Electric driving device and control method thereof

Abstract

The present invention provides an electric travel device and a control method thereof, which relates to the field of travel devices. The electric travel device includes a pedal, a wheel body, an angle measurement unit and a controller; there are at least two wheel bodies, wherein the first wheel body is supported and connected to the front plate body of the pedal, and the second wheel body is supported and connected to the rear plate body of the pedal; the wheel axle of the first wheel body and the wheel axle of the second wheel body jointly form a virtual plane; the main body of the pedal can be tilted relative to the virtual plane under the action of gravity and form an inclination angle with the virtual plane; the controller is used to control the rotation of the first wheel body and / or the second wheel body according to the inclination angle obtained by the angle measurement unit. Through the present invention, the problem of low response frequency and slow response of the electric skateboard to the change of the center of gravity of the human body existing in the prior art is alleviated.

Description

Technical Field

[0001] The present invention relates to the technical field of traveling equipment, and in particular to an electric traveling equipment and a control method thereof. Background Art

[0002] Skateboard is a product form of roller skating. It is a simple sports machine for roller skating and is loved by the public, especially children. As skateboards can achieve the function of fast travel, more and more office workers now choose to use skateboards instead of walking in order to save time.

[0003] In recent years, traditional skateboards have evolved, and a new category of electric skateboards has been born. Currently, some electric skateboards use somatosensory operation. Some electric skateboards with somatosensory operation have problems with low response frequency and slow reaction to changes in the center of gravity of the human body. Summary of the invention

[0004] The purpose of the present invention includes providing an electric running device and a control method thereof, by which the problem of low response frequency and slow reaction of the electric skateboard to the change of the center of gravity of the human body existing in the prior art is alleviated.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A first aspect of the present invention provides an electric traveling device, which includes: a pedal, a wheel body, an angle measuring unit and a controller; there are at least two wheel bodies, wherein the first wheel body is supported and connected to the front plate body of the pedal, and the second wheel body is supported and connected to the rear plate body of the pedal; the axle of the first wheel body and the axle of the second wheel body jointly form a virtual plane; the main body of the pedal can be tilted relative to the virtual plane and form an inclination angle with the virtual plane under the action of the user's gravity; the controller is used to control the rotation of the first wheel body and / or the second wheel body according to the inclination angle obtained by the angle measuring unit.

[0007] Furthermore, the front plate, the main plate and the rear plate are integrally arranged; transition zones are arranged between the front plate and the main plate, and between the rear plate and the main plate, and the transition zones are made of an elastic material with a set bending degree.

[0008] Furthermore, the front sub-board body, the main sub-board body and the rear sub-board body are separately arranged through hinges.

[0009] Furthermore, the front plate body and the main plate body, and the rear plate body and the main plate body are connected via elastic elements with a set bending degree.

[0010] Furthermore, the elastic element is a torsion spring or a tension spring.

[0011] Furthermore, the main board body is higher than the virtual plane or the main board body is at the same height as the virtual plane.

[0012] Furthermore, the wheel axles of each wheel body have the same height.

[0013] Furthermore, the angle measurement unit includes a first IMU arranged on the front plate and a second IMU arranged on the rear plate; the first IMU is used to measure a first pitch angle of the front plate in the inertial system and send the first pitch angle to the controller; the second IMU is used to measure a second pitch angle of the rear plate in the inertial system and send the second pitch angle to the controller; the controller is used to receive the first pitch angle and the second pitch angle, calculate the angle sum of the first pitch angle and the second pitch angle, and use the angle sum as the inclination angle between the main plate and the virtual plane.

[0014] Furthermore, the first IMU is also used to measure a first pitch angular velocity of the first pitch angle, and send the first pitch angular velocity to the controller; the second IMU is also used to measure a second pitch angular velocity of the second pitch angle, and send the second pitch angular velocity to the controller; the controller is also used to sum the first pitch angular velocity and the second pitch angular velocity to obtain the angular velocity of the inclination angle, and control the rotation of the first wheel body and / or the second wheel body according to the inclination angle and the angular velocity of the inclination angle.

[0015] Furthermore, the angle measurement unit includes a first angle sensor arranged on the front plate and a second angle sensor arranged on the rear plate; the first angle sensor is used to detect a first angle of the main plate relative to the front plate, and send the first angle to the controller; the second angle sensor is used to detect a second angle of the main plate relative to the rear plate, and send the second angle to the controller; the controller is used to receive the first angle and the second angle, calculate the angle difference between the first angle and the second angle, and use the angle difference as the inclination angle between the main plate and the virtual plane.

[0016] Furthermore, the front plate, the main plate and the rear plate are integrally arranged, and together form a bearing plane of the pedal; compression springs are arranged between the first wheel body and the front plate of the pedal, and between the second wheel body and the rear plate of the pedal.

[0017] Furthermore, the angle measurement unit includes a third angle sensor arranged on the previous plate body; the third angle sensor is used to detect a third angle of the previous plate body relative to the first compression spring, and send the third angle to the controller; the controller is used to receive the third angle, calculate the difference between the third angle and 90 degrees, and use the difference as the inclination angle between the main plate body and the virtual plane.

[0018] Furthermore, the main board is provided with a gyroscope for measuring the angular velocity of the inclination between the main board of the pedal and the virtual plane; the controller is also used to control the rotation of the first wheel body and / or the second wheel body according to the inclination angle and the angular velocity of the inclination angle.

[0019] Furthermore, the electric travel device is an electric scooter or an electric skateboard.

[0020] A second aspect of the present invention provides a control method for an electric traveling device, wherein the electric traveling device is the above-mentioned electric traveling device, and the method comprises: the controller of the electric traveling device obtains the inclination angle between the main body of the pedal of the electric traveling device and the virtual plane through an angle measurement unit; the controller controls the rotation of the first wheel body and / or the second wheel body according to the inclination angle.

[0021] Furthermore, the angle measurement unit includes a first IMU arranged on the front board and a second IMU arranged on the rear board; the controller of the electric driving device obtains the inclination angle between the main board of the pedal of the electric driving device and the virtual plane through the angle measurement unit, including: the controller of the electric driving device obtains a first pitch angle measured by the first IMU and a second pitch angle measured by the second IMU; wherein the first pitch angle is the inertial system pitch angle of the front board, and the second pitch angle is the inertial system pitch angle of the rear board; the controller calculates the angle sum of the first pitch angle and the second pitch angle; and the controller uses the angle sum as the inclination angle between the main board and the virtual plane.

[0022] Furthermore, the method also includes: the controller obtains a first pitch angular velocity of the first pitch angle measured by the first IMU, and a second pitch angular velocity of the second pitch angle measured by the second IMU; the controller adds the first pitch angular velocity and the second pitch angular velocity to obtain the angular velocity of the inclination angle; the controller controls the rotation of the first wheel body and / or the second wheel body according to the inclination angle and the angular velocity of the inclination angle.

