Riding apparatus and riding control method

Abstract

The application discloses a riding equipment and a riding control method, and belongs to the technical field of the riding equipment, and aims to overcome the defects that the existing self-balancing electric vehicle is easy to lose control during steering. The riding equipment comprises a vehicle body, a controller, a front support installed at the front end of the vehicle body, a handle fixed on the front support, a front wheel installed on the front support, a rear wheel installed at the rear end of the vehicle body and a driving piece for driving the front support to steer, wherein the driving piece is connected with the controller; a posture detection device is arranged on the vehicle body and connected with the controller, and a holding detection device is arranged on the handle and connected with the controller. When the handle is held, the driving piece can avoid interfering with the steering of the riding equipment, the controllability of the steering of the riding equipment is improved, and the safety of the riding of the riding equipment is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of riding equipment, and relates to a riding equipment and a riding control method. BACKGROUND

[0002] Conventional riding equipment such as scooters, bicycles, and electric vehicles mostly adopts handlebar steering. Self-balancing two-wheeled electric vehicles have also appeared in the prior art. For example, a self-balancing intelligent two-wheeled electric vehicle is disclosed in Chinese Patent Literature CN115520310A, which has an electronic gyroscope horizontally arranged on a footrest of a vehicle frame, for measuring angular velocity and horizontal azimuth angle of the vehicle body and the like, and transmitting the information to a controller for processing, thereby controlling a permanent magnet motor to rotate and drive a rear wheel, and simultaneously controlling an intelligent flexible actuator to work, so as to control the front support and steering handle to steer, for adjusting the balance of the electric vehicle. A camera is further arranged to obtain obstacle information, for controlling the electric vehicle to slow down. When the electric vehicle controls the direction by manually controlling the steering handle, it will interfere with the flexible actuator controlling the steering. When the user holds the steering handle, the electric vehicle is prone to lose control, which is dangerous. SUMMARY

[0003] The present application proposes a riding equipment and a riding control method to overcome the defect that the steering of the existing self-balancing electric vehicle is prone to lose control.

[0004] The present application is implemented as follows:

[0005] A riding equipment, comprising a vehicle body, a controller, a front support mounted on a front end of the vehicle body, a handle fixed on the front support, a front wheel mounted on the front support, a rear wheel mounted on a rear end of the vehicle body, and a driving member for driving the front support to steer, wherein the driving member is connected with the controller.

[0006] The vehicle body is provided with a posture detection device connected with the controller, and the handle is provided with a holding detection device connected with the controller.

[0007] Preferably, the posture detection device comprises a speed control sensor and a steering control sensor. The speed control and steering control of the riding equipment are realized by the speed control sensor and the steering control sensor respectively. In other optional solutions, the posture detection device can also be a gyroscope, which is used to control the speed and steering of the riding equipment.

[0008] Preferably, the vehicle body comprises a fixed pedal, the speed control sensor comprises a first pressure sensor and a second pressure sensor arranged in front and back on the fixed pedal. The center of gravity of the human body can be controlled to adjust the speed, without the need for the foot to control any component swing, to improve the standing stability and make the speed control more relaxed.

[0009] Preferably, the vehicle body is provided with a swing pedal swingable forward and backward, and the speed control sensor comprises an angle sensor installed on the swing pedal. The angle sensor controls the speed of the riding device by detecting the inclination of the swing pedal.

[0010] Preferably, the steering control sensor is an inclination sensor or a gyroscope to detect the left and right inclination angle of the vehicle body.

[0011] Preferably, the holding detection device is a touch sensor or a light-sensitive sensor. This facilitates the switching between manual steering and electric steering.

[0012] Preferably, a vertical rod is fixed on the handle, the driving member is a steering motor, the steering motor comprises a stator and a rotor, the stator is fixed on the vehicle body, the upper end of the rotor is fixed on the vertical rod, and the lower end of the rotor is fixed on the front support. Reducing the transmission components between the steering motor and the front wheel, the steering operation of the handle can be more directly acted on the front support through the rotor, so that the operation is more labor-saving.

