Electric balance car

Abstract

The invention provides an electric balance car which comprises a car body. The first pedal and the second pedal are oppositely arranged and rotatably mounted on the vehicle body; the first wheel is rotatably mounted on the first pedal; the second wheel is rotatably mounted on the second pedal; a power supply; a control circuit including a first control unit controlling the first wheel and a second control unit controlling the second wheel; the first sensor is configured to detect rotation information of the first pedal relative to the vehicle body, and at least one part of the first sensor is located on the first pedal; the second sensor is configured to detect rotation information of the second pedal relative to the vehicle body, and at least one part of the second sensor is located on the second pedal; and the third sensor is configured to detect rotation information of the vehicle body relative to the ground. The whole balance car body is stable, compared with a traditional left-right twisting type swing car, the balance car is not provided with a small and fragile part of a middle shaft, the problem that the middle shaft of the swing car is prone to being damaged or even falling off is solved, and safety is improved; the system control of the balance car is simpler, and the car body response is more sensitive.

Description

Technical Field

[0001] The invention belongs to the field of balancing vehicles, and in particular relates to an electric balancing vehicle. Background Art

[0002] Balance bikes, also called somatosensory bikes and thinking bikes, are mainly available in two types on the market: unicycles and two-wheelers. Their operating principle is based on a basic principle called "dynamic stability". They use the gyroscope and acceleration sensor inside the vehicle to detect changes in the vehicle's posture, and use the servo control system to accurately drive the motor to make corresponding adjustments to maintain the balance of the system.

[0003] The structure of a two-wheeled balancing vehicle usually includes a vehicle body, and the rider steps on the vehicle body. Wheels are connected on both sides of the vehicle body, and an electronic gyroscope, an electronic acceleration sensor and a controller are installed in the vehicle body, which detects the forward and backward tilt of the vehicle body to achieve the forward and backward movement of the vehicle body. In order to achieve the turning of the vehicle body, a handle is usually set vertically on the vehicle body, and the steering of the vehicle body is controlled by rotating the handle left and right. However, the handle greatly increases the occupied space of the balancing vehicle, which is not convenient for transportation or storage. A twisting vehicle without a handle has also appeared on the market. It divides the vehicle body into two parts that can rotate relatively left and right, and detects the inclination of the left second pedal respectively through two sets of inertial units (usually electronic gyroscopes and acceleration sensors), and controls the operation of the two wheels to achieve steering. However, the left second pedal is connected by a rotating shaft, which is not only complicated in structure, but also greatly reduces the strength of the frame. Because the middle shaft is subjected to a large torque, it is easy to cause a failure of inflexible rotation after long-term use, and even the middle shaft falls off. Summary of the invention

[0004] The present invention aims to solve the technical problem that the central axis of the existing twisting vehicle is easily damaged, and proposes an electric balancing vehicle with a compact and stable overall structure.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] An electric balancing vehicle, comprising:

[0007] Vehicle body;

[0008] A first pedal and a second pedal are arranged opposite to each other and are rotatably mounted on the vehicle body;

[0009] a first wheel rotatably mounted on the first pedal and a second wheel rotatably mounted on the second pedal;

[0010] power supply;

[0011] A control circuit comprising a first control unit for controlling the first wheel and a second control unit for controlling the second wheel;

[0012] a first sensor configured to detect rotation information of the first pedal relative to the vehicle body and at least a portion of which is located on the first pedal, and a second sensor configured to detect rotation information of the second pedal relative to the vehicle body and at least a portion of which is located on the second pedal; and a third sensor configured to detect rotation information of the vehicle body relative to the ground;

[0013] wherein the rotation information detected by the third sensor is configured to be transmitted to the first control unit and the second control unit simultaneously;

[0014] The rotation information detected by the first sensor is configured to be transmitted only to the first control unit and the rotation information detected by the second sensor is configured to be transmitted only to the second control unit.

[0015] Preferably, the first sensor and the second sensor are one or both of a potentiometer, a magnetic encoder, a photoelectric encoder or a linear Hall sensor.