[0023] Furthermore, the angle measurement unit includes a first angle sensor arranged on the front plate and a second angle sensor arranged on the rear plate; the controller of the electric driving device obtains the inclination angle between the main plate of the pedal of the electric driving device and the virtual plane through the angle measurement unit, including: the controller of the electric driving device obtains a first angle detected by the first angle sensor and a second angle detected by the second angle sensor; wherein the first angle is a bending angle of the main plate relative to the front plate, and the second angle is a bending angle of the main plate relative to the rear plate; the controller calculates the angle difference between the first angle and the second angle; the controller uses the angle difference as the inclination angle between the main plate and the virtual plane.

[0024] Furthermore, the angle measurement unit includes a third angle sensor arranged on the previous plate; the controller of the electric traveling device obtains the inclination angle between the main plate body of the pedal of the electric traveling device and the virtual plane through the angle measurement unit, including: the controller of the electric traveling device obtains the third angle of the previous plate body relative to the first compression spring detected by the third angle sensor; the controller calculates the difference between the third angle and 90 degrees; the controller uses the difference as the inclination angle between the main plate body and the virtual plane.

[0025] Furthermore, a gyroscope is provided on the main board; the method further comprises: the controller obtains the angular velocity of the inclination angle between the main board and the virtual plane measured by the gyroscope; the controller controls the rotation of the first wheel body and / or the second wheel body according to the inclination angle and the angular velocity of the inclination angle.

[0026] Furthermore, the step of the controller controlling the rotation of the first wheel body and / or the second wheel body according to the inclination angle includes: the controller obtains the inclination angle, the angular velocity of the inclination angle, and the rotation information of the first wheel body and / or the second wheel body; the controller determines the rotation information to be output according to the inclination angle, the angular velocity of the inclination angle and the current rotation information; the controller outputs the determined rotation information to the first wheel body and / or the second wheel body.

[0027] The electric travel device and control method thereof provided by the present invention include: a pedal, a wheel body, an angle measuring unit; there are at least two wheel bodies, wherein the first wheel body is supported and connected to the front plate body of the pedal, and the second wheel body is supported and connected to the rear plate body of the pedal; the wheel axle of the first wheel body and the wheel axle of the second wheel body jointly form a virtual plane; the main body of the pedal can be tilted relative to the virtual plane under the action of gravity and form an inclination angle with the virtual plane; the controller is used to control the rotation of the first wheel body and / or the second wheel body according to the inclination angle obtained by the angle measuring unit. When the user uses the electric travel device, the user stands on the main body, and in a natural state, the main body is parallel or nearly parallel to the virtual plane. When acceleration or deceleration is required, the center of gravity of the user moves forward or backward, and the main body generates an inclination angle relative to the virtual plane. The controller obtains the inclination angle through the angle measuring unit and controls the rotation of the first wheel body and / or the second wheel body according to the inclination angle. The controller of the present application uses an angle detector to feedback the change of the center of gravity on the main body of the electric travel device, and the angle detector senses the change of the center of gravity through angle detection, which is more sensitive. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 is a schematic structural diagram of an electric traveling device provided by an embodiment of the present invention in a normal state;

[0030] Figure 2 is a schematic structural diagram of an electric traveling device provided by an embodiment of the present invention in a state where the center of gravity is moved forward;

[0031] Figure 3is a schematic structural diagram of an electric traveling device provided by an embodiment of the present invention in a state where the center of gravity is moved backward;

[0032] Figure 4 is an angle principle diagram of an electric travel device provided by an embodiment of the present invention when it is on a slope;

[0033] Figure 5 This is an angle principle diagram of the third type of electric travel equipment provided by an embodiment of the present invention;

[0034] Figure 6 This is a schematic structural diagram of a first type of an integrated electric travel device provided by an embodiment of the present invention;

[0035] Figure 7 This is a schematic structural diagram of a second type of an integrated electric travel device provided in an embodiment of the present invention;

[0036] Figure 8 This is a schematic structural diagram of a first type of a split-type electric traveling device provided in an embodiment of the present invention;

[0037] Fig. 9 is a schematic structural diagram of a second type of a split-type electric traveling device provided in an embodiment of the present invention;

[0038] Fig.10 2 is a schematic structural diagram of a third type of a split-type electric traveling device provided in an embodiment of the present invention;

[0039] Fig.11 2 is a schematic structural diagram of a fourth type of a split-type electric traveling device provided in an embodiment of the present invention;

[0040] Fig.12 It is a structural diagram of the third type of the integrated electric traveling device provided in an embodiment of the present invention.

[0041] Reference numerals:

[0042] 110-front plate; 120-main plate; 130-rear plate; 210-first wheel; 220-second wheel; 310-first IMU; 320-second IMU; 410-torsion spring; 420-compression spring; 440-hinge; 500-virtual plane; 610-first angle sensor; 620-second angle sensor; 630-third angle sensor; a1-tilt angle; a2-first pitch angle; a3-second pitch angle; b2-first included angle; b3-second included angle; b4-third included angle. DETAILED DESCRIPTION

[0043] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0047] The “front” referred to in the embodiment of the present invention is the side of the charging frame on which the charging head is installed, and the “rear” is opposite to the “front”.

[0048] In recent years, traditional scooters have evolved to form a new category of electric scooters. Compared with traditional scooters, electric scooters have more drive motors, batteries and power control systems in their structure; currently, some electric scooters control the movement of the scooter through a remote control, while some electric scooters support somatosensory operation. This somatosensory operation method generally controls the movement of the scooter by pressure sensing. Generally, the wheel hub support shaft of the scooter is equipped with two pressure sensors, and the pressure distributed at both ends of the skateboard detected by the pressure sensor determines whether the scooter moves forward or backward. Through remote control control and pressure sensor sensing control, the balance problem of ordinary novices in the process of riding a skateboard can be alleviated to a certain extent. However, since the pressure sensing method is limited by the body characteristics and response frequency of the pressure sensor body, it is impossible to achieve a high control frequency for the somatosensory skateboard, which will lead to a poor user experience.

[0049] In order to alleviate the above problems, the inventors have developed an electric traveling device and a control method thereof. The controller obtains the inclination angle between the main body 120 of the pedal and the virtual plane 500 through an angle measurement unit, and detects the change of the inclination angle brought about by the movement of the center of gravity, thereby alleviating the problem of low response frequency and slow reaction of electric scooters to changes in the center of gravity of the human body in the prior art.

