Electric vehicle and control method thereof

Abstract

The present invention discloses an electric vehicle and a method for using the same, wherein the electric vehicle comprises a plurality of pulleys and a connecting mechanism, at least one of the plurality of pulleys is an electric wheel, the plurality of pulleys are arranged at intervals along a first direction and a second direction, the first direction and the second direction are perpendicular, and the connecting mechanism is connected between the plurality of pulleys and increases or decreases the spacing between adjacent pulleys in the first direction and / or the second direction. When the electric vehicle is not in use, the spacing between adjacent pulleys in the first direction and / or the second direction can be reduced to reduce the overall volume of the electric vehicle, thereby facilitating the carrying and storage of the electric vehicle.

Description

Technical Field

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

[0002] As society progresses, people's awareness of environmental protection and energy conservation increases, and low-carbon, environmentally friendly, green, sports, and healthy travel and lifestyles are gradually attracting high attention. The research on efficient, environmentally friendly, and energy-saving electric vehicles has attracted great attention from manufacturers around the world. However, existing electric vehicles are relatively large in size, making them inconvenient for users to carry and store. Summary of the invention

[0003] In view of this, the present invention provides an electric vehicle and a control method thereof.

[0004] An electric vehicle comprises a plurality of pulleys and a connecting mechanism, at least one of the plurality of pulleys is an electric wheel, the plurality of pulleys are arranged at intervals along a first direction and a second direction, the first direction is perpendicular to the second direction, and the connecting mechanism is connected between the plurality of pulleys and increases or decreases the spacing between adjacent pulleys in the first direction and / or the second direction.

[0005] In some embodiments, the connection mechanism includes a plurality of first telescopic rods connecting two adjacent pulleys in the first direction and / or a second telescopic rod connecting two adjacent pulleys in the second direction.

[0006] In some embodiments, the connection mechanism includes a plurality of foldable rods, and two ends of each of the foldable rods are respectively connected to two adjacent pulleys in the first direction or the second direction.

[0007] In some embodiments, the two ends of the foldable rod are respectively connected to two adjacent pulleys in the first direction, and the connecting mechanism also includes multiple support rods and a first connecting member. The support rod connects two adjacent pulleys in the second direction, and a first sliding groove is penetrated through the end of the support rod close to the pulley. One end of the first connecting member is connected to the pulley, and the other end can movably pass through the first sliding groove and then be connected to the foldable rod.

[0008] In some embodiments, the foldable rod includes a first folding rod, a second folding rod and a second connecting member, the first folding rod and the second folding rod are rotatably connected via the second connecting member, and the ends of the first folding rod and the second folding rod away from the second connecting member are respectively connected to the two pulleys via the first connecting member.

[0009] In some embodiments, the connecting mechanism also includes a mounting frame located between two adjacent support rods and connecting two adjacent foldable rods, the mounting frame is provided with a second slide groove, the second connecting member includes a connecting portion and a sliding portion connected to one end of the connecting portion, the connecting portion is rotatably connected to the first folding rod and the second folding rod, the sliding portion is slidably matched with the second slide groove, and a driving mechanism is installed on the mounting frame for driving the sliding portion to slide in the second slide groove to drive the first folding rod and the second folding rod to rotate toward or away from each other.

[0010] In some embodiments, the driving mechanism includes a driving motor mounted on the mounting frame and a screw rod transmission-connected to the driving motor, wherein the screw rod is at least partially located in the second slide groove, and the sliding portion is sleeved outside the screw rod and cooperates with the screw rod thread, so that the sliding portion can perform linear motion along the axial direction of the screw rod under the drive of the screw rod.

[0011] In some embodiments, the second connecting member further includes a supporting portion connected to a side of the sliding portion away from the connecting portion, wherein the supporting portion is located outside the second sliding groove and supports the mounting bracket.

[0012] In some embodiments, the mounting frame is provided with two spaced-apart limiting blocks, and the supporting portion is located between the two limiting blocks.

[0013] In some embodiments, the connecting mechanism also includes four connecting rods, which are rotatably connected end to end in sequence to form a deformable quadrilateral structure, wherein two opposite corners of the quadrilateral structure are rotatably connected to two adjacent second connecting members, respectively, and the other two opposite corners are rotatably connected to two adjacent support rods, respectively.