[0016] Preferably, the first sensor comprises a magnet and a Hall plate, wherein the magnet is mounted on the first pedal and the Hall plate is mounted on the vehicle body; or the Hall plate is mounted on the first pedal and the magnet is mounted on the vehicle body;

[0017] The second sensor includes a magnet and a Hall plate, wherein the magnet is mounted on the second pedal and the Hall plate is mounted on the vehicle body; or the Hall plate is mounted on the second pedal and the magnet is mounted on the vehicle body.

[0018] Compared with the prior art, the advantages and positive effects of the present invention are:

[0019] 1. The electric balance vehicle of the present invention comprises a vehicle body, a first pedal and a second pedal. The vehicle body is an integrated structure, and the connection structure between the first pedal and the second pedal and the vehicle body is arranged below the pedal. The vehicle body of this structure is relatively stable as a whole, and compared with the traditional left-right twisting vehicle, there is no small and fragile part of the middle shaft, which avoids the problem that the middle shaft of the twisting vehicle is easily damaged or even falls off, and improves safety.

[0020] 2. The axle of the wheel is fixed on the pedal, and the pressure of the person's feet acts directly on the motor shaft through the pedal. Therefore, people of different weights do not need to set different spring strengths. The same spring strength can ensure that people of all weights can turn smoothly, avoiding the limitation of the user's weight due to the strength of the elastic body of the balance car.

[0021] 3. The vehicle body is symmetrically arranged on the left and right sides, and can be ridden both forward and backward, which increases the fun of use.

[0022] 4. The new type of balance car has a compact overall structure, a lowered center of gravity, and is easy to control.

[0023] 5. The first sensor detects the rotation information of the first pedal relative to the vehicle body, the second sensor detects the rotation information of the second pedal relative to the vehicle body, and the third sensor detects the rotation information of the vehicle body relative to the ground, and the control unit processes and controls the signals separately, thereby making the system control of the balance vehicle simpler and the vehicle body response more sensitive. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A three-dimensional diagram of the electric balancing vehicle of the present invention;

[0025] Figure 2 A partial exploded view of the electric balancing vehicle of the present invention;

[0026] Figure 3 This is a front view of the electric balancing vehicle of the present invention;

[0027] Figure 4 A top view of the electric balancing vehicle of the present invention;

[0028] Figure 5 for Figure 4 Section view in the AA direction;

[0029] Figure 6 for Figure 4 Partial cross-sectional view in the middle BB direction;

[0030] Figure 7 This is an electric control relationship diagram of the electric balancing vehicle of the present invention;

[0031] In the above figures: 1. pedal; 11. first pedal; 12. second pedal; 13. pedal fixing frame; 14. vehicle body fixing frame; 15. raised portion; 16. switch mounting hole; 17. rotating shaft; 2. vehicle body; 21. handle; 3. wheel; 31. wheel body; 32. axle; 321. axle hole; 33. axle fixing piece; 331. fixing plate; 332. center groove; 333. connecting bolt; 4. elastic device; 41. spring fixing frame; 411. fixing frame plate; 412. fixing frame column; 42. spring; 5. main control board; 51. angle sensor; 511. magnet frame; 512. magnet; 513. Hall plate frame; 514. Hall plate; 6. power-off switch; 61. raised portion; 62. elastic skirt; 7. battery pack. DETAILED DESCRIPTION

[0032] In order to better understand the present invention, a detailed description is given below in conjunction with the accompanying drawings and embodiments.

[0033] Example:

[0034] In the description of the present invention, it should be noted that the wheel axis of the self-balancing vehicle is the left-right direction, the direction of the self-balancing vehicle moving forward is the front-back direction, and the terms "front", "rear", "left", "right", etc. indicate the position or position relationship based on the position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0035] like Figure 1-Figure 5 As shown, an electric balancing vehicle comprises a pedal 1 and a vehicle body 2. The pedal 1 is divided into two parts, namely a first pedal 11 and a second pedal 12. The first pedal 11 and the second pedal 12 are rotatably mounted on the vehicle body 2. An elastic device 4 is connected between the first and second pedals 11, 12 and the vehicle body 2. Wheels 3 are mounted on the outer sides of the first and second pedals 11, 12, and a hub motor is mounted inside the wheel 3.