[0050] This embodiment provides an electric driving device, please refer to Figure 1 , Figure 1 : is a structural schematic diagram of an electric travel device provided by an embodiment of the present invention in a normal state. The electric travel device includes: a pedal, a wheel body, an angle measurement unit and a controller; there are at least two wheel bodies, wherein the first wheel body 210 supports and is connected to the front plate body 110 of the pedal, and the second wheel body 220 supports and is connected to the rear plate body 130 of the pedal; the wheel axle of the first wheel body 210 and the wheel axle of the second wheel body 220 jointly form a virtual plane 500; the main body 120 of the pedal can be tilted relative to the virtual plane 500 under the action of gravity and form an inclination angle with the virtual plane; the controller controls the rotation of the first wheel body 210 and / or the second wheel body 220 according to the inclination angle obtained by the angle measurement unit.

[0051] When the user uses the electric travel device, the user stands on the main body 120. In a natural state, the main body 120 is parallel or nearly parallel to the virtual plane 500. When acceleration or deceleration is required, the user's center of gravity moves forward or backward, and the main body 120 generates an inclination angle a1 relative to the virtual plane 500. The controller obtains the inclination angle a1 according to the angle measurement unit, and controls the rotation of the first wheel body 210 and / or the second wheel body 220 according to the inclination angle a1. The controller of this embodiment obtains the change of the center of gravity on the main body 120 of the electric travel device through the angle detection unit, which is more sensitive.

[0052] In this embodiment, the electric travel device is an electric scooter or an electric skateboard, and is not limited to these two implementation forms. Generally speaking, as long as the electric travel device has a standing position for the operator, and the operator can cause the main body 120 to have an inclination angle with the virtual plane 500 by moving the center of gravity, it will be sufficient.

[0053] Among them, the main body 120 has the function of supporting the operator, so the main body 120 needs to have a certain rigidity; the front plate 110 and the rear plate 130 are respectively arranged between the main body 120 and each wheel body, so that when the center of gravity of the operator moves, the main body 120 can generate an inclination angle relative to the virtual plane.

[0054] Figure 1 is a schematic structural diagram of an electric traveling device provided by an embodiment of the present invention in a normal state; Figure 2 is a schematic structural diagram of an electric traveling device provided by an embodiment of the present invention in a state where the center of gravity is moved forward; Figure 3 This is a schematic diagram of the structure of the electric driving device provided by the embodiment of the present invention in a state where the center of gravity is moved backward. Figure 1 When the electric travel device is in a normal state, the main plate 120 is parallel or nearly parallel to the virtual plane 500, and the front plate 110 and the rear plate 130 are symmetrical or nearly symmetrically arranged. At this time, the electric travel device can be in a static state without an operation instruction. When the operator stands on the main plate 120 and the center of gravity moves forward, please refer to Figure 2 , the front end of the main body 120 is pressed down, the front plate 110 rotates clockwise around a certain point of itself, and the rear plate 130 also rotates clockwise around a certain point of itself, and an inclination angle is formed between the main body 120 and the virtual plane in front. At this time, the electric driving device accelerates forward; when the operator stands on the main body 120 and the center of gravity moves backward, please refer to Figure 3 , the rear end of the main body 120 is depressed, the rear sub-board 130 rotates counterclockwise around a certain point of itself, and the front sub-board 110 also rotates counterclockwise around a certain point of itself, and the main body 120 forms an inclination angle with the virtual plane at the rear, at this time, the electric driving device slows down and moves forward or backward. In this way, the human body's body sense controls the electric driving device.

[0055] The heights of the axles of the multiple wheel bodies can be the same or different, as long as they can form the same virtual plane together. For example, the heights of the axles of the multiple wheel bodies are different, and the virtual plane formed by the axles of the multiple wheel bodies is an inclined plane with a certain angle to the horizontal plane. In order to increase the stability of the electric traveling device, the axles of the multiple wheel bodies are in the same plane. Specifically, the axles of the multiple wheel bodies are at the same height, and the virtual plane formed by the axles of the multiple wheel bodies is a horizontal plane. In order to increase the flexibility of the electric traveling device, the number of wheel bodies is two or two groups, and the axles of the two or two groups are in the same plane. In this embodiment, there are two wheel bodies, namely a first wheel body 210 and a second wheel body 220. The first wheel body 210 and the second wheel body 220 can be 180-degree universal wheels.

[0056] In this embodiment, the electric travel device further includes a motor (not shown in the figure), which is transmission-connected to the first wheel body 210 and / or the second wheel body 220, and the controller controls the rotation of the first wheel body 210 and / or the second wheel body 220 by controlling the motor. Specifically, there are many ways to connect the motor to the wheel body, for example, the first wheel body 210 and the second wheel body 220 share the same motor, the motor is installed on the second wheel body 220, and the first wheel body 210 and the second wheel body 220 are transmitted through a transmission member; for example, the first wheel body 210 and the second wheel body 220 are respectively connected to their own motors, and there is no connection between the first wheel body 210 and the second wheel body 220, which not only reduces the constraints on the first wheel body 210 and the second wheel body 220, but also the distance between the first wheel body 210 and the second wheel body 220 can be adjusted, and the two motors control the first wheel body 210 and the second wheel body 220 respectively, which can achieve richer control instructions.

[0057] In addition, the function of the above-mentioned motor is to provide power for the first wheel body and the second wheel body. A power input mechanism is provided on the first wheel body 210 and / or the second wheel body 220, and the power output end of the motor is connected to the power input mechanism of the first wheel body 210 and / or the second wheel body 220. Among them, the motor can be an inner rotor motor or an outer rotor motor. Next, the motor is connected to the first wheel body 210 as an example for explanation. When the motor is an inner rotor motor, one end of the motor's rotating shaft is connected to the power input mechanism of the first wheel body 210 as an output end. The power input mechanism of the first wheel body 210 can be a wheel axle connected to the first wheel body 210. When the motor is an outer rotor motor, the outer side of the outer rotor of the motor can be connected to the power input mechanism of the first wheel body 210 as an output end. The power input mechanism here can be a hub connected to the rotor. Specifically, the motor here can be a hub motor. The hub of the first wheel body 210 is directly arranged on the rotor of the hub motor.

[0058] In order to facilitate the portability of the electric traveling device and to expand the application range of the electric traveling device, the inventor has come up with some variations of the electric traveling device.

[0059] (I) Integrated electric travel equipment

[0060] Example 1

[0061] Please refer to Figure 6 , Figure 6 This is a schematic structural diagram of a first type of an integrated electric travel device provided by an embodiment of the present invention; Figure 6 The structure in which the main plate 120 can be bent relative to the front plate 110 and the rear plate 130 under the action of external gravity is shown. The front plate 110, the main plate 120 and the rear plate 130 are integrally arranged; transition zones are arranged between the front plate 110 and the main plate 120, and between the rear plate 130 and the main plate 120, and the transition zones are made of an elastic material with a set bending degree. The set bending degree can be interpreted as the main plate 120 having anti-bending elasticity relative to the front plate 110 and the rear plate 130, and the main plate 120 having bendability relative to the front plate 110 and the rear plate 130. The above bending degree is any range as long as it can achieve that the main plate 120 does not contact the ground. In order to achieve the reuse of the electric driving device and enable the main board body 120 to return to its original position after being tilted and gravity disappears, the above-mentioned transition zone needs to have a certain elasticity so that the main board body 120 can return to its original position relative to the previous board body 110 and the subsequent board body 130.