[0014] The present invention also provides a control method for the electric vehicle as described above, wherein the electric vehicle includes at least two of the following driving modes: a remote control driving mode, a follow-up driving mode, and an intelligent power-assisted driving mode, wherein the electric wheel is provided with a motor and a controller for controlling the motor, and the controller is used to receive control instructions, determine the current driving mode according to the control instructions, and control the motor to operate in the current driving mode.

[0015] In some embodiments, the control instruction is a mode switching instruction, the controller switches to the corresponding target driving mode according to the mode switching instruction, receives corresponding driving control information under the target driving mode, and controls the driving trajectory of the electric vehicle according to the driving control information.

[0016] In some embodiments, the mode switching instruction is an instruction obtained based on an operation on a mode switching button;

[0017] The electric vehicle comprises a remote control transmitting end in communication with the controller, and when the target driving mode is the remote control driving mode, the controller receives a remote control instruction sent by the remote control transmitting end, and controls the speed and steering of the electric vehicle according to the remote control instruction; and / or,

[0018] The electric vehicle comprises a distance sensor and an orientation sensor which are communicatively connected to the controller; when the target driving mode is the following driving mode, the distance sensor detects the distance information between the electric vehicle and the target object, and the orientation sensor detects the orientation information between the electric vehicle and the target object; the controller controls the motor to operate according to the distance information and the orientation information, so that the electric vehicle follows the movement of the target object; and / or,

[0019] The electric vehicle includes an acceleration sensor that is communicatively connected to the controller. When the target driving mode is the intelligent power-assisted driving mode, the acceleration sensor detects acceleration information generated by the electric vehicle after being subjected to external thrust. The controller controls the output power of the motor according to the acceleration information to provide assistance to the electric vehicle in a proportional manner.

[0020] In some embodiments, the control instruction is a remote control instruction sent by a remote control transmitting end, the current driving mode is determined to be the remote control driving mode according to the remote control instruction, and the speed and steering of the electric vehicle are controlled according to the remote control instruction; and / or,

[0021] The control instruction is detection information sent by a distance sensor and an orientation sensor, and the current driving mode is determined to be the following driving mode according to the detection information, the detection information includes distance information between the electric vehicle and the target object detected by the distance sensor, and orientation information between the electric vehicle and the target object detected by the orientation sensor, and the controller controls the motor to work according to the distance information and the orientation information so that the electric vehicle follows the movement of the target object; and / or,

[0022] The control instruction is acceleration information detected by an acceleration sensor and sent by the electric vehicle after being subjected to external thrust. Based on the acceleration information, it is determined that the current driving mode is an intelligent power-assisted driving mode. The controller controls the output power of the motor based on the acceleration information to provide assistance to the electric vehicle in a proportional manner.

[0023] In some embodiments, the acceleration sensor can also detect whether the electric vehicle is going uphill or downhill. When the electric vehicle is going uphill, the controller controls the motor to increase the output power. When the electric vehicle is going downhill, the controller controls the motor to reduce the output power.

[0024] The electric vehicle provided by the present invention can reduce the distance between adjacent pulleys in the first direction and / or the second direction when not in use, so as to reduce the overall volume of the electric vehicle, thereby facilitating the carrying and storage of the electric vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic top view of an electric vehicle provided by an embodiment of the present invention;

[0026] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of an electric vehicle shown in FIG.

[0027] Figure 3 for Figure 2 An assembly diagram of the mounting frame, the driving mechanism and a second connecting member shown in ;

[0028] Figure 4 A schematic structural diagram of an electric vehicle provided in another embodiment of the present invention.

[0029] In the figure: 1, electric vehicle; 10, pulley; 20, connecting mechanism; 11, electric wheel; 12, driven wheel; 30, foldable rod; 40, support rod; 50, first connecting member; 41, first slide groove; 31, first folding rod; 32, second folding rod; 33, second connecting member; 60, mounting frame; 61, second slide groove; 331, connecting part; 332, sliding part; 333, supporting part; 70, driving mechanism; 71, driving motor; 72, screw rod; 62, limit block; 80, connecting rod; 81, quadrilateral structure; 82, rotating shaft; 91, first telescopic rod; 92, second telescopic rod. DETAILED DESCRIPTION