[0036] The vehicle further comprises a driving system, the driving system comprising a power source, a controller and a sensor. The controller comprises a first control unit for controlling the first wheel and a control circuit for controlling the second control unit for controlling the second wheel; the sensor comprises a first sensor configured to detect rotation information of the first pedal relative to the vehicle body and at least a part of which is located on the first pedal, a second sensor configured to detect rotation information of the second pedal relative to the vehicle body and at least a part of which is located on the second pedal, and a third sensor configured to detect rotation information of the vehicle body relative to the ground.

[0037] Among them, the rotation information detected by the third sensor is configured to be transmitted to the first control unit and the second control unit at the same time, the rotation information detected by the first sensor is configured to be transmitted only to the first control unit, and the rotation information detected by the second sensor is configured to be transmitted only to the second control unit.

[0038] The first sensor and the second sensor can be a potentiometer, a magnetic encoder, a photoelectric encoder or a linear Hall sensor. In this embodiment, the first sensor and the second sensor are both linear Hall sensors, and the third sensor includes an electronic gyroscope and an acceleration sensor. The specific first sensor includes a magnet and a Hall plate, the magnet is mounted on the first pedal, and the Hall plate is mounted on the vehicle body. Of course, the Hall plate can also be mounted on the first pedal, and the magnet is mounted on the vehicle body. Similarly, the second sensor includes a magnet and a Hall plate, the magnet is mounted on the second pedal, and the Hall plate is mounted on the vehicle body; or the Hall plate is mounted on the second pedal, and the magnet is mounted on the vehicle body.

[0039] Specifically, a magnet frame 511 is installed at one end of the first pedal 11 close to the second pedal 12, and a ring magnet 512 is installed on the magnet frame 511. The ring surface of the ring magnet 512 is arranged parallel to the ring surface of the wheel 3. When the ring magnet 512 is magnetized, it is divided into two parts along the diameter, half of which is the N pole and the other half is the S pole. When installed, the N pole and the S pole are respectively located at the front and rear sides, so that the magnetic flux lines are horizontally directed from the N pole to the S pole. A Hall plate frame 513 is installed on the vehicle body 2, and a Hall plate 514 is installed on the Hall plate frame 513. The Hall plate 514 is electrically connected to the main control board 5, powered by a power supply, and transmits the output voltage to the controller. When the first pedal 11 rotates relative to the vehicle body 2, the ring magnet 512 rotates with the first pedal 11, and the Hall plate 514 rotates a certain angle driven by the vehicle body 2, and the detection surface of the Hall plate 514 will be close to the S pole or the N pole accordingly, and the magnetic field strength changes. According to the characteristics of the Hall sensor, its output voltage will increase or decrease accordingly, and the controller converts the voltage change into a drive signal to control the forward or reverse rotation, acceleration or deceleration of the left and right wheel hub motors, thereby realizing the steering of the balance vehicle. The structure of the second pedal 12 is the same as that of the first pedal 11, and will not be repeated. The annular magnet 512 can also be replaced by two bar magnets 512 placed opposite to each other, and the N poles and S poles of the two bar magnets 512 are placed opposite to each other, and the Hall plate 514 is inserted into the space between the two bar magnets 512.

[0040] The wheel 3 includes a wheel body 31 and an axle 32. The axle 32 is installed on the bottom surface of the first and second pedals 11 and 12 through an axle fixing member 33, and the wheel body 31 extends to both sides of the pedal 1. The axle fixing member 33 includes a fixing plate 331. A central groove 332 is provided in the middle of the fixing plate 331, and 2-4 connecting bolts 333 are provided at the four corners of the fixing plate 331. During installation, the axle 32 is placed in the central groove 332, and then four connecting bolts 333 are fixed on the first and second pedals 11 and 12. The axle 32 is provided with an axial hole 321 in the axial direction, and the power line for supplying power to the hub motor in the wheel 3 can pass through the axial hole 321 to reach the wheel 3, reducing external wiring, and can well protect the line and avoid line damage.

