A balancing vehicle that is easy to control

Abstract

The present invention discloses a self-balancing vehicle that is easy to control, belonging to the technical field of self-balancing vehicles, and aims to overcome the drawback of existing self-balancing vehicles that the imbalance of front and rear weight causes inconvenience in control. The self-balancing vehicle includes a frame, a hub motor is provided on the frame, the hub motor has a mounting cavity, a controller and a battery for powering the controller and the hub motor are provided in the mounting cavity, and a detection device is provided on the frame to obtain user operation information, and the detection device is connected to the controller. The controller and battery are both provided on the hub motor, and there is no need to install a battery for powering the motor and a controller for controlling the rotation of the hub motor on the frame. The frame will not cause a front and rear weight imbalance due to the installation of the battery and controller, which facilitates better control of the self-balancing vehicle by the user.

Description

Technical Field

[0001] The invention belongs to the technical field of balancing vehicles and relates to a balancing vehicle that is easy to control. Background Art

[0002] A Chinese patent application, publication number CN105905203A, discloses an electric unicycle pedal-assisted balancing vehicle. The balancing vehicle includes a frame assembly and a hub motor mounted on the frame assembly. A control box housing a controller is disposed at a first end of the frame assembly, and a battery box housing a battery pack is disposed at a second end of the frame assembly. The balancing vehicle is operated by stepping on the first and second ends of the balancing vehicle. The battery pack is typically much heavier than the controller, resulting in an imbalance in weight between the first and second ends of the balancing vehicle, making it difficult for the user to balance the vehicle while standing on it. Summary of the Invention

[0003] The present invention aims to solve the problems existing in the prior art and proposes a balancing vehicle that is easy to control, so as to overcome the defect that the unbalanced front and rear weight of the existing balancing vehicle causes inconvenience in control.

[0004] The present invention is achieved in that:

[0005] The balancing car includes a frame, a hub motor is provided on the frame, a mounting cavity is provided in the hub motor, a controller and a main battery for powering the controller and the hub motor are provided in the mounting cavity, a detection device is provided on the frame to obtain user operation information, and the detection device is connected to the controller.

[0006] The frame has a first standing area and a second standing area. The first standing area is located in front of the hub motor, and the second standing area is located behind the hub motor. The detection device includes a first detection group and a second detection group. The first detection group is set corresponding to the first standing area, and the second detection group is set corresponding to the second standing area.

[0007] The first detection group is located at one end of the first standing area close to the center of the frame, and the second detection group is located at one end of the second standing area close to the center of the frame.

[0008] The detection device includes an operation panel and a detection unit, wherein the detection unit is connected to the controller via wireless communication, or the detection unit is connected to the controller via a wire;

[0009] The detection device also includes a return member, and the detection unit includes a switch element. When the operating panel is stepped on, the operating panel is driven to move downward, driving the switch element to a first state, and the detection unit sends a first signal to the controller. When the operating panel is released, the elastic force of the return member drives the operating panel to move upward to put the switch element to a second state, and the detection unit sends a second signal to the controller; alternatively, there is a transmissive window on the operating panel, and the detection unit includes a distance sensor to detect whether the transmissive window is blocked. If the transmissive window is blocked, the detection unit sends a first signal to the controller; if the transmissive window is not blocked, the detection unit sends a second signal to the controller.

[0010] An angle acquisition device is provided in the hub motor and is connected to the controller. The control state of the controller includes one or more of standby state, braking state, normal state and safety state; the pedaling state of the detection device includes one or more of double-foot pedaling state, first single-foot pedaling state, second single-foot pedaling state and double-foot released state; each control state is controlled by at least one pedaling state.