[0030] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0031] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, inside, outside, top, bottom...) are only used to explain the relative position relationship between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0032] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, the element may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0033] See also Figure 1 and Figure 2 An electric vehicle 1 provided by an embodiment of the present invention can be used to carry people or goods. The electric vehicle 1 includes a pulley 10 and a connecting mechanism 20. The pulley 10 is provided with a plurality of pulleys, and at least one of the plurality of pulleys 10 is an electric wheel 11 to provide power to the electric vehicle 1. The plurality of pulleys 10 are arranged at intervals along a first direction X and a second direction Y, and the first direction and the second direction are perpendicular to each other. The connecting mechanism 20 is connected between the plurality of pulleys 10, and increases or decreases the spacing between two adjacent pulleys 10 in the first direction and / or the second direction, that is, the spacing between two adjacent pulleys 10 in the first direction and / or between two adjacent pulleys 10 in the second direction can be increased or decreased.

[0034] Since the distance between two adjacent pulleys 10 in the first direction and / or the second direction can be increased or decreased, when the electric vehicle 1 is not in use, the distance between adjacent pulleys 10 can be reduced, thereby reducing the overall volume of the electric vehicle 1 when not in use, thereby making it easier for users to carry and store it.

[0035] Preferably, the spacing between two adjacent pulleys 10 in the first direction and the spacing between two adjacent pulleys 10 in the second direction can be increased or decreased. The spacing between the pulleys 10 of the electric vehicle 1 in both directions can be reduced, which is beneficial to further reduce the overall volume of the electric vehicle 1 when not in use, compared with the method of reducing the spacing in only one direction.

[0036] The specific number of the pulleys 10 is not limited. In the illustrated embodiment, there are four pulleys 10 in total. The four pulleys 10 are arranged at intervals in the first direction and the second direction to form two rows and two columns.

[0037] The four pulleys 10 include two motor wheels 11 and two driven wheels 12. The two motor wheels 11 are spaced apart in a first direction, the two driven wheels 12 are also spaced apart in the first direction, and the motor wheels 11 and the driven wheels 12 are spaced apart in a second direction.

[0038] The two driven wheels 12 are universal wheels for easy steering. When the speeds of the two electric wheels 11 are the same, the electric vehicle 1 can move in a straight line, and when the speeds of the two electric wheels 11 are different, the electric vehicle 1 can turn.

[0039] The connecting mechanism 20 includes a plurality of foldable rods 30, and the two ends of each foldable rod 30 are respectively connected to two pulleys 10 adjacent in the first direction. The foldable rod 30 can be folded, so the two ends of the foldable rod 30 can move toward or away from each other, and the two ends of the foldable rod 30 can drive the pulleys 10 connected thereto to move during the movement, thereby increasing or decreasing the distance between the two pulleys 10 adjacent in the first direction. In other embodiments, the two ends of the foldable rod 30 can also be respectively connected to the two pulleys 10 adjacent in the second direction, that is, respectively connected to the adjacent motorized wheel 11 and the driven wheel 12.

[0040] The fixing method between the foldable rod 30 and the pulley 10 is not limited, as long as the two ends of the foldable rod 30 can drive the pulley 10 connected thereto to move when moving.

[0041] In the illustrated embodiment, two foldable rods 30 are provided, wherein one foldable rod 30 is connected between the two motorized wheels 11 , and the other foldable rod 30 is connected between the two driven wheels 12 .

[0042] The connection mechanism 20 also includes a plurality of support rods 40 and a first connection member 50. The support rod 40 is connected to two pulleys 10 adjacent to each other in the second direction, that is, the motor wheel 11 is connected to the driven wheel 12 adjacent to the motor wheel 11. A first slide groove 41 is provided through the end of the support rod 40 close to the pulley 10. The length direction of the first slide groove 41 is consistent with the length direction of the support rod 40, that is, it extends along the second direction in this application. The first connection member 50 is slidably mounted on the first slide groove 41 and can move along the length direction of the first slide groove 41. One end of the first connection member 50 is connected to the pulley 10, and the other end can be movably passed through the first slide groove 41 and then connected to the foldable rod 30. When the user drives the two ends of the foldable rod 30 to move toward each other, the foldable rod 30 can drive the two adjacent slide grooves and the support rod 40 in the first direction to approach each other through the first connecting member 50. At the same time, the first connecting member 50 will slide in the first slide groove 41, so that the two adjacent pulleys 10 in the second direction will also approach each other, and finally the pulleys 10 adjacent in the first direction and the second direction will approach each other to reduce the overall volume of the electric vehicle 1.