[0041] The first and second pedals 11 and 12 are both rotatably mounted on the vehicle body 2, and the rotation direction is consistent with the rotation direction of the wheel 3. A pedal fixing frame 13 is fixed to the bottom surface of the first and second pedals 11 and 12, and a rotating shaft 17 is fixedly mounted on the vehicle body 2. Both ends of the rotating shaft 17 are inserted into the pedal fixing frame 13 to realize the rotatable connection between the pedal 1 and the vehicle body 2. In this embodiment, for the convenience of assembly and processing, a pedal fixing frame 13 is installed on the bottom surface of the first and second pedals 11 and 12, and the pedal fixing frame 13 includes two protrusions 15 on the left and right, and a vehicle body fixing frame 14 is installed on the vehicle body 2. The vehicle body fixing frame 14 includes a protrusion 15, and the rotating shaft 17 is inserted into the protrusions 15 of the pedal fixing frame 13 and the vehicle body fixing frame 14 to form a rotatable structure connecting the pedal 1 and the vehicle body 2. A groove is provided on the pedal fixing frame 13 for power lines and other lines to pass through.

[0042] The middle axis of the traditional twisting car is located between the first and second pedals 11 and 12, and there is a certain distance between the feet of the person and the rotating shaft 17, which causes the middle axis to be subjected to a relatively large torque. Therefore, the machining accuracy of the middle axis is very high. In actual applications, the middle axis is often stuck and the rotation is not flexible. In this embodiment, the rotating shaft 17 between the pedal 1 and the vehicle body 2 is located directly below the pedal 1, the torque is very small, and the machining accuracy of the rotating shaft 17 is relatively low, which improves product safety and reduces product production costs.

[0043] The elastic device 4 includes a spring fixing frame 41 and a spring 42 mounted on the spring fixing frame 41. The elastic device 4 supports the pedal 1, so that the pedal 1 can rotate freely on the vehicle body 2 and can be reset in time when no external force is applied. The elastic device 4 can also be set as other elastic bodies other than the spring 42, such as elastic rubber; it can also be installed between the pedal 1 and the vehicle body 2 using other structures, such as setting an elastic body sleeve on the pedal 1 and the vehicle body 2, and installing the elastic body in the sleeve.

[0044] In this embodiment, a set of elastic devices 4 are provided on both the first pedal 11 and the second pedal 12. The elastic devices 4 include a spring fixing frame 41. The spring fixing frame 41 includes a fixing frame plate 411. Two fixing frame columns 412 are provided on the fixing frame body 2. A spring 42 is mounted on each fixing frame column 412. The fixing frame plate 411 is installed on the body 2 by screws, so that the spring 42 is located below the left corners of the first pedal 11, and provides support force to the first pedal 11 in the front-to-back direction. Two sets of elastic devices 4 can also be provided as needed, so that springs 42 are provided at the four corners of the first pedal 11.

[0045] The first and second pedals 11 and 12 are provided with switch mounting holes 16, and a power-off switch 6 is installed in the switch mounting holes 16. The power-off switch 6 is used to detect whether the rider's feet are both on the pedal 1. The wheel hub motor starts to rotate only after both feet are on the pedal 1, so that the rider can get on and off the vehicle easily. The power-off switch 6 can be set to one for each of the first and second pedals 11 and 12, or multiple switches can be set as needed. The power-off switch 6 can be an infrared photoelectric switch or an ultrasonic induction switch. Figure 6 As shown, the power-off switch 6 of this embodiment includes an elastic body and a Hall plate 514. The elastic body is provided with a protruding column 61. The protruding column 61 is connected with an elastic skirt 62 around. The edge of the elastic skirt 62 is installed in the switch mounting hole 16. A magnet is installed on the elastic body. The Hall plate 514 is installed at the bottom of the switch mounting hole 16. When the rider's feet stand on the first and second pedals 11 and 12, the elastic body is pressed downward. At this time, the magnet moves toward the direction close to the Hall plate 514. The Hall plate 514 is electrically connected to the controller. At this time, the voltage of the Hall plate 514 changes. The controller controls the hub motor to be powered on according to the change of the signal, and the balance car starts to operate normally. When the rider wants to get off the car, one of the feet leaves the pedal 1, the magnet is away from the Hall plate 514, and the controller determines that the rider gets off the car. At this time, the hub motor stops running. The setting of the power-off switch 6 avoids the problem in the prior art that the wheel hub motor is started immediately after the power is turned on in the balancing vehicle, and the wheel 3 on the side of the balancing vehicle immediately starts to rotate when one foot of the balancing vehicle stands on the pedal 1, causing the vehicle body to spin and making it difficult for the rider to get on the vehicle, thereby improving safety. The switch structure of the Hall plate 514 combined with the magnet has high detection reliability and is not easy to be damaged compared to the infrared photoelectric switch.