[0062] The material of the transition zone may be rubber, resin, etc.

[0063] Please continue to refer to Figure 6 , the above Figure 6 The electric travel device in the figure is similar to an isosceles trapezoid, and the horizontal distance between the first wheel body 210 and the main body 120 is greater than the length of the main body 120. When the main body 120 tilts forward, the front end of the main body 120 presses downward, giving the previous plate 110 a force to move forward. At this time, the bending angle of the previous plate 110 relative to the main body 120 is enlarged, the horizontal distance between the first wheel body 210 and the main body 120 is lengthened, and the height of the main body 120 is reduced. The benefits of this arrangement include: the height of the main body 120 is reduced, which can lower the center of gravity of the operator and the electric travel device. The lower the center of gravity, the more stable the operator and the electric travel device move forward as a whole, and the safety performance is improved; the horizontal distance between the first wheel body 210 and the main body 120 is further enlarged, which increases the ground contact area of ​​the electric travel device and further improves the safety performance.

[0064] Figure 7 is a structural diagram of the second type of the integrated electric travel device provided in the embodiment of the present invention; see Figure 7, the main plate 120 is lower than the front plate 110 and the rear plate 130, and the main plate 120 coincides with the virtual plane 500. When the operator's center of gravity moves forward, the front end of the main plate 120 is pressed down, and the main plate 120 forms an inclination angle with the virtual plane 500. The first wheel body 210 moves toward the main plate 120, the front plate 110 swings clockwise with a certain line in the transition zone between the front plate 110 and the main plate 120 as the axis, and the rear plate 130 swings clockwise with a certain line in the transition zone between the rear plate 110 and the main plate 120 as the axis. This embodiment reduces the height of the electric driving device and increases the portability of the electric driving device; the overall center of gravity of the electric driving device is low, which increases safety; further, the distance between the front end of the main plate 120 of the electric driving device and the first wheel body 210 becomes longer, even if a collision occurs, it will provide the electric driving device with better buffering, thereby improving safety.

[0065] Example 2

[0066] Fig.12 1 is a schematic diagram of a structure of the third type of the integrated electric travel device provided by the embodiment of the present invention. Fig.12 As shown, the front plate 110, the main plate 120 and the rear plate 130 are integrally arranged, and the front plate 110, the main plate 120 and the rear plate 130 together form the bearing plane of the pedal; compression springs are arranged between the first wheel body 210 and the front plate 110 of the pedal, and between the second wheel body 220 and the rear plate 130 of the pedal. Specifically, the above-mentioned integral arrangement is seamlessly integrally formed with the same material, and the stiffness and density of the front plate 110, the main plate 120 and the rear plate are the same. The third angle sensor 630 is arranged on the front plate 110, or it can be the front end of the pedal.

[0067] The third angle b4 is a bending angle of the main board 120 relative to the previous board 110 .

[0068] (II) Separate electric driving equipment

[0069] Figures 8 to 11The structure in which the front plate 110, the main plate 120 and the rear plate 130 are separately arranged is shown. Specifically, the front plate 110, the main plate 120 and the rear plate 130 are separately arranged through a hinge 410; the front plate 110 and the main plate 120, and the rear plate 130 and the main plate 120 are connected by an elastic element with a set bending degree. A hinge 410 is provided between the front plate 110 and the main plate 120, the first folding end of the hinge 410 is fixedly connected to the front plate 110, and the second folding end of the hinge 410 is fixedly connected to the main plate 120. When the center of gravity of the operator moves forward, the front end of the main plate 120 is pressed down under the action of gravity, and the first folding end and the second folding end of the hinge 410 are further opened. Similarly, the opening scale of the hinge 410 located between the rear plate 130 and the main plate 120 is reduced. The bending angle of the front plate 110 relative to the main plate 120 is greater than the bending angle of the rear plate 130 relative to the main plate 120 , causing the main plate 120 to tilt forward, and the electric driving device accelerates forward.

[0070] The above structure is not limited to a hinge, and any connection structure can be used as long as it can realize that the main board 120 can be bent relative to the front sub-board 110 and the rear sub-board 130 .

[0071] Although the above-mentioned hinge can realize the bending of the main board 120 relative to the front board 110 and the rear board 130, those skilled in the art should know that the bending of the main board 120 relative to the front board 110 and the rear board 130 by the hinge generally results in a large instantaneous change. Since the electric driving device is manually controlled, if there is a large instantaneous change in the bending angle, rapid acceleration or rapid braking will occur, which will bring safety hazards. In order to improve the safety of the electric driving device, strengthen the controllability of manual operation, and reduce the probability of large changes in the bending angle at the moment of bending, the front board 110 and the main board 120, and the rear board 130 and the main board 120 are connected by elastic elements with a set bending degree. When the hinge 410 between the previous plate 110 and the main plate 120 begins to open under gravity, an elastic element with a set bending degree connected between the previous plate 110 and the main plate 120 pulls the previous plate 110 and the main plate 120. The elastic force offsets part of the instantaneous gravity, slowing down the opening speed of the hinge 410 and improving safety performance.

[0072] Example 1

[0073] Figure 8 This is a schematic structural diagram of a first type of a split-type electric traveling device provided in an embodiment of the present invention; Fig. 9 is a schematic structural diagram of a second type of a split-type electric traveling device provided in an embodiment of the present invention;

[0074] like Figure 8 , Fig. 9 As shown, the elastic element is a torsion spring, wherein one branch of the torsion spring connected between the front sub-plate 110 and the main plate 120 is fixedly connected to the front sub-plate 110, and the other branch is fixedly connected to the main plate 120. One branch of the torsion spring connected between the rear sub-plate 130 and the main plate 120 is fixedly connected to the rear sub-plate 130, and the other branch is fixedly connected to the main plate 120. Fig. 9 In the natural state, the height of the main plate 120 is higher than the virtual plane 500, the front plate 110 and the rear plate 130. Fig. 9 In the figure, the height of the main board body 120 in the natural state is the same as the height of the virtual plane 500, that is, the main board body 120 coincides with the virtual plane 500. Such a setting can make the electric driving device as a whole very thin and easy to carry, and the distance between the first wheel body 210 and the second wheel body 22 is lengthened, the buffering distance is longer, the bending angle variation range of the front plate body 110 and the main board body 120 is larger, the variation amplitude of the inclination angle is larger, and the torque variation of the first wheel body and / or the second wheel body is larger.

[0075] As a variation of the above embodiment, the hinge can be directly removed, and a torsion spring can be directly installed between the front plate 110 and the main plate 120, and between the rear plate 130 and the main plate 120. On the one hand, the torsion spring has a supporting function, and the two branches of the torsion spring have a certain angle, which can be opened or closed under external force; on the other hand, the torsion spring has a certain elastic force, which can prevent the main plate 120 from bending instantly with the front plate 110 and the rear plate 130.