[0013] Preferably, a limiting rod is arranged on the rotor, an adjusting motor is arranged on the stator and connected with the controller, the motor shaft of the adjusting motor has a screw thread, a limiting piece is arranged on the motor shaft and threadedly matched with the motor shaft, and the limiting piece is matched with the limiting rod to limit the rotation angle of the stator. This facilitates safer riding.

[0014] A riding control method of a riding device, characterized in that the riding control method comprises a riding mode, and the riding control method in the riding mode comprises the following steps:

[0015] Detecting whether the user's hand is held on the handle through the holding detection device on the handle;

[0016] When the user's hand is held on the handle, the controller controls the driving member to be powered off;

[0017] When the user's hand is away from the handle, the controller controls the driving member to be powered on, when the steering control sensor detects that the vehicle body is inclined to the left, the controller controls the driving member to drive the front wheel to turn left, and when the steering control sensor detects that the vehicle body is inclined to the right, the controller controls the driving member to drive the front wheel to turn right;

[0018] When the first pressure sensor detects that the pressure value is greater than the second pressure sensor, the controller controls the riding device to move forward, and the greater the pressure difference, the faster the speed; when the first pressure sensor detects that the pressure value is equal to the second pressure sensor, the control driving wheel is powered off; when the first pressure sensor detects that the pressure value is less than the second pressure sensor, the controller controls the riding device to brake.

[0019] The riding control method comprises a following mode, detecting whether there is a person on the vehicle body through the first pressure sensor or the second pressure sensor; when there is a person on the vehicle body, the controller controls the riding device to enter a riding mode; when there is no person on the vehicle body, the controller controls the riding device to enter a following mode.

[0020] When the riding device is in the following mode, the riding device is connected with a mobile terminal through a wireless connection module, and the controller controls the riding device to move towards the mobile terminal according to the position of the mobile terminal.

[0021] When the riding device accelerates, the controller controls the adjusting motor to make the limiting part move towards the limiting rod; when the riding device decelerates, the controller controls the adjusting motor to make the limiting part move away from the limiting rod.

[0022] The riding device and the riding control method provided by the application can avoid the interference of the driving part on the turning of the riding device when the handle is held, improve the controllability of the turning of the riding device, and improve the safety of the riding of the riding device. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of an electric scooter;

[0024] Figure 2 It is Figure 1 It is an enlarged view of the local part A;

[0025] Figure 3 It is a partial structural schematic diagram of an electric scooter.

[0026] DESCRIPTION OF THE DRAWINGS: 100, vehicle body; 110, rear wheel; 120, first pressure sensor; 130, second pressure sensor; 200, front support; 210, front wheel; 300, handle; 310, holding detection device; 320, vertical rod; 321, fastening sleeve; 400, driving part; 410, stator; 420, rotor; 500, adjusting motor; 510, limiting part; 520, limiting rod. DETAILED DESCRIPTION

[0027] The specific embodiments described herein are intended to explain the application and not to limit the application. The scope of the application is defined by the appended claims.

[0028] This embodiment provides an electric scooter, which is a specific application of the innovative solution of the present invention on a scooter. In other optional embodiments, the innovative solution of the present invention can also be applied to riding devices such as electric bicycles.

[0029] like Figure 1 As shown, the electric scooter includes a body 100, a controller, a front bracket 200 installed at the front end of the body 100, a handle 300 fixed to the front bracket 200, a front wheel 210 installed on the front bracket 200, a rear wheel 110 installed at the rear end of the body 100, and a driving member 400 for driving the front bracket 200 to steer, the driving member 400 being connected to the controller; a posture detection device is provided on the body 100 and connected to the controller, and a grip detection device 310 is provided on the handle 300 and connected to the controller.

