatably supports the left car body (2), and the right wheel (3) rotatably supports the right car body (4), and is characterized by further comprising the main control circuit board (01), a main control shaft (02) and a mechanical rotation return assembly (03) according to any one of claims 1 to 2, wherein the mechanical rotation return assembly (03) rotatably supports the main control shaft (02), the main control shaft (02) can be restored to a balance position after being twisted relative to the micromechanical rotation return assembly (3), and the main control circuit board (01) is arranged on the main control shaft (02) or the mechanical rotation return assembly (03); the main control shaft (02) and the mechanical rotation return component (03) are respectively used for one of the left vehicle body (2) and the right vehicle body (4).

10. The electrodynamic balance car of claim 9, further comprising a left motor, a right motor, a left hall element, and a right hall element; the left motor and the left Hall element are arranged on the left wheel (1), and the right motor and the right Hall element are arranged on the right wheel (3);

the main control circuit board (01) is provided with a first Hall element wire interface, a second Hall element wire interface, a first motor wire interface and a second motor wire interface, and the main control circuit board (01) is not provided with a light sensor interface;

the first Hall element line interface and the second Hall element line interface are respectively used for Hall elements on two wheels, and the first motor line interface and the second motor line interface are respectively used for connecting a left motor and a right motor;

the main control circuit board (01) does not need to be arranged on the two pedals, the relative torsion angles of the two pedals are sensed by the optical sensors on the two pedals, and the mechanical rotation return component (03) and the main control shaft (02) are matched with each other and return to the relative balance positions of the left pedal and the right pedal by a mechanical structure.

Technical Field

The invention relates to the technical field of balance cars, in particular to a main control circuit and a main control assembly of an electric balance car and the electric balance car.

Background

The balance car is a flexible and small short-distance travel tool, and many young people regard driving the balance car as a fashion sport, so that various manufacturers continuously develop the balance car deeply and continuously explore and innovate the balance car in the fields of functions, appearances and production control.

The currently used balance car controller (master control circuit) has the following disadvantages: firstly, the circuit is relatively complex. Secondly, four photoelectric switches are needed to detect whether a person gets on or off the vehicle, and in addition, the parts such as a spring, a pedal and a nipple are needed to complete the assembly, so that the production, the processing and the assembly are very inconvenient. And thirdly, the two circuit boards are required to be linked respectively, a plurality of wires are required to complete connection between the circuit board A and the circuit board B, and the most basic communication flat cable and two power lines are required to complete connection, so that the assembly difficulty and the assembly cost are increased. And fourthly, the A/B boards are connected through communication lines, the problem of off-tracking of the running straight line of the balance car is caused by the industrial delay phenomenon, and the control principle of the balance car in the prior art is shown in figures 1-3.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides a main control assembly of an electric balance car and the electric balance car, which realize balance adjustment through a mechanical structure.

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

a main control circuit of an electric balance car comprises a main control chip U3, a left gyroscope, a right gyroscope, a left motor connecting port, a right motor connecting port, a left Hall element connecting port and a right Hall element connecting port which are arranged on the same main control circuit board; the main control circuit combines two circuit boards of a conventional balance car into one circuit board, and removes a photoelectric sensor interface; the main control chip U3 is respectively connected with the left gyroscope and the right gyroscope through ports; the main control chip U3 is respectively connected with a left motor and a right motor of the balance car through a left motor connecting port and a right motor connecting port; the main control chip U3 is respectively connected with the Hall element of the left wheel and the Hall element of the right wheel of the balance car through the left Hall element connection port and the right Hall element.

The main control chip U3 obtains sensing signals of the left gyroscope, the right gyroscope, the left Hall element and the right Hall element on the vehicle body, the main control chip U3 carries out operation according to the obtained sensing signals, outputs left motor and right motor control sensing signals on the vehicle body and controls the balance vehicle to move; the photoelectric sensor and the photoelectric sensor interface are removed, the traditional technical scheme that two circuit boards are replaced by one circuit board is adopted, the circuit is relatively simple, four photoelectric switches are reduced, the structural part is simple, the assembly is convenient, the linkage of the two circuit boards is not needed, the connecting line is reduced, the assembly difficulty and the assembly cost are reduced, and the industrial delay phenomenon (the problem of deviation of a balance car walking straight line) caused by the fact that the A/B boards are connected through a communication line is avoided.