[0076] As a variation of the above embodiment, the torsion spring may be replaced with a damping element, which can reduce the instantaneous bending force between the main plate 120 and the front sub-plate 110 and the rear sub-plate 130 caused by gravity.

[0077] Example 2

[0078] Fig.10 2 is a schematic structural diagram of a third type of a split-type electric traveling device provided in an embodiment of the present invention; Fig.11 1 is a schematic diagram of the structure of the fourth type of split-type electric travel device provided by an embodiment of the present invention. Fig.10 , Fig.11 As shown, the elastic element is a compression spring. Fig.10As shown, the length of the main body 120 along the front-to-back direction is greater than that of the first wheel body 210 and the second wheel body 220, and the main body 120 is higher than the front sub-board body 110 and the rear sub-board body 130. The benefits of such a configuration include reducing the distance between the first wheel body 210 and the second wheel body 220, making the electric travel device lighter and easier to turn. In order to further reduce the volume of the electric travel device, the lower surface of the main body 120 is provided with grooves corresponding to the front sub-board body 110 and the rear sub-board body 130, and when not in use, the front sub-board body 110 and the rear sub-board body 130 can be stored in the corresponding grooves.

[0079] like Fig.11 As shown, the main body 120, the front plate 110 and the rear plate 130 form a π shape, the main body 120 is higher than the front plate 110 and the rear plate 130, and the length of the main body 120 along the front-to-back direction is smaller than the first wheel 210 and the second wheel 220. Due to the large contact area, the electric travel device is more stable. In order to reduce the volume of the electric travel device when not in use and make the electric travel device thinner and lighter, the two ends of the main body 120 are respectively provided with grooves corresponding to the front plate 110 and the rear plate 130. When not in use, the front plate 110 can be pulled forward to compress the compression spring 420 to store the front plate 110 in the corresponding groove; the rear plate 130 can be pulled backward to compress the compression spring 420 to store the rear plate 130 in the corresponding groove.

[0080] In summary, the height relationship between the main board body 120 and the virtual plane mentioned above mainly includes: the main board body 120 is higher than the virtual plane or the main board body 120 is at the same height as the virtual plane. When the main board body 120 is higher than the virtual plane, the distance between the main board body 120 and the ground is large, and the change range of the angle between the main board body 120 and the virtual plane is large, that is, the adjustable range of the inclination angle between the main board body and the virtual plane by stepping on the main board body is large. When the main board body 120 is at the same height as the virtual plane, on the one hand, the height of the electric driving device is reduced, and the portability is increased; on the other hand, the center of gravity of the electric driving device is reduced, and the safety of the electric driving device during operation is increased.

[0081] The deformation structure of the electric driving device has been introduced above, and the control principle of the electric driving device will be introduced next.

[0082] The angle measurement unit may be a first IMU and a second IMU installed on the front plate 110 and the rear plate 130, respectively; the angle measurement unit may also be a first angle sensor and a second angle sensor installed on the front plate 110 and the rear plate 130, respectively. The first IMU and the second IMU, the first angle sensor and the second angle sensor correspond to two different methods of obtaining the inclination angle. The first IMU and the second IMU obtain the inclination angle by obtaining the pitch angle, and the first angle sensor and the second angle sensor obtain the inclination angle by obtaining the included angle.

[0083] Please refer to Figure 4 , Figure 4 This is a schematic diagram of the angle of the electric driving device provided by an embodiment of the present invention on a slope; the inclination angle a1 is the angle between the extension line of the main board 120 and the extension line of the virtual plane 500. The figure shows two ways to obtain the inclination angle a1. One is to obtain the first pitch angle a2 of the previous board 110 in the inertial system, and obtain the second pitch angle a3 of the subsequent board 130 in the inertial system. The controller uses the sum of the first pitch angle a2 and the second pitch angle a3 as the inclination angle a1, wherein the first pitch angle a2 is a positive angle and the second pitch angle a3 is a negative angle.

[0084] IMU is an inertial measurement unit, which is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of an object. The first pitch angle a2 and the second pitch angle a3 mentioned above, one of which is a positive angle and the other is a negative angle. The controller controls the first wheel body and / or the second wheel body according to the inclination angle a1. When the main board 120 is nearly parallel to the virtual plane 500, the inclination angle a1-0 is approximately equal to zero. When the center of gravity of the operator moves forward, the front end of the main board 120 is pressed downward, the front board 110 rotates clockwise along a certain point of itself, the first pitch angle a2 becomes smaller, the rear board 130 rotates clockwise along a certain point of itself, and the second pitch angle a3 becomes larger. At this time, the inclination angle a1-1 is a negative value, which is less than the inclination angle a1-0. The controller outputs rotation information to the first wheel body 210 and / or the second wheel body 220 to indicate that the torque increases. When the operator's center of gravity continues to move forward, the front end of the main body 120 continues to press downward, the previous plate body 110 continues to rotate clockwise along a certain point on itself, the first pitch angle a2 continues to decrease, and the rear plate body 130 continues to rotate clockwise along a certain point on itself, and the second pitch angle a3 continues to increase. At this time, the inclination angle a1-2 becomes smaller. The controller compares the current inclination angle a1-2 with the previous inclination angle a1-1. When it is determined that the inclination angle a1-2 becomes smaller, the controller outputs rotation information to the first wheel body 210 and / or the second wheel body 220 to indicate that the torque of the first wheel body 210 and / or the second wheel body 220 continues to increase. At this time, when the operator's center of gravity moves backward, the rear end of the main plate 120 is pressed downward, the previous plate 110 continues to rotate counterclockwise along a certain point of itself, the first pitch angle a2 becomes larger, and the subsequent plate 130 continues to rotate counterclockwise along a certain point of itself, and the second pitch angle a3 becomes smaller. At this time, the inclination angle a1-3 becomes larger, and the controller compares the current inclination angle a1-3 with the previous inclination angle a1-2. When it is determined that the inclination angle a1-3 becomes larger, the torque information is output to the first wheel body 210 and / or the second wheel body 220 to indicate that the torque of the first wheel body 210 and / or the second wheel body 220 is reduced.

[0085] Another method is to obtain the first angle b2 of the main board body 120 relative to the previous board body 110, and obtain the second angle b3 of the main board body 120 relative to the subsequent board body 130. The controller uses the difference between the first angle b2 and the second angle b3 as the inclination angle a1, wherein the first angle b2 and the second angle b3 are both positive angles.