[0046] In order to facilitate carrying the balancing vehicle, a handle 21 is also provided on the vehicle body 2. The handle 21 can be formed by directly opening a hole on the vehicle body 2 to form an integrated handle, or an external handle can be installed outside the vehicle body 2 or the handle can be directly cast when the vehicle body 2 is formed. Compared with the existing first and second pedals 11 and 12 twisting type balancing vehicle, the handle 21 is provided on the pedal 1 on one side. When the handle 21 is lifted, the other pedal 1 will twist, which is easy to squeeze the hand. The body 2 of the balancing vehicle described in this embodiment is an integrated structure, which avoids the problem of squeezing and is easy to carry.

[0047] The power source is configured as a battery pack 7, which is mounted on the vehicle body 2, specifically between the first and second pedals 11 and 12, making full use of the limited space on the pedal 1, so that the entire pedal 1 has a compact structure. The battery pack 7 includes a battery box, in which the lithium battery is mounted, and the battery modularization facilitates maintenance and can well protect the battery.

[0048] Figure 7This is the electric control relationship diagram of the new type of balancing vehicle in this embodiment. As shown in the figure, the controller can be logically divided into a first control unit and a second control unit. In terms of electrical connection, the signal of the third sensor is transmitted to the first control unit and the second control unit of the controller at the same time, and the rotation information detected by the first sensor is configured to be transmitted only to the first control unit and the rotation information detected by the second sensor is configured to be transmitted only to the second control unit, that is, the first and second control units separately control the wheel hub motors in the left and right wheels 3. Therefore, the control of the two wheels 3 is more precise and the steering is sensitive.

[0049] Before the balancing car is turned on, it will naturally tilt forward and backward. After it is turned on, before the person stands on the pedal 1, the third sensor fixed on the body 2 will measure the inclination angle between the body 2 and the horizontal plane of the ground, and send this angle information to the controller. If the angle value is not zero at this time, the controller will drive the motor to rotate in the corresponding direction, that is, the wheel hub motor and the motor shaft will produce relative rotation. Since the motor shaft is connected to the pedal 1 and the body 2, the rotation of the motor shaft will drive the pedal 1 and the body 2 to rotate, and finally the body 2 reaches a position relative to the bottom surface, that is, the relative angle between the body 2 and the horizontal plane of the ground returns to zero. The balancing car can keep the body level by itself, which is convenient for the rider to get on the car.

[0050] When the body 2 of the self-balancing vehicle returns to being relatively parallel to the ground, people can ride on the vehicle. When the person's feet stand on the two pedals 1, the controller receives the signal change of the power-off switch 6 on the first pedal 11 and the second pedal 12, that is, it determines that the feet are on the vehicle, and then starts the hub motor to enter the riding state. The rider can force the pedal 1 to rotate around the vehicle body 2. The rotation process will compress the elastic device 4 located on the bottom surface of the first and second pedals 11 and 12, and at the same time drive the vehicle body 2 to tilt forward and backward to a certain extent. After the controller receives these three angle signals, it will drive the corresponding motor to rotate in the corresponding direction, thereby realizing the forward, backward, left turn, and right turn of the entire self-balancing vehicle.

[0051] The following describes in detail how the rider moves forward, backward and turns. Here we define the output angle of the inertial sensor as positive when the vehicle body 2 tilts forward and negative when it tilts backward, set as A. When the pedal 1 rotates forward relative to the vehicle body 2, the output of the angle sensor 51 is positive, and when it rotates backward, it is negative. Let the left sensor output be BL and the right sensor output be BR. The angle information obtained by the first control unit is TL=A+BL, and the angle information obtained by the second control unit is TR=A+BR. The left second control unit will drive the motor hub to rotate in different directions according to the obtained angle information. When TL (or TR) is a positive number, it rotates forward, and when it is a negative number, it rotates backward.