[0043] A first slide groove 41 is respectively provided at the end of the support rod 40 close to the electric wheel 11 and the end close to the driven wheel 12, and a first connecting member 50 is slidably installed in each slide groove. Each first connecting member 50 is connected to a foldable rod 30, that is, the two ends of the support rod 40 are respectively connected to two adjacent foldable rods 30 through the first connecting member 50.

[0044] In the illustrated embodiment, two support rods 40 are provided, and a first slide groove 41 is provided at both ends of each support rod 40, and a first connecting member 50 connecting the foldable rod 30 and the pulley 10 is slidably installed in each first slide groove 41. When the user drives the two ends of one of the foldable rods 30 to move toward or away from each other and drive the pulley 10 to move, the foldable rod 30 will simultaneously drive two adjacent support rods 40 to move toward or away from each other, and when the two support rods 40 move toward or away from each other, the two ends of the other foldable rod 30 will be driven to move toward or away from each other, thereby driving the two pulleys 10 connected to the other foldable rod 30 to move toward or away from each other, so that the user only needs to manipulate one of the foldable rods 30 to make the four pulleys 10 connected to the two adjacent foldable rods approach or move away from each other in the first direction and the second direction, which is convenient for the user to use.

[0045] The foldable rod 30 includes a first folding rod 31, a second folding rod 32 and a second connecting member 33. One end of the first folding rod 31 is connected to one end of the second folding rod 32 through the second connecting member 33. The other ends of the first folding rod 31 and the second folding rod 32 away from the second connecting member 33 are respectively connected to two pulleys 10 adjacent in the first direction through the first connecting member 50. When the ends of the first folding rod 31 and the second folding rod 32 away from the second connecting member 33 move toward each other, the support rod 40 and the pulley 10 can be driven to approach each other. When the ends of the first folding rod 31 and the second folding rod 32 away from the second connecting member 33 move away from each other, the pulley 10 and the support rod 40 can be driven to move away from each other.

[0046] See also Figure 2 and Figure 3 The connecting mechanism 20 further includes a mounting frame 60 , which is located between two adjacent support rods 40 and connects two adjacent foldable rods 30 .

[0047] The mounting frame 60 is provided with a second slide groove 61, and the length direction of the second slide groove 61 is consistent with the length direction of the mounting frame 60. In the present application, the length direction of the second slide groove 61 is the second direction. The second connecting member 33 includes a connecting portion 331 and a sliding portion 332 connected to one end of the connecting portion 331. The connecting portion 331 is rotatably connected to the first folding rod 31 and the second folding rod 32, and the sliding portion 332 is slidably matched with the second slide groove 61. When the sliding portion 332 slides in the second slide groove 61, the first folding rod 31 and the second folding rod 32 will rotate around the connecting portion 331 of the second connecting member 33, so that the first folding rod 31 and the second folding rod 32 move toward or away from one end of the connecting portion 331, so as to drive the pulley 10 to move toward or away from each other.

[0048] The second connecting member 33 further includes a supporting portion 333, which is connected to a side of the sliding portion 332 away from the connecting portion 331. The second sliding groove 61 passes through the mounting frame 60, and the supporting portion 333 is located outside the second sliding groove 61, that is, located at the bottom of the mounting frame 60, so as to support the mounting frame 60 and prevent the mounting frame 60 from slipping off the foldable rod 30.

[0049] The connection method between the connecting part 331, the sliding part 332 and the supporting part 333 is not limited. In the present application, the connecting part 331, the sliding part 332 and the supporting part 333 are integrally formed, which can not only ensure the overall strength of the second connecting member 33, but also save the subsequent fixing process.

[0050] In the illustrated embodiment, the structure of the first connecting member 50 is similar to that of the second connecting member 33, and also includes a connecting portion, a sliding portion and a supporting portion. The connecting portion of the first connecting member 50 is connected to the first folding rod 31 and the second folding rod 32 at one end away from the second connecting member 33, and the sliding portion of the first connecting member 50 is slidably matched with the first sliding groove 41. The supporting portion of the first connecting member 50 is located outside the first sliding groove 41, that is, at the bottom of the support rod 40, to support the support rod 40 so that there is a certain distance between the support rod 40 and the pulley 10.