[0086] When the main plate 120 is nearly parallel to the virtual plane 500, the inclination angle a1-0 is approximately equal to zero. When the center of gravity of the operator moves forward, the front end of the main plate 120 is pressed downward, the front plate 110 rotates clockwise along a certain point of itself, the first angle b2 becomes larger, and the rear plate 130 rotates clockwise along a certain point of itself, and the second angle b3 becomes smaller. At this time, the inclination angle a1-1 is a positive value, which is greater than the inclination angle a1-0, and the controller outputs rotation information to the first wheel body 210 and / or the second wheel body 220 to indicate that the torque of the first wheel body 210 and / or the second wheel body 220 increases. When the operator's center of gravity continues to move forward, the front end of the main body 120 continues to press downward, the previous plate body 110 continues to rotate clockwise along a certain point on itself, the first angle b2 continues to increase, and the rear plate body 130 continues to rotate clockwise along a certain point on itself, and the second angle b3 continues to decrease. At this time, the inclination angle a1-2 becomes smaller. The controller compares the current inclination angle a1-2 with the previous inclination angle a1-1. When it is determined that the inclination angle a1-2 becomes smaller, the controller outputs rotation information to the first wheel body 210 and / or the second wheel body 220 to indicate that the torque of the first wheel body 210 and / or the second wheel body 220 continues to increase. At this time, when the operator's center of gravity moves backward, the rear end of the main plate 120 is pressed downward, the previous plate 110 continues to rotate counterclockwise along a certain point of itself, the first angle b2 becomes larger, and the subsequent plate 130 continues to rotate counterclockwise along a certain point of itself, the second angle b3 becomes larger, and the inclination angle a1-3 becomes larger at this time. The controller compares the current inclination angle a1-3 with the previous inclination angle a1-2. When it is determined that the inclination angle a1-3 becomes larger, the rotation information is output to the first wheel body 210 and / or the second wheel body 220 to indicate that the torque of the first wheel body 210 and / or the second wheel body 220 is reduced.

[0087] The angle measuring unit may also be a third angle sensor disposed on the previous plate 110, such as Figure 5 As shown, Figure 5 It is an angle principle diagram of the third type of electric driving equipment provided by an embodiment of the present invention; a third angle b4 of the bending angle of the main board body 120 relative to the compression spring 420 on the paper is obtained, and the controller uses the difference between the third angle b4 and 90 degrees as the inclination angle a1; the controller controls the rotation of the first wheel body 210 and / or the second wheel body 220 according to the inclination angle a1.

[0088] When the main body 120 is nearly parallel to the virtual plane 500, the inclination angle a1-0 is approximately equal to zero. When the center of gravity of the operator moves forward, the front end of the main body 120 is pressed downward, the bearing plane rotates counterclockwise along a certain point of itself, and the third angle b4 becomes larger. At this time, the inclination angle a1-1 is a positive value, which is greater than the inclination angle a1-0, and the controller outputs rotation information to the first wheel body 210 and / or the second wheel body 220 to indicate that the torque of the first wheel body 210 and / or the second wheel body 220 increases. When the operator's center of gravity continues to move forward, the front end of the main body 120 continues to be pressed downward, the bearing plane continues to rotate counterclockwise along a certain point of itself, and the third angle b4 continues to increase. At this time, the inclination angle a1-2 becomes larger. The controller compares the current inclination angle a1-2 with the previous inclination angle a1-1. When it is determined that the inclination angle a1-2 becomes larger, the controller outputs rotation information to the first wheel body 210 and / or the second wheel body 220 to indicate that the torque of the first wheel body 210 and / or the second wheel body 220 continues to increase. At this time, when the operator's center of gravity moves backward, the rear end of the main body 120 is pressed downward, and the load-bearing plane continues to rotate clockwise along a certain point of itself, and the third angle b4 becomes smaller. At this time, the inclination angle a1-3 becomes smaller. The controller compares the current inclination angle a1-3 with the previous inclination angle a1-2. When it is determined that the inclination angle a1-3 becomes smaller, the controller outputs rotation information to the first wheel body 210 and / or the second wheel body 220 to indicate that the torque of the first wheel body 210 and / or the second wheel body 220 is reduced.

[0089] Several methods of obtaining the inclination angle of the electric driving device have been introduced above. Next, the structural composition of the electric driving device that can realize the above-mentioned methods of obtaining the inclination angle will be introduced.

[0090] Example 1

[0091] The angle measurement unit includes a first IMU310 arranged on the front plate 110 and a second IMU320 arranged on the rear plate 130; the first IMU110 is used to measure the first pitch angle of the front plate 110 in the inertial system and send the first pitch angle to the controller; the second IMU320 is used to measure the second pitch angle of the rear plate 130 in the inertial system and send the second pitch angle to the controller; the controller is used to receive the first pitch angle and the second pitch angle, calculate the angle sum of the first pitch angle and the second pitch angle, and use the angle sum as the inclination angle between the main plate 120 and the virtual plane 500.

[0092] The first IMU 310 is also used to measure a first pitch angular velocity of a first pitch angle a2, and send the first pitch angular velocity to the controller; the second IMU 320 is also used to measure a second pitch angular velocity of a second pitch angle a3, and send the second pitch angular velocity to the controller; the controller is also used to sum the first pitch angular velocity and the second pitch angular velocity to obtain the angular velocity of the inclination angle, and control the rotation of the first wheel body 210 and / or the second wheel body 220 according to the inclination angle and the angular velocity of the inclination angle.

[0093] The controller outputs a command of torque increase or torque decrease to the first wheel body 210 and / or the second wheel body 220 according to the size of the inclination angle comparison, and outputs a command of torque increase or decrease speed to the first wheel body 210 and / or the second wheel body 220 according to the size of the angular velocity comparison of the inclination angle.

[0094] When the controller learns that the angular velocity of the current inclination angle is greater than the angular velocity of the previous inclination angle, the controller sends rotation information to the first wheel body 210 and / or the second wheel body 220, instructing the first wheel body 210 and / or the second wheel body 220 to accelerate the torque change. When the controller learns that the angular velocity of the current inclination angle is less than the angular velocity of the previous inclination angle, the controller sends rotation information to the first wheel body 210 and / or the second wheel body 220, instructing the first wheel body 210 and / or the second wheel body 220 to slow down the torque change.

[0095] Example 2

[0096] The angle measurement unit includes a first angle sensor 610 arranged on the front plate 110 and a second angle sensor 620 arranged on the rear plate 130; the first angle sensor 610 is used to detect a first angle of the main plate 120 relative to the front plate 110, and send the first angle to the controller; the second angle sensor 620 is used to detect a second angle of the main plate 120 relative to the rear plate 130, and send the second angle to the controller; the controller is used to receive the first angle and the second angle, calculate the angle difference between the first angle and the second angle, and use the angle difference as the inclination angle between the main plate and the virtual plane.

[0097] The first angle and the second angle mentioned above are both calculated according to absolute values.