[0030] The controller is mounted on the body 100, which also houses a battery to power the various components of the scooter. The front bracket 200 and handlebars 300 can swing relative to the body 100, thereby controlling the swinging of the front wheel 210 relative to the body 100. The left and right swinging of the front wheel 210 controls the scooter's steering. In this embodiment, the rear wheel 110 is the driving wheel, equipped with a hub motor. The controller controls the rear wheel 110 to propel the scooter forward. In other alternative embodiments, the front wheel 210 can also serve as the driving wheel. The posture detection device is used to detect the left and right tilt of the body 100 and the position of the user. The grip detection device 310 is used to detect whether a person's hand is gripping the handlebars 300. When a person's hand is off the handlebars 300, the scooter's steering is controlled by detecting the left and right tilt of the body 100. Regardless of whether a person's hand is gripping the handlebars 300, acceleration and deceleration are controlled by detecting the user's position. In other optional embodiments, when a person's hand is gripping the handle 300, the scooter's acceleration and deceleration can be controlled by providing a Hall effect element on the handle 300, rather than by the posture detection device. When the grip detection device 310 detects that the person's hand is not gripping the handle 300, the controller de-energizes the driver 400 to prevent the driver 400 from interfering with the person's steering operation of the handle 300.

[0031] In this embodiment, the posture detection device includes a speed control sensor and a steering control sensor. The speed control sensor is used to control the speed of the scooter, and the steering control sensor is used to control the steering of the scooter. In other optional embodiments, the posture detection device can be a gyroscope. A swing pedal is mounted on the vehicle body 100 and swings back and forth relative to the vehicle body 100. The gyroscope is mounted on the swing pedal. The gyroscope can detect the left and right tilt of the vehicle body 100 to control the steering of the scooter, and can also be used to detect the swing angle of the swing pedal to control the acceleration and deceleration of the scooter. The user can control the acceleration and deceleration of the scooter by swinging the swing pedal back and forth with their feet.

[0032] like Figure 1 As shown, the scooter body 100 includes a fixed pedal, and the speed control sensor includes a first pressure sensor 120 and a second pressure sensor 130 located on the fixed pedal. The first pressure sensor 120 and the second pressure sensor 130 are arranged front to back. When standing on the scooter, the feet are placed front to back, with one foot resting on the first pressure sensor 120 and the other on the second pressure sensor 130. The pressure exerted by the two feet on the first pressure sensor 120 and the second pressure sensor 130 is adjusted by controlling the body's center of gravity. The controller controls the acceleration or deceleration of the scooter based on the pressure difference between the first and second pressure sensors 120 and 130. The greater the pressure difference between the first and second pressure sensors 120 and 130, the faster the scooter.

[0033] In other optional embodiments, the vehicle body 100 is provided with a swing pedal that can swing forward and backward, and the speed control sensor includes an angle sensor mounted on the swing pedal. The angle sensor may be a gyroscope that is used to simultaneously detect the forward and backward tilt of the swing pedal and the left and right tilt of the vehicle body 100. The vehicle speed is controlled by the forward and backward tilt of the swing pedal, and the steering is controlled by the left and right tilt of the vehicle body 100. In this case, the gyroscope also serves as a steering control sensor. In other optional embodiments, the speed control sensor and the steering control sensor may be independently provided by two gyroscopes. The steering control sensor may be an inclination sensor such as a level sensor that detects the tilt angle to detect the left and right tilt angle of the vehicle body.

[0034] Furthermore, the grip detection device 310 is a touch sensor. When a hand is gripped on the handle 300, the touch sensor can detect that the user is controlling the handle 300 with their hand. The touch sensor transmits a signal to the controller, which controls the driver 400 to stop working. After the driver 400 is powered off, the user can manually control the handle 300 more smoothly. In other optional embodiments, the grip detection device 310 can also be a through-beam photoelectric sensor. When the hand blocks light, the controller determines that the user is gripping the handle 300 and controls the driver 400 to stop working.