[0051] Second slide grooves 61 are respectively provided at both ends of the mounting frame 60 . A second connecting member 33 is slidably mounted in each second slide groove 61 . Each second connecting member 33 is rotatably connected to a first folding rod 31 and a second folding rod 32 .

[0052] The mounting frame 60 is provided with a driving mechanism 70, which is connected to the sliding portion 332, and is used to drive the sliding portion 332 to slide along the length direction of the second slide groove 61, so as to drive the first folding rod 31 and the second folding rod 32 to move toward or away from each other at one end away from the connecting portion 331. By setting the driving mechanism 70 to control the movement of the foldable rod 30, the user does not need to operate manually, which is convenient for the user.

[0053] The specific manner in which the driving mechanism 70 drives the sliding part 332 is not limited, as long as it can drive the sliding part 332 to slide in the second sliding groove 61, for example, a combination of a gear and a rack or a combination of a screw rod 72 and a slider.

[0054] In the illustrated embodiment, the driving mechanism 70 includes a driving motor 71 and a screw rod 72 drivingly connected to the driving motor 71, and the screw rod 72 at least partially extends into the second slide groove 61. The sliding portion 332 is sleeved outside the screw rod 72 and threadedly engaged with the screw rod 72. When the screw rod 72 rotates under the drive of the driving motor 71, the sliding portion 332 is driven to perform linear motion along the axial direction of the screw rod 72, thereby achieving the effect of pushing the sliding portion 332 to move in the second slide groove 61.

[0055] The mounting frame 60 is provided with two spaced-apart limiting blocks 62, and the supporting portion 333 is located between the two limiting blocks 62. After the sliding portion 332 moves to abut against the limiting blocks 62, the sliding portion 332 can no longer move in this direction, so that the sliding portion 332 can only slide between the two limiting blocks 62, thereby preventing the sliding portion 332 from moving too long in a certain direction and causing damage to the connecting mechanism 20.

[0056] The connection mechanism 20 further includes four connection rods 80, which are connected end to end in a rotational manner to form a deformable quadrilateral structure 81, and the connection portions 331 of two adjacent connection rods 80 form the corners of the quadrilateral structure 81. The quadrilateral structure 81 is located between the foldable rod 30 and the mounting frame 60, and two opposite corners of the quadrilateral structure 81 are respectively connected to two adjacent second connection members 33 for rotational connection, and the other two opposite corners are respectively connected to two support rods 40 for rotational connection. By making two relative corners of the quadrilateral structure 81 rotatably connected to the connecting portion 331 of the second connecting member 33, and the other two relative corners rotatably connected to the middle of the support rod 40 through the rotating shaft 82, when the second connecting member 33 moves outward along the length direction of the second slide slot 61 under the drive of the driving motor 71, the second connecting member 33 will drive the corner connected thereto to move outward, and make the two connecting rods 80 forming the corner rotate toward each other, and finally make the two corners of the quadrilateral structure 81 connected to the second connecting member 33 move away from each other, while the two corners connected to the support rod 40 move toward each other. When the second connecting member 33 moves inward along the length direction of the second slide slot 61 under the action of the driving motor 71, the two corners of the quadrilateral structure 81 connected to the second connecting member 33 move toward each other, while the two corners connected to the support rod 40 move away from each other. The support rod 40 can not only move toward or away from each other under the action of the first folding rod 31 and the second folding rod 32, but also move toward or away from each other under the action of the quadrilateral structure 81, thereby enhancing stability during movement.

[0057] See also Figure 4 In another embodiment of the present invention, an electric vehicle 1 is provided, wherein a connection mechanism 20 includes a plurality of first telescopic rods 91 and second telescopic rods 92, wherein the first telescopic rods 91 are connected to two pulleys 10 adjacent to each other in a first direction, and the second telescopic rods 92 are connected to two pulleys 10 adjacent to each other in a second direction. The telescopic rods can change their lengths by telescoping, so that the spacing between two pulleys 10 adjacent to each other in the first direction of the electric vehicle 1 can be increased or decreased by telescoping the first telescopic rods 91, and the spacing between two pulleys 10 adjacent to each other in the second direction can be increased or decreased by telescoping the second telescopic rods 92, that is, the electric vehicle 1 can be telescoped in the first direction and the second direction.