Preferably, the main control circuit board is fixedly arranged in the middle of the balance car, and the middle of the main control circuit board is close to the left or the middle of the balance car is close to the right;

the main control circuit board is fixedly connected with the car body on one side of the balance car, and the main control circuit board can be arranged in a rotating mode by an angle smaller than a set angle relative to the car body on the other side of the balance car.

The set angle may be 15 °, ± 10 ° or ± 5 °.

The set angle is achieved by a mechanical rotation return assembly.

A main control assembly of an electric balance car comprises a main control circuit board, a main control shaft and a mechanical rotation return assembly, wherein the mechanical rotation return assembly rotatably supports the main control shaft, the main control shaft can restore to a balance position after being twisted (rotated at a small angle) relative to the mechanical rotation return assembly, and the main control circuit board is arranged on the main control shaft or the mechanical rotation return assembly; the main control shaft and the mechanical rotation return assembly are respectively used for connecting a pedal (a left vehicle body and a right vehicle body) of the electric balance vehicle, the mechanical rotation return assembly is arranged, the use of a circuit for adjusting the left pedal and the right pedal of the balance vehicle is avoided, a light sensation sensor is avoided, the connecting line of two circuit boards in the conventional technology is reduced, and the control delay is avoided.

Preferably, the main control circuit board is provided with a first hall element line interface, a second hall element line interface, a first motor line interface and a second motor line interface, and the main control circuit board is not provided with a light sensor interface;

the first Hall element line interface is used for connecting a Hall element on one wheel, the second Hall element line interface is used for connecting a Hall element on the other wheel, the first motor line interface is used for connecting a driving motor of one wheel, and the second motor line interface is used for connecting a driving motor of the other wheel;

the main control circuit board does not need to be arranged on the two pedals, the relative torsion angles of the two pedals are sensed by the optical sensors on the two pedals, and the mechanical rotation returning component and the main control shaft are matched with each other and return to the relative balance position of the left pedal and the right pedal by the mechanical structure.

Preferably, the main control circuit board comprises a main control chip U3, the chip model is AT32F413RCT 6;

the left side and the right side of the main control circuit board are respectively provided with a gyroscope.

Preferably, the mechanical rotation return assembly comprises an upper shell, a lower shell, a bearing, a first spring and a second spring, a first spring cavity and a second spring cavity are arranged between the upper shell and the lower shell, and two support lugs are arranged on two sides of the main control shaft;

the part of the main control shaft is rotatably supported between the upper shell and the lower shell through a bearing;

the first spring and the second spring are respectively placed in the first spring cavity and the second spring cavity, and the two support lugs are respectively pressed at the outlets of the first spring cavity and the second spring cavity;

the first spring and the second spring are in a balanced compression state in a normal state, and when the main control shaft rotates relative to the upper shell and/or the lower shell, one of the first spring and the second spring receives extrusion force which is transmitted to the upper shell.

Preferably, the mechanical rotation return assembly further comprises two caps covering the outlets of the first spring chamber and the second spring chamber, respectively, the caps separating the lugs from the first spring and the second spring.

Preferably, the number of the bearings is 2, and the 2 bearings are respectively positioned on two sides of the longitudinal common tangent plane of the first spring and the second spring.

An electric balance car comprises a left wheel, a left car body, a right wheel, a right car body, a main control circuit board, a main control shaft and a mechanical rotation return assembly, wherein the left wheel rotatably supports the left car body, the right wheel rotatably supports the right car body, the mechanical rotation return assembly rotatably supports the main control shaft, the main control shaft can recover to a balance position after being twisted relative to the micromechanical rotation return assembly, and the main control circuit board is arranged on the main control shaft or the mechanical rotation return assembly; the main control shaft and the mechanical rotation return assembly are respectively used for one of the left vehicle body and the right vehicle body.

Preferably, the main control chip U3, the left gyroscope, the right gyroscope, the left motor connection port, the right motor connection port, the left hall element connection port and the right hall element connection port are arranged on the same main control circuit board;

the main control circuit combines two circuit boards of a conventional balance car into one circuit board, and removes a photoelectric sensor interface;

the main control chip U3 is respectively connected with the left gyroscope and the right gyroscope through ports;

the main control chip U3 is respectively connected with a left motor and a right motor of the balance car through a left motor connecting port and a right motor connecting port;

the main control chip U3 is respectively connected with the Hall element of the left wheel and the Hall element of the right wheel of the balance car through the left Hall element connection port and the right Hall element.