[0011] The present invention provides a balancing vehicle with an intelligent hub motor, in which a controller and a main battery are both arranged on the hub motor. There is no need to install a main battery for powering the motor and a controller for controlling the rotation of the hub motor on the vehicle frame. The vehicle frame will not cause front and rear weight imbalance due to the installation of the main battery and the controller, which facilitates users to better control the balancing vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a structural diagram of a balancing vehicle;

[0013] Figure 2 This is a schematic diagram of the local structure of the balance car;

[0014] Figure 3 for Figure 2 Enlarged view of the part A in the middle;

[0015] Figure 4 for Figure 2 Enlarged view of the middle part B;

[0016] Figure 5 This is a schematic diagram of the explosion structure of the balance car;

[0017] Figure 6 Schematic diagram of the structure of a detection unit having an iron core and a winding in a first state;

[0018] Figure 7 Schematic diagram of the detection unit structure with an iron core and a winding in the second state;

[0019] Figure 8 It is a schematic diagram of the cross-sectional structure of the balance vehicle;

[0020] Figure 9is a structural diagram of the frame;

[0021] Figure 10 It is a structural diagram of the operation panel;

[0022] Figure 11 Schematic diagram of the structure of the support plate;

[0023] Figure 12 Schematic diagram of the structure of the handle assembly;

[0024] Figure 13 Schematic diagram of the structure of the support block;

[0025] Figure 14 It is a structural diagram of the fixed block;

[0026] Figure 15 Schematic diagram of the assembly structure of the support block and the fixed block.

[0027] Figures and notes: 1. Frame; 11. First standing area; 12. Second standing area; 13. Upper plate; 131. Anti-slip pad; 14. Lower plate; 15. Support rib; 151. Spacer cavity; 152. Positioning slot; 16. Side beam; 161. Second fixing hole; 2. Hub motor; 21. Tire; 22. Mounting cavity; 221. Controller; 222. Main battery; 23. Motor shaft; 231. Wiring channel; 24. Spacer; 25. Motor cavity; 251. Stator; 26. First side cover; 27. Second side cover; 3. Detection device; 3 1. First detection group; 32. Second detection group; 33. Operation panel; 331. Limiting part; 34. Detection unit; 341. Iron core; 342. Winding; 343. Coil part; 344. First branch; 345. Second branch; 346. Magnet; 35. Return member; 4. Support plate; 5. Handle assembly; 51. Handholding hole; 52. Upper shell; 53. Lower shell; 54. Wire inlet; 6. Fixing block; 61. Supporting block; 62. First fastener; 63. First fixing hole; 64. Third fixing hole; 65. Assembly hole; 66. Middle hole. DETAILED DESCRIPTION

[0028] The following will further describe the specific embodiments of the present invention in conjunction with the accompanying drawings to make the technical solution of the present invention easier to understand and grasp. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] This embodiment provides a balancing vehicle, such as Figure 1-5As shown, the vehicle comprises a frame 1, on which is mounted a hub motor 2, which is enclosed by a tire 21. A user stands on the frame 1 and places the tire 21 on the ground to operate the self-balancing scooter. The hub motor 2 has a mounting cavity 22 within it, which houses a controller 221 and a main battery 222 that powers the controller 221 and the hub motor 2. A detection device 3 is provided on the frame 1 to obtain user operation information, and the detection device 3 is connected to the controller 221. Both the main battery 222 and the controller 221 are mounted within the hub motor 2, eliminating the need to mount them on the frame 1. This avoids a significant weight difference between the main battery 222 and the controller 221, which would result in the weight of the end of the frame 1 mounting the main battery 222 being greater than the weight of the end of the frame 1 mounting the controller 221. This results in a more balanced overall weight of the vehicle, making it easier for the user to stand balanced on the frame 1.

[0030] The in-wheel motor 2 has a motor shaft 23, both ends of which are fixed to the frame 1. An angle acquisition device is also located within the mounting cavity 22. The user swings the frame 1, causing the motor shaft 23 to swing. The angle acquisition device swings in response to the swinging of the motor shaft 23. The angle acquisition device is integrated into the controller 221, which controls the scooter's forward direction and speed based on the tilt detected by the angle acquisition device. For example, if the front end of the frame 1 tilts downward, the controller 221 controls the scooter's forward motion; if the front end of the frame 1 tilts upward, the controller 221 controls the scooter's backward motion. The greater the tilt angle, the greater the vehicle speed. The angle acquisition device can be a gyroscope. In alternative embodiments, the angle acquisition device can be independent of and electrically connected to the controller 221, or it can be mounted on the frame 1. Due to its low weight, the angle acquisition device has less impact on the scooter's balance.