[0098] In the above-mentioned embodiment in which the controller obtains the inclination angle through the angle sensor, the controller only obtains the angle of the inclination angle. In order to further obtain the angular velocity of the inclination angle, the main board body 120 is provided with a gyroscope (not shown in the figure), which is used to measure the angular velocity of the inclination angle between the main board body 120 of the pedal and the virtual plane 500; the controller is also used to control the rotation of the first wheel body 210 and / or the second wheel body 220 according to the inclination angle and the angular velocity of the inclination angle.

[0099] When the controller learns through the gyroscope that the angular velocity of the current inclination is greater than the angular velocity of the previous inclination, the controller sends rotation information to the first wheel body 210 and / or the second wheel body 220, indicating that the torque change of the first wheel body 210 and / or the second wheel body 220 is accelerated. When the controller learns through the gyroscope that the angular velocity of the current inclination is less than the angular velocity of the previous inclination, the controller sends rotation information to the first wheel body 210 and / or the second wheel body 220, indicating that the torque change of the first wheel body 210 and / or the second wheel body 220 is slowed down.

[0100] Embodiment 3

[0101] The angle measurement unit includes a third angle sensor 630 arranged on the previous plate body; the controller of the electric driving device obtains the inclination angle between the main plate body of the pedal of the electric driving device and the virtual plane through the angle measurement unit, including: the controller of the electric driving device obtains the third angle b4 of the previous plate body 110 relative to the first compression spring detected by the third angle sensor 630; the controller calculates the difference between the third angle b4 and 90 degrees; the controller uses the difference as the inclination angle between the main plate body 120 and the virtual plane.

[0102] In the above-mentioned embodiment in which the controller obtains the inclination angle through the angle sensor, the controller only obtains the angle of the inclination angle. In order to further obtain the angular velocity of the inclination angle, the main board body 120 is provided with a gyroscope (not shown in the figure), which is used to measure the angular velocity of the inclination angle between the main board body 120 of the pedal and the virtual plane 500; the controller is also used to control the rotation of the first wheel body 210 and / or the second wheel body 220 according to the inclination angle and the angular velocity of the inclination angle.

[0103] When the controller learns through the gyroscope that the angular velocity of the current inclination is greater than the angular velocity of the previous inclination, the controller sends rotation information to the first wheel body 210 and / or the second wheel body 220, indicating that the torque change of the first wheel body 210 and / or the second wheel body 220 is accelerated. When the controller learns through the gyroscope that the angular velocity of the current inclination is less than the angular velocity of the previous inclination, the controller sends rotation information to the first wheel body 210 and / or the second wheel body 220, indicating that the torque change of the first wheel body 210 and / or the second wheel body 220 is slowed down.

[0104] The structural composition of the electric driving device has been introduced above, and the control method of the electric driving device will be introduced next.

[0105] The electric traveling device is the above-mentioned electric traveling device, and the method includes: the controller of the electric traveling device obtains the inclination angle a1 between the main body 120 of the pedal of the electric traveling device and the virtual plane 500 through the angle measurement unit; wherein the virtual plane 500 is the plane formed by the axle of the first wheel body 210 and the axle of the second wheel body 220 of the electric traveling device; the first wheel body 210 supports the front plate body 110 connected to the pedal, and the second wheel body 220 supports the rear plate body 130 connected to the pedal; the controller controls the rotation of the first wheel body and / or the second wheel body according to the inclination angle.

[0106] One of the angle measurement units measures the pitch angles of the front plate 110 and the rear plate 120 in the inertial system. The angle measurement unit includes a first IMU 310 arranged on the front plate 110 and a second IMU 320 arranged on the rear plate 120; the controller of the electric driving device obtains the inclination angle between the main plate 120 of the pedal of the electric driving device and the virtual plane through the angle measurement unit, including: the controller of the electric driving device obtains the first pitch angle a2 measured by the first IMU 310 and the second pitch angle a3 measured by the second IMU 320; wherein the first pitch angle a2 is the inertial system pitch angle of the front plate 110, and the second pitch angle a3 is the inertial system pitch angle of the rear plate 130; the controller calculates the angle sum of the first pitch angle a3 and the second pitch angle a3; the controller uses the angle sum as the inclination angle a1 between the main plate 120 and the virtual plane 500.

[0107] In this embodiment, the control method of the electric driving equipment also includes: the controller obtains a first pitch angular velocity of the first pitch angle a2 measured by the first IMU310, and a second pitch angular velocity of the second pitch angle a3 measured by the second IMU320; the controller adds the first pitch angular velocity and the second pitch angular velocity to obtain the angular velocity of the inclination angle; the controller controls the rotation of the first wheel body and / or the second wheel body according to the inclination angle and the angular velocity of the inclination angle.

[0108] Another angle measurement unit measures the bending angles of the front plate 110 and the rear plate 120 relative to the main plate 130. The angle measurement unit includes a first angle sensor 610 disposed on the front plate 110 and a second angle sensor 620 disposed on the rear plate 130; the controller of the electric travel device obtains the inclination angle between the main plate 120 of the pedal of the electric travel device and the virtual plane 500 through the angle measurement unit, including: the controller of the electric travel device obtains a first angle b2 detected by the first angle sensor 610 and a second angle b3 detected by the second angle sensor; wherein the first angle b2 is the bending angle of the main plate 120 relative to the front plate 110, and the second angle b3 is the bending angle of the main plate 120 relative to the rear plate 130; the controller calculates the angle difference between the first angle b2 and the second angle b3; and the controller uses the angle difference as the inclination angle a1 between the main plate and the virtual plane.

[0109] A gyroscope is provided on the main board 120; the control method of the electric travel device also includes: the controller obtains the angular velocity of the inclination between the main board and the virtual plane measured by the gyroscope; the controller controls the rotation of the first wheel body and / or the second wheel body according to the inclination angle and the angular velocity of the inclination angle.

[0110] There is also an angle measurement unit that measures the bending angle of the previous plate 110 relative to the main plate 120. The angle measurement unit includes a third angle sensor 630 disposed on the previous plate 110; the controller of the electric travel device obtains the inclination angle a1 between the main plate 120 of the pedal of the electric travel device and the virtual plane 500 through the angle measurement unit, including: the controller of the electric travel device obtains the third angle b4 of the previous plate 110 on the paper relative to the first compression spring detected by the third angle sensor 630; the controller calculates the difference between the third angle b4 and 90 degrees; and the controller uses the difference as the inclination angle between the main plate 120 and the virtual plane 500.

[0111] A gyroscope is arranged on the main body; the control method of the electric travel device also includes: the controller obtains the angular velocity of the inclination between the main body 120 and the virtual plane 500 measured by the gyroscope; the controller controls the rotation of the first wheel body and / or the second wheel body according to the inclination angle and the angular velocity of the inclination angle.

[0112] Finally, the PID cycle detection process of electric driving equipment is introduced.