The main control chip U3 obtains sensing signals of the left gyroscope, the right gyroscope, the left Hall element and the right Hall element on the vehicle body, and the main control chip U3 performs operation according to the obtained sensing signals and outputs control sensing signals of a left motor and a right motor on the vehicle body; the main control circuit adopts a circuit board without a photoelectric sensor interface.

Preferably, the main control circuit board is fixedly arranged in the middle of the balance car, and the middle of the main control circuit board is close to the left or the middle of the balance car is close to the right;

the main control circuit board is fixedly connected with the car body on one side of the balance car, and the main control circuit board can be arranged in a rotating mode by an angle smaller than a set angle relative to the car body on the other side of the balance car.

Preferably, the device also comprises a left motor, a right motor, a left Hall element and a right Hall element; the left motor and the left Hall element are arranged on a left wheel, and the right motor and the right Hall element are arranged on a right wheel;

the main control circuit board is provided with a first Hall element line interface, a second Hall element line interface, a first motor line interface and a second motor line interface, and is not provided with a light sensor interface;

the first Hall element line interface and the second Hall element line interface are respectively used for Hall elements on two wheels, and the first motor line interface and the second motor line interface are respectively used for connecting a left motor and a right motor;

the main control circuit board does not need to be arranged on two pedals (a left bicycle body and a right bicycle body), the relative torsion angles of the two pedals are sensed by the optical sensors, and the relative balance positions of the left pedal and the right pedal are restored by the mechanical rotation restoring component and the main control shaft which are matched with each other and the mechanical structure.

The invention has the beneficial effects that: the invention discloses a main control circuit of an electric balance car, which comprises a main control chip U3, a left gyroscope, a right gyroscope, a left motor connecting port, a right motor connecting port, a left Hall element connecting port and a right Hall element connecting port, which are arranged on the same main control circuit board; the main control circuit combines two circuit boards of a conventional balance car into one circuit board, an interface of the photoelectric sensor is removed, and the through ports of the main control chip U3 are respectively connected with the left-side gyroscope and the right-side gyroscope; the main control chip U3 is respectively connected with a left motor and a right motor of the balance car through a left motor connecting port and a right motor connecting port; the main control chip U3 is respectively connected with a Hall element of a left wheel and a Hall element of a right wheel of the balance car through a left Hall element connection port and a right Hall element; the circuit is relatively complex and simple, the single circuit board is convenient and convenient to produce, process and assemble, and a lot of troubles of controlling the two circuit boards are avoided.

Drawings

Fig. 1 is a control schematic block diagram of a prior art electric balance car.

Fig. 2 is a schematic diagram of a circuit board a of a controller of a prior art electric balance car.

Fig. 3 is a schematic diagram of a B circuit board of a controller of a prior art electric balance car.

Fig. 4 is a schematic diagram of a main control of the electric balance car of the present invention.

Fig. 5 is an exploded view of a partial structure of an electric balance car according to the present invention.

Fig. 6 is a schematic structural diagram of an upper housing of a main control assembly of an electric balance car.

Fig. 7 is a schematic structural diagram of a lower shell of a main control assembly of an electric balance car.

Fig. 8 is a schematic structural diagram of a main control shaft of a main control assembly of an electric balance car.

Fig. 9 is a schematic structural diagram of a main control assembly of an electric balance car.

Fig. 10 is an exploded view of a part of the structure of the electric balance car.