[0031] There is no need to set a main battery 222 for powering the motor and a controller 221 for driving the hub motor 2 on the frame 1. The frame 1 can be made lighter and thinner, which is beneficial to increasing the ground clearance of the frame 1 and improving the passability of the balance vehicle.

[0032] like Figure 1 、 5As shown, the frame 1 has a first standing area 11 and a second standing area 12, the first standing area 11 is located in front of the hub motor 2, and the second standing area 12 is located behind the hub motor 2, and the detection device 3 includes a first detection group 31 and a second detection group 32, the first detection group 31 is set corresponding to the first standing area 11, and the second detection group 32 is set corresponding to the second standing area 12. The user's feet are respectively stepped on the first standing area 11 and the second standing area 12. The balance car of this embodiment is a unicycle balance car, and the standing areas are distributed front and back. In other optional embodiments, the balance car can also be a unicycle with standing areas distributed left and right, or the balance car has two hub motors 2, and the two standing areas are located between the two hub motors 2.

[0033] like Figure 1 As shown, the first detection group 31 is located at one end of the first standing area 11 close to the center of the frame 1, and the second detection group 32 is located at one end of the second standing area 12 close to the center of the frame 1. When the feet are not stepping on the first detection group 31 or the second detection group 32, the feet can be partially suspended outside the first standing area 11 or the second standing area 12 to prevent the feet from resting on the wheels or fenders, ensuring comfortable standing and preventing the frame 1 from being too large. In other optional embodiments, the first detection group 31 and the second detection group 32 can be located at one end of the pedal area away from the hub motor 2.

[0034] like Figure 2 、 3 As shown in Figures 5 and 8, the detection device 3 includes an operating panel 33, a detection unit 34, and a return member 35. Both the first detection group 31 and the second detection group 32 include an operating panel 33 and a detection unit 34. The detection unit 34 is connected to the controller 221 via wires, including signal transmission wires and power transmission wires. The detection device 3 is powered by the main battery 222 in the hub motor 2. The motor shaft 23 has a wiring channel 231, through which the wires connecting the controller 221 and the detection device 3 pass.

[0035] The detection unit 34 includes a switch element, which can be a micro switch. The switch element has two states, on and off, for example, on as the first state and off as the second state. Stepping down the operating panel 33 drives the operating panel 33 to move downward, driving the switch element to the first state. The detection unit 34 sends a first signal to the controller 221. The return member 35 is a spring. When the operating panel 33 is released, the elastic force of the return member 35 drives the operating panel 33 to move upward to put the switch element into the second state. The detection unit 34 sends a second signal to the controller 221.

[0036] The control states of the controller 221 include one or more of a standby state, a braking state, a normal state, and a safe state. The pedaling states of the detection device 3 include one or more of a double-foot pedaling state, a first single-foot pedaling state, a second single-foot pedaling state, and a double-foot released state. Each control state is controlled by at least one pedaling state. When a user steps on or releases the operating panel 33, the pedaling state of the detection device 3 forms operational information, enabling the controller 221 to execute the corresponding control program.

[0037] In this embodiment, the control state and the pedaling state correspond one to one.

[0038] The pedaling state of both feet corresponds to the normal state of the control state. The two feet are respectively stepped on the first detection group 31 and the second detection group 32. The first detection group 31 and the second detection group 32 both send a first signal to the controller 221, the angle acquisition device participates in the work, and the controller 221 controls the balance car to drive normally.

[0039] The first single-foot pedaling state corresponds to the braking state of the control state, that is, one foot is stepped on the first detection group 31, and the other foot releases the second detection group 32. The first detection group 31 sends a first signal to the controller 221, and the second detection group 32 sends a second signal to the controller 221. The angle acquisition device starts to work and the balancing car starts to decelerate.