[0035] like Figures 1-3As shown, the handle 300 is fixed with a vertical rod 320, the driving member 400 is a steering motor, the steering motor includes a stator 410 and a rotor 420, the stator 410 is fixed on the vehicle body 100, the upper end of the rotor 420 is fixed on the vertical rod 320, and the lower end of the rotor 420 is fixed on the front support 200. The stator 410 has a magnetic steel, and the rotor 420 has a coil. The coil can rotate relative to the stator 410 after being electrified. The steering motor is a servo motor, and the pulse power provides current for the rotation of the steering motor and controls the information of the steering angle. The rotor 420 can be directly or indirectly fixedly connected with the vertical rod 320 and the front support 200. In the embodiment, the upper end of the rotor 420 is indirectly fixedly connected with the vertical rod 320 through a fastening sleeve 321. The fastening sleeve 321 is in interference fit with the vertical rod 320, and the rotor 420 is in interference fit with the fastening sleeve 321. The fastening sleeve 321 enables the vertical rod 320 with a larger inner diameter to be in contact with the rotor 420. The lower end of the rotor 420 is in interference fit with the front support 200. In other alternative embodiments, the rotor 420 can be in bolted fit with the vertical rod 320 and the front support 200. When the driving member 400 stops working, the steering force of the handle 300 can be transmitted to the front wheel 210 through the mutually fixed vertical rod 320, the driving member 400 and the front support 200. The transmission components such as belts, gears or connecting rods between the driving member 400 and the handle 300 are avoided, the force required for manual steering is reduced, and the steering operation is more labor-saving.

[0036] As shown in Figure 1 , 2 The stator 410 is provided with an adjusting motor 500 connected with the controller. The motor shaft of the adjusting motor 500 has a thread. The motor shaft is provided with a limiting piece 510 in thread fit with the motor shaft. The limiting piece 510 is in fit with a limiting rod 520 to limit the rotation angle of the stator 410. The rotation of the motor shaft can drive the limiting piece 510 to move, so that the limiting piece 510 can move away from or close to the limiting rod 520. The closer the limiting piece 510 is to the limiting rod 520, the smaller the swing angle of the front wheel 210. The controller controls the work of the adjusting motor 500 according to the vehicle speed, so that the closer the limiting piece 510 is to the limiting rod 520, the smaller the swing angle of the front wheel 210, and the riding safety is improved.

[0037] The riding control method of the scooter includes a riding mode. The riding control method in the riding mode includes the following steps:

[0038] Whether the user's hand is held on the handle 300 is detected by the holding detection device 310 on the handle 300.

[0039] When the user's hands hold the handle 300, the controller controls the drive 400 to be powered off, so that the steering of the scooter can be controlled by both hands, and manual steering can avoid interference of the drive 400, improve controllability of steering, and reduce the difficulty of operation. Especially when the steering or braking is needed in an emergency, the steering controlled by both hands can more accurately respond to the road conditions, improving the safety of riding.

[0040] When the user's hands are away from the handle 300, the controller controls the drive 400 to be powered on, and when the steering control sensor detects that the vehicle body 100 tilts to the left, the controller controls the drive 400 to drive the front wheel 210 to turn left, and when the steering control sensor detects that the vehicle body 100 tilts to the right, the controller controls the drive 400 to drive the front wheel 210 to turn right. In this way, the riding direction of the scooter can be controlled by the body swing, freeing the hands and making the riding more comfortable.

[0041] When the first pressure sensor 120 detects that the pressure value is greater than the second pressure sensor 130, the controller controls the scooter to move forward, and the greater the pressure difference, the faster the speed; when the first pressure sensor 120 detects that the pressure value is equal to the second pressure sensor 130, the drive wheel is controlled to be powered off; when the first pressure sensor 120 detects that the pressure value is less than the second pressure sensor 130, the scooter is controlled to brake. The user only needs to control the center of gravity of the body to control the pressure values of the first pressure sensor 120 and the second pressure sensor 130, and the feet can be stably stood on the vehicle body 100 without swinging the soles, making the operation more comfortable and the riding more safe.

[0042] The riding control method includes a follow-up mode, and whether there is a person on the vehicle body 100 is detected by the first pressure sensor 120 or the second pressure sensor 130; when there is a person on the vehicle body 100, the scooter is controlled to enter a riding mode; when there is no person on the vehicle body 100, the scooter is controlled to enter a follow-up mode;

[0043] When the scooter is in the follow-up mode, the scooter is connected with the mobile terminal through the wireless connection module, and the controller controls the scooter to move to the direction of the mobile terminal according to the position of the mobile terminal. In this way, the convenience of taking the vehicle can be improved.