Reference numbers in the figures:

1-left wheel; 2-left vehicle body; 3-a right wheel; 4-right vehicle body; 01-a master control circuit board; 02-a main control shaft; 021-journal of fungus; 03-mechanical rotation return assembly; 031-upper housing; 0311-a first spring chamber; 0312-a second spring chamber; 032-lower shell; 033-bearing; 034-first spring; 035-a second spring; 036-cap; 037-lug accommodating cavity; 04-circuit board cover plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to FIGS. 1-10;

a main control circuit of an electric balance car comprises a main control chip U3, a left gyroscope, a right gyroscope, a left motor connecting port, a right motor connecting port, a left Hall element connecting port and a right Hall element connecting port which are arranged on the same main control circuit board 01;

the main control circuit combines two circuit boards of a conventional balance car into one circuit board, and removes a photoelectric sensor interface;

the main control chip U3 is respectively connected with the left gyroscope and the right gyroscope through ports;

the main control chip U3 is respectively connected with a left motor and a right motor of the balance car through a left motor connecting port and a right motor connecting port;

the main control chip U3 is respectively connected with the Hall element of the left wheel and the Hall element of the right wheel of the balance car through the left Hall element connection port and the right Hall element.

The main control chip U3 obtains sensing signals of the left gyroscope, the right gyroscope, the left Hall element and the right Hall element on the vehicle body, and the main control chip U3 performs operation according to the obtained sensing signals and outputs control sensing signals of a left motor and a right motor on the vehicle body; the main control circuit adopts a circuit board without a photoelectric sensor interface.

In this embodiment, the main control circuit board 01 is fixedly arranged in the middle of the balance car, and the middle part is close to the left or the middle part is close to the right;

the main control circuit board 01 is fixedly connected with the car body on one side of the balance car, and the main control circuit board 01 can be arranged in a rotating mode relative to the car body on the other side of the balance car by an angle smaller than a set angle.

A main control assembly of an electric balance car comprises a main control circuit board 01, a main control shaft 02 and a mechanical rotation return assembly 03, wherein the mechanical rotation return assembly 03 rotatably supports the main control shaft 02, the main control shaft 02 can restore to a balance position after being twisted relative to the micromechanical rotation return assembly 03, and the main control circuit board 01 is arranged on the main control shaft 02 or the mechanical rotation return assembly 03; the main control shaft 02 and the mechanical rotation return assembly 03 are respectively used for connecting a pedal (a left vehicle body 2 and a right vehicle body 4) of the electric balance vehicle.

In this embodiment, the main control circuit board 01 is provided with a first hall element line interface, a second hall element line interface, a first motor line interface and a second motor line interface, and the main control circuit board 01 is not provided with a light sensor interface;

the first Hall element line interface is used for connecting a Hall element on one wheel, the second Hall element line interface is used for connecting a Hall element on the other wheel, the first motor line interface is used for connecting a driving motor of one wheel, and the second motor line interface is used for connecting a driving motor of the other wheel;

the main control circuit board 01 does not need to be arranged on the two pedals, the relative torsion angles of the two pedals are sensed by the optical sensors arranged on the two pedals, and the mechanical rotation returning component 03 and the main control shaft are matched with each other and return to the relative balance positions of the left pedal and the right pedal by means of a mechanical structure.

In this embodiment, the main control circuit board 01 includes a main control chip U3, the chip model is AT32F413RCT 6;

the left and right sides on the main control circuit board 01 are respectively provided with a gyroscope.

In this embodiment, the mechanical rotation returning assembly 03 includes an upper housing 031, a lower housing 032, a bearing 033, a first spring 034 and a second spring 035, a first spring chamber 0311 and a second spring chamber 0312 are disposed between the upper housing 031 and the lower housing 032, and two lugs 021 are disposed on two sides of the main control shaft 02;

a part of the main control shaft 02 is rotatably supported between the upper housing 031 and the lower housing 032 through a bearing 033;

the first spring 034 and the second spring 035 are respectively placed in the first spring chamber 0311 and the second spring chamber 0312, and the two lugs 021 are respectively pressed at the outlets of the first spring chamber 0311 and the second spring chamber 0312;

normal state, first spring 034 and second spring 035 are in balanced pressurized state, and after main control shaft 02 took place to rotate for last casing 031 and/or casing 032 down, one of first spring 034 and second spring 035 received the extrusion force, and the extrusion force transmits to last casing 031, and because the effect of the power is mutual, the reverse effort drive main control shaft 02 that goes up casing 031 and/or casing 032 produced recovered to balanced state for last casing 031.

In this embodiment, the mechanical rotation return assembly 03 further includes two caps 036, the two caps 036 cover the outlets of the first spring chamber 0311 and the second spring chamber 0312, respectively, and the caps 036 separate the lugs 021 from the first spring 034 and the second spring 035.