[0058] In other embodiments, the electric vehicle 1 can also be telescopic only in the first direction or the second direction, that is, the connecting mechanism 20 includes a plurality of first telescopic rods 91 connecting two adjacent pulleys 10 in the first direction or a second telescopic rod 92 connecting two adjacent pulleys 10 in the second direction.

[0059] An embodiment of the present invention further provides a control method for an electric vehicle 1, wherein the electric vehicle 1 includes at least two of the following driving modes: a remote control driving mode, a follow-up driving mode, and an intelligent power-assisted driving mode. The electric wheel 11 is provided with a motor and a controller for controlling the motor. When the motor is working, it can provide power to the electric wheel 11 to rotate the electric wheel 11, thereby driving the electric vehicle to move. The controller is used to receive a control instruction, determine the current driving mode according to the control instruction, and control the motor to work in the current driving mode. Preferably, in the present application, the electric vehicle 1 includes a remote control driving mode, a follow-up driving mode, and an intelligent power-assisted driving mode.

[0060] By making the electric vehicle 1 include a plurality of driving modes, a plurality of options are provided to the user, so that the user can select a suitable driving mode according to actual conditions, which is convenient for the user to use.

[0061] The control instruction is a mode switching instruction. The controller switches to the corresponding target driving mode according to the mode switching instruction, receives corresponding driving control information in the target driving mode, and controls the driving trajectory of the electric vehicle 1 according to the driving control information.

[0062] When using the electric vehicle 1, the user can first send a mode switching instruction to the controller. The controller selects the driving mode the user wants, i.e., the target driving mode, according to the mode switching instruction, and then sends corresponding driving control information to the controller. The controller can then enable the electric vehicle 1 to move in the target driving mode.

[0063] The method for obtaining the mode switching instruction is not limited. In the present application, the mode switching instruction is an instruction obtained based on the operation of the mode switching button, that is, the user can select and switch among the various driving modes of the electric vehicle 1 by operating the mode switching button.

[0064] The electric vehicle 1 includes a remote control transmitter connected to the controller for communication. When the target driving mode is the remote control driving mode, the controller receives remote control instructions sent by the remote control transmitter and controls the speed and steering of the electric vehicle 1 according to the remote control instructions.

[0065] When the user selects the remote control driving mode, the user can send a remote control instruction to the controller through a remote control sending end such as a remote controller, and the controller can control the driving parameters of the electric vehicle 1 such as speed and steering according to the remote control instruction.

[0066] The electric vehicle 1 includes a distance sensor and an orientation sensor which are communicatively connected to the controller. When the target driving mode is the following driving mode, the distance sensor detects the distance information between the electric vehicle 1 and the target object, and the orientation sensor detects the orientation information between the electric vehicle 1 and the target object. The controller controls the motor to work according to the distance information and the orientation information so that the electric vehicle 1 follows the movement of the target object.

[0067] When the user selects the follow-up driving mode, the distance sensor and the orientation sensor will start working, and measure the distance and orientation information between the electric vehicle 1 and the target object, such as the user, by infrared, wireless or ultrasonic means, and then feed the distance information and orientation information back to the controller, and the controller can control the electric vehicle 1 to follow the target object. For example, when the distance between the electric vehicle 1 and the target object is too large or too small, the controller can control the motor to increase or decrease the output power accordingly to reduce or increase the distance between the electric vehicle 1 and the target object. When the angle between the electric vehicle 1 and the target object changes, the controller can control the electric vehicle 1 to turn. When the user does not need to use the electric vehicle 1, he can choose the follow-up driving mode to let the electric vehicle 1 automatically follow behind him, without the need for the user to push or carry it personally, which is convenient for the user to use.

[0068] The electric vehicle 1 includes an acceleration sensor that is communicatively connected to the controller. When the target driving mode is the intelligent power-assisted driving mode, the acceleration sensor detects acceleration information generated by the electric vehicle 1 after being subjected to external thrust. The controller controls the output power of the motor according to the acceleration information to provide assistance to the electric vehicle 1 in a proportional manner.