[0040] The second single-foot pedaling state corresponds to the safe state of the control state, that is, one foot releases the first detection group 31, and the other foot steps on the second detection group 32. The first detection group 31 sends a second signal to the controller 221, and the second detection group 32 sends a first signal to the controller 221. The angle acquisition device does not participate in the work, and the balancing car has no self-balancing brake to facilitate safe parking.

[0041] The released state of both feet in the pedaling state corresponds to the standby state of the control state. The angle acquisition device does not participate in the work, and the balance car can glide without power. At this time, the first detection group 31 and the second detection group 32 both send a second signal to the controller 221, that is, a signal that the switch element is disconnected. Stopping sending the connection signal can be regarded as sending a disconnection signal.

[0042] In other optional embodiments, the operating panel 33 has a transmissive window, and the detection unit 34 includes a distance sensor to detect whether the transmissive window is blocked. If the transmissive window is blocked, the detection unit 34 sends a first signal to the controller 221. If the transmissive window is not blocked, the detection unit 34 sends a second signal to the controller 221. In this embodiment, the operating panel 33 can be fixed relative to the vehicle frame 1.

[0043] In other optional embodiments, the detection unit 34 and the controller 221 can also be connected by wireless communication, with a wireless transmission module set on the detection unit 34 and a corresponding wireless receiving module set on the controller 221. Stepping on the operating panel 33 or releasing the operating panel 33 can cause the detection unit 34 to send a pulse signal to the controller 221, and the controller 221 can enter a corresponding control state according to the number of pulse signals received within a specific time. For example, within one second, the controller 221 simultaneously receives one pulse signal from each of the first detection group 31 and the second detection group 32, and the control state enters a normal state; within one second, the controller 221 receives one pulse signal from the first detection group 31 alone, and the control state enters a standby state; within one second, the controller 221 receives one pulse signal from the second detection group 32 alone, and the control state enters a braking state; within one second, the controller 221 receives two pulse signals from the first component alone, and the control state enters a safe state.

[0044] In an embodiment where the detection unit 34 and the controller 221 are wirelessly connected, the detection unit 34 and the main battery 222 can be coupled via a wireless power coupler so that the main battery 222 supplies power to the detection unit 34. Alternatively, a storage unit can be provided on the vehicle frame 1 to supply power to the detection unit 34. The detection unit 34 requires relatively little power, and the storage unit occupies a relatively small volume, thus not significantly impacting the weight and size of the vehicle frame 1. The front storage units are symmetrically arranged front and rear, thereby still achieving front-to-back weight balance of the vehicle frame 1. The storage unit can be a button cell, a dry cell, or the like.

[0045] In an embodiment where the detection unit 34 and the controller 221 are connected wirelessly, as shown in FIG. Figure 6-7 As shown, the detection unit 34 includes an iron core 341 and a winding 342 wound around the iron core 341. The iron core 341 includes a coil portion 343 and a first branch portion 344 and a second branch portion 345 connected in parallel to the first end of the coil portion 343. The winding 342 is located on the coil portion 343. The vehicle frame 1 is provided with a magnet 346. The magnet 346 can be indirectly mounted on the vehicle frame 1, for example, by being mounted on the operating panel 33, which is mounted on the vehicle frame 1. When the operating panel 33 is depressed, the north pole and south pole of the magnet 346 connect to the first branch portion 344 and the second end of the coil portion 343, respectively. When the operating panel 33 is released, the south pole and north pole of the magnet 346 connect to the second end of the coil portion 343 and the second branch portion 345, respectively. The upward and downward movement of the magnet 346 causes the winding 342 to generate current, which powers the detection unit 34 and causes the detection unit 34 to send a control signal to the controller 221.

[0046] like Figure 8As shown, the hub motor 2 includes a hub, and a spacer 24 is provided on the inner side of the hub to form a motor cavity 25 and a mounter in the hub. A stator 251 fixed on the motor shaft 23 is provided in the motor cavity 25, and the main battery 222 and the controller 221 are fixed on the motor shaft 23 in the mounter. The hub itself can be a rotor, or a magnet can be fixed on the hub as a rotor.