[0113] The step of the controller controlling the rotation of the first wheel body and / or the second wheel body according to the inclination angle includes: the controller obtains the inclination angle, the angular velocity of the inclination angle and the current rotation information of the first wheel body and / or the second wheel body; the controller determines the rotation information to be output according to the inclination angle, the angular velocity of the inclination angle and the current rotation information; the controller outputs the determined rotation information to the first wheel body and / or the second wheel body.

[0114] Each time the tilt angle is input to the controller, it is used as the expected tilt angle and compared with the tilt angle input next time; each time the tilt angle velocity is input to the controller, it is used as the expected tilt angle velocity and compared with the tilt angle velocity input next time. The controller outputs the corresponding rotation information according to the comparison result.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electric travel device, characterized in that: The electric travel device comprises: a pedal, a wheel body, an angle measurement unit and a controller; There are at least two wheels, wherein a first wheel is supported and connected to the front plate of the pedal, and a second wheel is supported and connected to the rear plate of the pedal; the axle of the first wheel and the axle of the second wheel together form a virtual plane; The main body of the pedal can be tilted relative to the virtual plane under the action of gravity and form an inclination angle with the virtual plane; The controller is used for controlling the rotation of the first wheel body and / or the second wheel body according to the inclination angle acquired by the angle measurement unit; The front sub-plate body, the main sub-plate body and the rear sub-plate body are integrally arranged; A transition zone is provided between the front plate and the main plate, and between the rear plate and the main plate, and the transition zone is made of an elastic material with a set bending degree; The angle measurement unit includes a first IMU arranged on the front plate and a second IMU arranged on the rear plate; The first IMU is used to measure a first pitch angle of the previous board in the inertial system and send the first pitch angle to the controller; The second IMU is used to measure a second pitch angle of the rear plate in the inertial system and send the second pitch angle to the controller; The controller is used to receive the first pitch angle and the second pitch angle, calculate the angle sum of the first pitch angle and the second pitch angle, and use the angle sum as the inclination angle between the main board and the virtual plane; The first IMU is further used to measure a first pitch angular velocity of the first pitch angle, and send the first pitch angular velocity to the controller; The second IMU is further used to measure a second pitch angular velocity of the second pitch angle, and send the second pitch angular velocity to the controller; The controller is also used for summing the first pitch angular velocity and the second pitch angular velocity to obtain the angular velocity of the inclination angle, and controlling the rotation of the first wheel body and / or the second wheel body according to the inclination angle and the angular velocity of the inclination angle.

2. The electric travel device according to claim 1, characterized in that: The front sub-plate body, the main plate body and the rear sub-plate body are separately arranged through hinges.

3. The electric travel device according to claim 2, characterized in that: The front sub-plate body and the main plate body, and the rear sub-plate body and the main plate body are connected via elastic elements with a set bending degree.

4. The electric travel device according to claim 3, characterized in that: The elastic element is a torsion spring or a tension spring.

5. The electric travel device according to any one of claims 1 to 4, characterized in that: The main board body is higher than the virtual plane or the main board body is at the same height as the virtual plane.

6. The electric travel device according to claim 1, characterized in that: The wheel axles of each wheel body have the same height.

7. The electric travel device according to claim 1, characterized in that: The angle measurement unit includes a first angle sensor disposed on the front sub-plate body and a second angle sensor disposed on the rear sub-plate body; The first angle sensor is used to detect a first angle between the main board and the previous board, and send the first angle to the controller; The second angle sensor is used to detect a second angle between the main board and the rear board, and send the second angle to the controller; The controller is used to receive the first angle and the second angle, calculate the angle difference between the first angle and the second angle, and use the angle difference as the inclination angle between the main board and the virtual plane.

8. The electric travel device according to claim 7, characterized in that: The main board body is provided with a gyroscope for measuring the angular velocity of the inclination angle between the main board body of the pedal and the virtual plane; The controller is further used for controlling the rotation of the first wheel body and / or the second wheel body according to the inclination angle and the angular velocity of the inclination angle.

9. The electric travel device according to claim 1, characterized in that: The electric travel device is an electric scooter or an electric skateboard.

10. A control method for an electric traveling device, characterized in that: The electric driving device is the electric driving device according to any one of claims 1 to 9, and the method comprises: The controller of the electric travel device obtains the inclination angle between the main body of the pedal of the electric travel device and the virtual plane through an angle measurement unit; the controller controls the rotation of the first wheel body and / or the second wheel body according to the inclination angle.

11. The method according to claim 10, characterized in that The angle measurement unit includes a first IMU arranged on the front plate and a second IMU arranged on the rear plate; The controller of the electric travel device obtains the inclination angle between the main body of the pedal of the electric travel device and the virtual plane through the angle measurement unit, comprising: The controller of the electric driving device obtains a first pitch angle measured by the first IMU and a second pitch angle measured by the second IMU; wherein the first pitch angle is the pitch angle of the inertial system of the preceding board, and the second pitch angle is the pitch angle of the inertial system of the succeeding board; The controller calculates the angle sum of the first pitch angle and the second pitch angle; The controller uses the angle sum as the inclination angle between the main board body and the virtual plane.

12. The method according to claim 11, characterized in that The method further includes: the controller acquiring a first pitch angular velocity of the first pitch angle measured by a first IMU and a second pitch angular velocity of the second pitch angle measured by a second IMU; the controller summing the first pitch angular velocity and the second pitch angular velocity to obtain an angular velocity of the tilt angle; The controller controls the first wheel body and / or the second wheel body to rotate according to the inclination angle and the angular velocity of the inclination angle.

13. The method according to claim 10, characterized in that The angle measurement unit includes a first angle sensor disposed on the front sub-plate body and a second angle sensor disposed on the rear sub-plate body; The controller of the electric travel device obtains the inclination angle between the main body of the pedal of the electric travel device and the virtual plane through the angle measurement unit, comprising: The controller of the electric travel device obtains a first angle detected by the first angle sensor and a second angle detected by the second angle sensor; wherein the first angle is a bending angle of the main board relative to the previous board, and the second angle is a bending angle of the main board relative to the next board; The controller calculates an angle difference between the first angle and the second angle; The controller uses the angle difference as the inclination angle between the main board and the virtual plane.

14. The method according to claim 13, characterized in that A gyroscope is arranged on the main board; The method further comprises: the controller acquiring the angular velocity of the inclination angle between the main board body and the virtual plane measured by the gyroscope; The controller controls the first wheel body and / or the second wheel body to rotate according to the inclination angle and the angular velocity of the inclination angle.

15. The method according to claim 10, characterized in that The controller controls the first wheel body and / or the second wheel body to rotate according to the inclination angle, comprising: The controller acquires the inclination angle, the angular velocity of the inclination angle, and current rotation information of the first wheel body and / or the second wheel body; The controller determines the rotation information to be output according to the inclination angle, the angular velocity of the inclination angle and the current rotation information; The controller outputs the determined rotation information to the first wheel body and / or the second wheel body.

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