[0069] When the user selects the intelligent power-assisted driving mode, the user can first apply a thrust to the electric vehicle 1. After the electric vehicle 1 is subjected to the thrust, an instantaneous acceleration is generated. After the acceleration sensor detects the acceleration information, it is fed back to the controller. The controller can control the output power of the motor according to the acceleration information. When the instantaneous acceleration generated by the electric vehicle 1 after the thrust is large, the controller controls the motor to output a larger output power, thereby providing greater power assistance to the electric vehicle 1. When the instantaneous acceleration is small, the controller controls the motor to output a smaller output power, thereby providing less power assistance to the electric vehicle 1, that is, providing power assistance to the electric vehicle 1 in a proportional manner.

[0070] In some embodiments, the acceleration sensor can also detect whether the electric vehicle 1 is going uphill or downhill. When the electric vehicle 1 is going uphill, the controller controls the motor to increase the output power, thereby increasing the power assist provided to the electric vehicle 1. When the electric vehicle 1 is going downhill, the controller controls the motor to reduce the output power, thereby reducing the power assist provided to the electric vehicle 1.

[0071] The specific number of controllers is not limited, and may be one or more. That is, the multiple driving modes of the electric vehicle 1 may be controlled by one controller, or each driving mode may be controlled by one controller.

[0072] In another embodiment, the electric vehicle 1 does not need to select a driving mode first, and the controller can control the motor to operate in the corresponding driving mode according to the control instruction type.

[0073] The control instruction is a remote control instruction sent by the remote control end. According to the remote control instruction, the current driving mode is determined to be the remote control driving mode, and the speed and steering of the electric vehicle 1 are controlled according to the remote control instruction.

[0074] The control instruction is the detection information sent by the distance sensor and the azimuth sensor. The current driving mode is determined to be the following driving mode based on the detection information. The detection information includes the distance information between the electric vehicle 1 and the target object detected by the distance sensor, and the azimuth information between the electric vehicle 1 and the target object detected by the azimuth sensor. The controller controls the motor to work based on the distance information and the azimuth information so that the electric vehicle 1 follows the movement of the target object.

[0075] The control instruction is the acceleration information sent by the acceleration sensor after the electric vehicle 1 is subjected to external thrust. According to the acceleration information, the current situation mode is determined to be the intelligent power-assisted driving mode. The controller controls the output power of the motor according to the acceleration information to provide assistance to the electric vehicle 1 in a proportional manner.

[0076] The electric vehicle provided by the present invention can reduce the distance between adjacent pulleys in the first direction and the second direction when not in use, so as to reduce the overall volume of the electric vehicle when not in use, thereby facilitating the carrying and storage of the electric vehicle.

[0077] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. An electric vehicle, characterized in that: The invention comprises a plurality of pulleys and a connecting mechanism, at least one of the plurality of pulleys is a motorized wheel, the plurality of pulleys are arranged at intervals along a first direction and a second direction, the first direction and the second direction are perpendicular, and the connecting mechanism is connected between the plurality of pulleys and increases or decreases the interval between adjacent pulleys in the first direction and / or the second direction; The connecting mechanism includes a plurality of foldable rods, both ends of the foldable rods are respectively connected to two adjacent pulleys in the first direction, the connecting mechanism also includes a plurality of support rods and a first connecting member, the support rods connect two adjacent pulleys in the second direction, a first slide groove is penetrated through the end of the support rod close to the pulley, one end of the first connecting member is connected to the pulley, and the other end can movably pass through the first slide groove and then be connected to the foldable rod, the length direction of the first slide groove is consistent with the length direction of the support rod, and the first connecting member is slidably installed in the first slide groove and can move along the length direction of the first slide groove.

2. The electric vehicle according to claim 1, characterized in that: The foldable rod includes a first folding rod, a second folding rod and a second connecting member. The first folding rod and the second folding rod are rotatably connected via the second connecting member. One end of the first folding rod and the second folding rod away from the second connecting member are respectively connected to the two pulleys via the first connecting member.

3. The electric vehicle according to claim 2, characterized in that: The connecting mechanism also includes a mounting frame located between two adjacent support rods and connecting two adjacent foldable rods, the mounting frame is provided with a second slide groove, the second connecting member includes a connecting portion and a sliding portion connected to one end of the connecting portion, the connecting portion is rotatably connected to the first folding rod and the second folding rod, the sliding portion is slidably matched with the second slide groove, and a driving mechanism is installed on the mounting frame for driving the sliding portion to slide in the second slide groove to drive the first folding rod and the second folding rod to rotate toward or away from each other.