[0047] like Figure 8 As shown, a first side cover 26 and a second side cover 27 are fixed to either side of the wheel hub, covering the openings of the motor cavity 25 and the mounter, respectively. Bearings are provided between the first side cover 26, the second side cover 27, the spacer 24, and the motor shaft 23. The wheel hub and the motor shaft 23 are supported not only by the two side covers, but also by the spacer 24, forming a three-dimensional support. This provides a more stable fit between the motor shaft 23 and the wheel hub. Even if one side cover becomes loose, there are still two locations to ensure a stable fit between the motor shaft 23 and the wheel hub, reducing the risk of failure of the in-wheel motor 2.

[0048] like Figure 3 、 5 As shown in Figures 9-11, the frame 1 includes an upper plate 13 and a lower plate 14, forming a double-layer plate structure. Support ribs 15 and a spacer cavity 151 are provided between the upper plate 13 and the lower plate 14. The support ribs 15 can strengthen the structure of the frame 1, ensuring the strength of the frame 1 while reducing the material consumption. An anti-slip pad 131 is provided on the upper surface of the upper plate 13.

[0049] like Figure 3 、 5 As shown in Figures 11, a detachable mounting plate 4 is provided on the vehicle frame 1. The mounting plate 4 is fixed to the vehicle frame 1 by screws. The detection unit 34 is mounted on the mounting plate 4. The operating panel 33 is hinged on the mounting plate 4. The end of the mounting plate 4 is embedded in the partition cavity 151, thereby improving the stability of the mounting plate 4. The edge of the operating panel 33 has a limiting portion 331, and the limiting portion 331 is embedded in the partition cavity 151, thereby preventing the operating panel 33 from upwardly separating from the vehicle frame 1. The limiting portion 331 and the mounting plate 4 have positioning grooves 152, and the support ribs 15 are embedded in the positioning grooves 152, thereby reducing the shaking of the mounting plate 4 and the operating panel 33 and improving stability. During assembly, the cooperation between the positioning grooves 152 and the support ribs 15 is also conducive to the positioning of the mounting plate 4 and the operating panel 33, thereby improving assembly efficiency.

[0050] like Figure 1 、 4As shown in Figures 1 and 12, a handle assembly 5 with a handhold hole 51 is provided at the end of the frame 1, allowing the user to manually move the scooter. The handle assembly 5 includes an upper shell 52 and a lower shell 53. The upper shell 52 is embedded in the compartment 151 and has a positioning slot 152, into which the support ribs 15 are inserted. The frame 1 includes side beams 16 fixedly connected to both sides of the upper plate 13 and the lower plate 14. The outer ends of the upper shell 52 and the lower shell 53 protrude from the ends of the side beams 16. A lamp is provided within the handle assembly 5. A wire inlet 54 is provided on the side of the handle assembly 5. The outer ends of the upper shell 52 and the lower shell 53 are fixedly connected by screws, and the inner ends of the upper shell 52 and the lower shell 53 are clamped to the lower plate 14 by screws. Wires extending from the hub motor 2 pass through the side beams 16 and are connected to the lamp within the handle assembly 5 through the wire inlet 54, providing front and rear lighting for the scooter.

[0051] like Figure 8 、 9 As shown in Figures 13-15, a support block 61 and a fixed block 6 are provided in the side beam 16. The support block 61 and the fixed block 6 are detachably connected via a first fastener 62. The first fastener 62 is a screw. The support block 61 and the fixed block 6 clamp and fix the motor shaft 23. The spacing between the support block 61 and the fixed block 6 is controllable, so that the support block 61 and the fixed block 6 have strong adaptability and can adapt to motor shafts 23 of different sizes.

[0052] The fixing block 6 has a first fixing hole 63, and the side beam 16 has a second fixing hole 161. The fixing block 6 is fixed to the frame 1 by a second fastener passing through the first fixing hole 63 and the second fixing hole 161. The second fixing hole 161 is a waist-shaped hole extending vertically. The vertical position of the second fastener is adjustable, which reduces the difficulty of aligning the first fixing hole 63 and the second fixing hole 161, and is also conducive to the support block 61 abutting against the top wall of the frame 1, thereby improving the stability of the position of the support block 61 and preventing the support block 61 from moving upward during the driving of the balance vehicle.