[0044] Further, when the scooter accelerates, the controller controls the adjusting motor 500 to move the limiting part 510 to the direction close to the limiting rod 520; when the scooter decelerates, the controller controls the adjusting motor 500 to move the limiting part 510 to the direction away from the limiting rod 520. At a high speed, the front wheel 210 is prevented from turning too much, and the safety of riding is improved.

Claims

1. A riding control method for a riding device, characterized in that: The riding device comprises a vehicle body (100), a controller, a front bracket (200) mounted on the front end of the vehicle body (100), a handlebar (300) fixed to the front bracket (200), a front wheel (210) mounted on the front bracket (200), a rear wheel (110) mounted on the rear end of the vehicle body (100), and a driving member (400) for driving the front bracket (200) to turn, wherein the driving member (400) is connected to the controller; The vehicle body (100) is provided with a posture detection device connected to the controller, and the handle (300) is provided with a grip detection device (310) connected to the controller; The posture detection device includes a speed control sensor and a steering control sensor; The vehicle body (100) includes a fixed pedal, the speed control sensor includes a first pressure sensor (120) and a second pressure sensor (130) located on the fixed pedal, the first pressure sensor (120) and the second pressure sensor (130) being arranged front to back; The riding control method includes a riding mode, and the riding control method in the riding mode includes the following steps: detecting whether the user's hand is holding the handle (300) by means of a holding detection device (310) on the handle (300); When the user's hand holds the handle (300), the controller controls the driving member (400) to cut off power; When the user's hand leaves the handle (300), the controller controls the driving member (400) to be energized; when the steering control sensor detects that the vehicle body (100) is tilted to the left, the controller controls the driving member (400) to drive the front wheel (210) to turn left; when the steering control sensor detects that the vehicle body (100) is tilted to the right, the controller controls the driving member (400) to drive the front wheel (210) to turn right; When the first pressure sensor (120) detects a pressure value greater than that of the second pressure sensor (130), the controller controls the riding device to move forward, and the greater the pressure difference, the faster the speed; when the first pressure sensor (120) detects a pressure value equal to that of the second pressure sensor (130), the controller controls the driving wheel to cut off power; when the first pressure sensor (120) detects a pressure value less than that of the second pressure sensor (130), the controller controls the riding device to brake.

2. The riding control method of the riding device according to claim 1, characterized in that: A vertical pole (320) is fixed to the handle (300); the driving member (400) is a steering motor, and the steering motor comprises a stator (410) and a rotor (420); the stator (410) is fixed to the vehicle body (100); the upper end of the rotor (420) is fixed to the vertical pole (320); and the lower end of the rotor (420) is fixed to the front bracket (200); The rotor is provided with a limiting rod, the stator (410) is provided with an adjusting motor (500) connected to the controller, the motor shaft of the adjusting motor (500) has a thread, the motor shaft is provided with a limiting member (510) that cooperates with the motor shaft thread, and the limiting member (510) cooperates with the limiting rod (520) to limit the rotation angle of the stator (410); The riding control method includes a following mode, wherein a first pressure sensor (120) or a second pressure sensor (130) is used to detect whether there is a person on the vehicle body (100); when there is a person on the vehicle body (100), the riding device is controlled to enter the riding mode; when there is no person on the vehicle body (100), the riding device is controlled to enter the following mode; When the riding device is in the follow mode, the riding device is connected to the mobile terminal through the wireless connection module, and the controller controls the riding device to move toward the mobile terminal according to the position of the mobile terminal; When the riding device accelerates, the controller controls the regulating motor (500) so that the limiting member (510) moves in a direction approaching the limiting rod (520); when the riding device decelerates, the controller controls the regulating motor (500) so that the limiting member (510) moves in a direction away from the limiting rod (520).

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