4. The electric vehicle according to claim 3, characterized in that: The driving mechanism includes a driving motor mounted on the mounting frame and a screw rod drivingly connected to the driving motor, wherein the screw rod is at least partially located in the second sliding groove, and the sliding portion is sleeved outside the screw rod and cooperates with the screw rod thread, so that the sliding portion can perform linear motion along the axial direction of the screw rod under the drive of the screw rod.

5. The electric vehicle according to claim 3, characterized in that: The second connecting member further includes a supporting portion connected to a side of the sliding portion away from the connecting portion, wherein the supporting portion is located outside the second sliding groove and supports the mounting bracket.

6. The electric vehicle according to claim 5, characterized in that: The mounting frame is provided with two spaced-apart limiting blocks, and the supporting portion is located between the two limiting blocks.

7. The electric vehicle according to claim 3, characterized in that: The connecting mechanism also includes four connecting rods, which are rotatably connected end to end in sequence to form a deformable quadrilateral structure, two opposite corners of the quadrilateral structure are rotatably connected to two adjacent second connecting members, and the other two opposite corners are rotatably connected to two adjacent support rods.

8. A control method for an electric vehicle according to claim 1, characterized in that: The electric vehicle includes at least two of the following driving modes: remote control driving mode, follow-up driving mode, and intelligent power-assisted driving mode. The electric wheel is provided with a motor and a controller for controlling the motor. The controller is used to receive control instructions, determine the current driving mode according to the control instructions, and control the motor to operate in the current driving mode.

9. The control method of the electric vehicle according to claim 8, characterized in that: The control instruction is a mode switching instruction. The controller switches to a corresponding target driving mode according to the mode switching instruction, receives corresponding driving control information under the target driving mode, and controls the driving trajectory of the electric vehicle according to the driving control information.

10. The control method of the electric vehicle according to claim 9, characterized in that: The mode switching instruction is an instruction obtained based on the operation of the mode switching button; The electric vehicle comprises a remote control transmitting end in communication with the controller, and when the target driving mode is the remote control driving mode, the controller receives a remote control instruction sent by the remote control transmitting end, and controls the speed and steering of the electric vehicle according to the remote control instruction; and / or, The electric vehicle comprises a distance sensor and an orientation sensor which are communicatively connected to the controller. When the target driving mode is the following driving mode, the distance sensor detects the distance information between the electric vehicle and the target object, and the orientation sensor detects the orientation information between the electric vehicle and the target object. The controller controls the motor to work according to the distance information and the orientation information, so that the electric vehicle follows the movement of the target object. and / or, The electric vehicle includes an acceleration sensor that is communicatively connected to the controller. When the target driving mode is the intelligent power-assisted driving mode, the acceleration sensor detects acceleration information generated by the electric vehicle after being subjected to external thrust. The controller controls the output power of the motor according to the acceleration information to provide assistance to the electric vehicle in a proportional manner.

11. The control method of an electric vehicle according to claim 8, characterized in that: The control instruction is a remote control instruction sent by a remote control sending end, the current driving mode is determined to be the remote control driving mode according to the remote control instruction, and the speed and steering of the electric vehicle are controlled according to the remote control instruction; and / or, The control instruction is detection information sent by a distance sensor and an orientation sensor, and the current driving mode is determined to be the following driving mode according to the detection information, the detection information includes distance information between the electric vehicle and the target object detected by the distance sensor, and orientation information between the electric vehicle and the target object detected by the orientation sensor, and the controller controls the motor to work according to the distance information and the orientation information, so that the electric vehicle follows the movement of the target object; and / or, The control instruction is acceleration information detected by an acceleration sensor and sent by the electric vehicle after being subjected to external thrust. Based on the acceleration information, it is determined that the current driving mode is an intelligent power-assisted driving mode. The controller controls the output power of the motor based on the acceleration information to provide assistance to the electric vehicle in a proportional manner.

12. The control method of an electric vehicle according to claim 10 or 11, characterized in that: The acceleration sensor can also detect whether the electric vehicle is on an uphill or downhill slope. When the electric vehicle is on an uphill slope, the controller controls the motor to increase the output power. When the electric vehicle is on a downhill slope, the controller controls the motor to reduce the output power.

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