[0053] The fixing block 6 has a third fixing hole 64 and an assembly hole 65. The assembly hole 65 is located below the third fixing hole 64. The diameter of the assembly hole 65 is larger than that of the third fixing hole 64. The fixing block 6 is provided with an intermediate hole 66 between the assembly hole 65 and the third fixing hole 64. The larger assembly hole 65 facilitates the passage of the nut of the first fastener 62. After fixing, the nut abuts against the edge of the third fixing hole 64 and is embedded in the fixing hole to avoid protrusion. The intermediate hole 66 facilitates observation of the fit between the first fastener 62 and the fixing block 6 to ensure that the first fastener 62 is reliably fitted with the fixing block 6. There is a gap between the nut and the side wall of the intermediate hole 66. When the operating slot on the nut is damaged and cannot be used, a wrench can be used to disassemble the first fastener 62 through the intermediate hole 66.

Claims

1. A balancing vehicle that is easy to control, comprising a frame (1), wherein a hub motor (2) is provided on the frame (1), and characterized in that: The hub motor (2) has an installation cavity (22), the installation cavity (22) contains a controller (221) and a main battery (222) for supplying power to the controller (221) and the hub motor (2), the frame (1) is provided with a detection device (3) for obtaining user operation information, and the detection device (3) is connected to the controller (221); The detection device (3) includes an operation panel (33) and a detection unit (34), wherein the detection unit (34) is connected to the controller (221) via wireless communication, or the detection unit (34) is connected to the controller (221) via a wire; The vehicle frame (1) comprises an upper plate body (13) and a lower plate body (14), a support rib (15) and a spacer cavity (151) are provided between the upper plate body (13) and the lower plate body (14), a support plate (4) is detachably mounted on the vehicle frame (1), the detection unit (34) is mounted on the support plate (4), the operating panel (33) is hinged on the support plate (4), the end of the support plate (4) is embedded in the spacer cavity (151), the edge of the operating panel (33) has a limiting portion (331), the limiting portion (331) is embedded in the spacer cavity (151), the limiting portion (331) and / or the support plate (4) have a positioning groove (152), and the support rib (15) is embedded in the positioning groove (152).

2. The easy-to-control balance vehicle according to claim 1, characterized in that: The vehicle frame (1) is provided with a first standing area (11) and a second standing area (12), wherein the first standing area (11) is located in front of the wheel hub motor (2), and the second standing area (12) is located behind the wheel hub motor (2); the detection device (3) comprises a first detection group (31) and a second detection group (32), wherein the first detection group (31) is provided corresponding to the first standing area (11), and the second detection group (32) is provided corresponding to the second standing area (12).

3. The easy-to-control balance vehicle according to claim 2, characterized in that: The first detection group (31) is located at one end of the first standing area (11) close to the center of the frame (1), and the second detection group (32) is located at one end of the second standing area (12) close to the center of the frame (1).

4. The easy-to-control balance vehicle according to claim 1, characterized in that: The detection device (3) further includes a return member (35), and the detection unit (34) includes a switch element. When the operating panel (33) is stepped on, the operating panel (33) is driven to move downward, and the switch element is driven to be in a first state. The detection unit (34) sends a first signal to the controller (221) to release the operating panel (33). The elastic force of the return member (35) drives the operating panel (33) to move upward, so that the switch element is in a second state. The detection unit (34) sends a second signal to the controller (221). Alternatively, the operating panel (33) has a transmission window, and the detection unit (34) includes a distance sensor to detect whether the transmission window is blocked. If the transmission window is blocked, the detection unit (34) sends a first signal to the controller (221). If the transmission window is not blocked, the detection unit (34) sends a second signal to the controller (221).