In this embodiment, the number of bearings 033 is 2, and 2 bearings 033 are respectively located at both sides of the longitudinal common tangent plane of the first spring 034 and the second spring 035.

The main control circuit board is fixedly connected with the car body on one side of the balance car, and the main control circuit board can be arranged in a rotating mode by an angle smaller than a set angle relative to the car body on the other side of the balance car.

The set angle may be 15 °, ± 10 ° or ± 5 °.

Go up and be provided with the journal stirrup between casing 031 and the casing 032 and hold chamber 037, the journal stirrup holds chamber 037 and is used for holding journal stirrup 21, and the journal stirrup holds the turned angle of chamber 037's size has decided journal stirrup 21 to the footboard can the biggest relative turned angle of mutual rotation about can deciding, the angle of settlement returns the subassembly through mechanical rotation and realizes.

In this embodiment, a circuit board accommodating cavity is formed in the main control shaft 02, the main control circuit board 01 is placed in the circuit board accommodating cavity, the main control circuit board 01 is covered and protected by the circuit board cover plate 04, and a hole for plugging is formed in the circuit board cover plate 04.

An electrodynamic balance car comprises a left wheel 1, a left car body 2, a right wheel 3, a right car body 4, a main control circuit board 01, a main control shaft 02 and a mechanical rotation return assembly 03, wherein the left wheel 1 rotatably supports the left car body 2, the right wheel 3 rotatably supports the right car body 4, the mechanical rotation return assembly 03 rotatably supports the main control shaft 02, the main control shaft 02 can restore to a balance position after being twisted relative to the micromechanical rotation return assembly 03, and the main control circuit board 01 is arranged on the main control shaft 02 or the mechanical rotation return assembly 03; the master shaft 02 and the mechanical rotation returning assembly 03 are provided for one of the left vehicle body 2 and the right vehicle body 4, respectively.

In this embodiment, the main control chip U3, the left gyroscope, the right gyroscope, the left motor connection port, the right motor connection port, the left hall element connection port, and the right hall element connection port are disposed on the same main control circuit board 01;

the main control circuit combines two circuit boards of a conventional balance car into one circuit board, and removes a photoelectric sensor interface;

the main control chip U3 is respectively connected with the left gyroscope and the right gyroscope through ports;

the main control chip U3 is respectively connected with a left motor and a right motor of the balance car through a left motor connecting port and a right motor connecting port;

the main control chip U3 is respectively connected with the Hall element of the left wheel and the Hall element of the right wheel of the balance car through the left Hall element connection port and the right Hall element.

In this embodiment, the main control circuit board 01 is fixedly arranged in the middle of the balance car, and the middle part is close to the left or the middle part is close to the right;

the main control circuit board 01 is fixedly connected with the car body on one side of the balance car, and the main control circuit board 01 can be arranged in a rotating mode relative to the car body on the other side of the balance car by an angle smaller than a set angle.

In the embodiment, the device also comprises a left motor, a right motor, a left Hall element and a right Hall element; the left motor and the left Hall element are arranged on the left wheel 1, and the right motor and the right Hall element are arranged on the right wheel 3;

the main control circuit board 01 is provided with a first Hall element wire interface, a second Hall element wire interface, a first motor wire interface and a second motor wire interface, and the main control circuit board 01 is not provided with a light sensor interface;

the first Hall element line interface and the second Hall element line interface are respectively used for Hall elements on two wheels, and the first motor line interface and the second motor line interface are respectively used for connecting a left motor and a right motor;

the main control circuit board 01 does not need to be arranged on two pedals (the left vehicle body 2 and the right vehicle body 4), the relative torsion angles of the two pedals are sensed by the optical sensors, and the mechanical rotation returning component 03 and the main control shaft 02 are matched with each other to return to the relative balance positions of the left pedal and the right pedal by means of a mechanical structure.

The main control chip U3 obtains sensing signals of the left gyroscope, the right gyroscope, the left Hall element and the right Hall element on the vehicle body, and the main control chip U3 performs operation according to the obtained sensing signals and outputs control sensing signals of a left motor and a right motor on the vehicle body; the main control circuit adopts a circuit board without a photoelectric sensor interface.

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", "outer", "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 equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not 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, "a plurality" means two or more unless specifically defined otherwise.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.