5. The easy-to-control balance vehicle according to claim 1, characterized in that: The hub motor (2) is provided with an angle acquisition device connected to the controller (221); the control state of the controller (221) includes one or more of a standby state, a braking state, a normal state, and a safe state; the pedaling state of the detection device (3) includes one or more of a double-foot pedaling state, a first single-foot pedaling state, a second single-foot pedaling state, and a double-foot released state; each control state is controlled by at least one pedaling state.

6. The easy-to-control balance vehicle according to claim 4, characterized in that: The detection unit (34) and the main battery (222) are coupled via a power wireless coupler so that the main battery (222) supplies power to the detection unit (34); Alternatively, a power storage unit for supplying power to the detection unit (34) is provided on the vehicle frame (1); Alternatively, the detection unit (34) includes an iron core (341) and a winding (342) wound on the iron core (341); the iron core (341) includes a coil portion (343) and a first branch portion (344) and a second branch portion (345) connected in parallel to the first end of the coil portion (343); the winding (342) is located on the coil portion (343); a magnet (346) is provided on the vehicle frame (1); when the operating panel (33) is stepped on, the north pole and the south pole of the magnet (346) are respectively connected to the first branch portion (344) and the second end of the coil portion (343); when the operating panel (33) is released, the south pole and the north pole of the magnet (346) are respectively connected to the second end of the coil portion (343) and the second branch portion (345); the up and down floating of the magnet (346) causes the winding (342) to generate current to power the detection unit (34).

7. The easy-to-control balance vehicle according to claim 1, characterized in that: The wheel hub motor (2) comprises a wheel hub and a motor shaft (23); a spacer (24) is provided on the inner side of the wheel hub to form a motor cavity (25) and an electric control cavity in the wheel hub; a stator (251) fixed on the motor shaft (23) is provided in the motor cavity (25); the main battery (222) and the controller (221) are fixed on the motor shaft (23) in the electric control cavity; a first side cover (26) and a second side cover (27) are fixed on both sides of the wheel hub to cover the openings of the motor cavity (25) and the electric control cavity respectively; bearings are provided between the first side cover (26), the second side cover (27), the spacer (24) and the motor shaft (23).

8. The easy-to-control balance vehicle according to claim 1, characterized in that: The end of the frame (1) is provided with a handle assembly (5) having a hand-holding hole (51), the handle assembly (5) comprises an upper shell (52) and a lower shell (53), the upper shell (52) is embedded in the spacer cavity (151), the upper shell (52) has a positioning groove (152), the support rib (15) is embedded in the positioning groove (152), the frame (1) comprises a fixed connection on both sides of the upper plate (13) and the lower plate (14) The outer ends of the upper shell (52) and the lower shell (53) protrude from the ends of the side beam (16); a lamp is provided in the handle assembly (5); a side of the handle assembly (5) has a wire inlet (54); the outer ends of the upper shell (52) and the lower shell (53) are fixedly connected by screws; the inner ends of the upper shell (52) and the lower shell (53) are clamped and fixed to the lower plate (14) by screws.

9. The easy-to-control balance vehicle according to any one of claims 1 to 8, characterized in that: The wheel hub motor (2) has a motor shaft (23), and the vehicle frame (1) includes a side beam (16). A support block (61) and a fixing block (6) are provided in the side beam (16). The support block (61) and the fixing block (6) are detachably connected via a first fastener (62). The support block (61) and the fixing block (6) clamp and fix the motor shaft (23). The fixing block (6) has a first fixing hole (63), and the side beam (16) has a second fixing hole (161). The fixing block (6) passes through the first fixing hole (63). The second fasteners of the first fixing hole (63) and the second fixing hole (161) are fixed on the vehicle frame (1); the second fixing hole (161) is a waist-shaped hole extending vertically; the fixing block (6) is provided with a third fixing hole (64) and an assembly hole (65); the assembly hole (65) is located below the third fixing hole (64); the diameter of the assembly hole (65) is larger than that of the third fixing hole (64); and the fixing block (6) is provided with an intermediate hole (66) between the assembly hole (65) and the third fixing hole (64).

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