[0052] Forward state: When a person wants to move forward, according to the walking habits and ergonomics, the person will press the pedal 1 forward with both feet at the same time, then BL and BR are both positive numbers, and the pedal 1 will press the vehicle body 2 forward through the elastic device 4, then A is a positive number. It can be seen that TL>0, TR>0, then it can be seen that the controller will drive both the left and right wheels 3 to rotate forward, so that the balance vehicle is always in dynamic balance.

[0053] Reverse state: The principle of the reverse state is the same as that of the forward state, except that TL<0, TR<0, and wheel 3 rotates backward.

[0054] Turning left: According to people's walking habits, when turning left, people will naturally lift the forefoot of the left foot slightly and press the heel down, and at the same time press the forefoot of the right foot down and lift the heel slightly. It can be seen that BL<0, BR>0 at this time. The vehicle body 2 is basically not tilted because it is in a state of being pressed one front and one back on the left and right sides, so A=0 can be considered. It can be seen that the left motor hub is rotating backwards and the right motor hub is rotating forwards, thus achieving the purpose of turning left.

[0055] Turn right: The principle of turning right is the same as that of turning left, except that BL>0 and BR<0. It should be added that turning left or right does not necessarily require "BL>0 and BR<0" or "BL<0 and BR>0", as long as the differential conditions are met, the turn can be achieved.

[0056] The new type of balancing car described in this embodiment includes a first pedal 11, a second pedal 12 and a car body 2, the car body 2 is an integrated structure, and the rotating shaft 17 between the first pedal 11, the second pedal 12 and the car body 2 is arranged below the pedal 1. The car body of this structure is relatively stable as a whole, and compared with the traditional left-right twisting twisting car, there is no relatively small and fragile part of the middle shaft, which avoids the problem that the middle shaft of the twisting car is easily damaged or even falls off, and the safety is improved. The axle of the wheel 3 is fixed on the pedal 1, and the pedal 1 is connected to the car body 2 through the elastic device 4. The pressure of the feet of the person directly acts on the motor shaft through the pedal 1. The elastic device 4 does not need to support the weight of the human body, so people of different weights do not need to set different spring strengths. The same spring strength can ensure that people of all weights can turn smoothly, avoiding the limitation of the weight of the user on the balancing car due to the strength of the elastic body. Its body is arranged symmetrically on the left and right, and can be ridden forward and backward, which increases the fun of use.

[0057] The new type of balancing vehicle has a compact overall structure, a lowered center of gravity, and is easy to control. Its internal structure is simplified, the number of parts is greatly reduced, and only one set of inertial sensors is required, which reduces the manufacturing cost. The vehicle body is thinner, which can increase the ground clearance and improve the passability. The vehicle body is reduced in size and weight, making it easier to carry and transport.

[0058] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. An electric balancing car, It is characterized in that include: Vehicle body; A first pedal and a second pedal are arranged opposite to each other and are rotatably mounted on the vehicle body; a first wheel rotatably mounted on the first pedal and a second wheel rotatably mounted on the second pedal; power supply; A control circuit comprising a first control unit for controlling the first wheel and a second control unit for controlling the second wheel; a first sensor configured to detect rotation information of the first pedal relative to the vehicle body and at least a portion of which is located on the first pedal, and a second sensor configured to detect rotation information of the second pedal relative to the vehicle body and at least a portion of which is located on the second pedal; and a third sensor configured to detect rotation information of the vehicle body relative to the ground; wherein the rotation information detected by the third sensor is configured to be transmitted to the first control unit and the second control unit simultaneously; The rotation information detected by the first sensor is configured to be transmitted only to the first control unit and the rotation information detected by the second sensor is configured to be transmitted only to the second control unit.

2. The electric balance vehicle according to claim 1, Features: The first sensor and the second sensor are one or both of a potentiometer, a magnetic encoder, a photoelectric encoder or a linear Hall sensor.

3. The electric balance vehicle according to claim 1, Features: The first sensor includes a magnet and a Hall plate, wherein the magnet is mounted on the first pedal and the Hall plate is mounted on the vehicle body; or the Hall plate is mounted on the first pedal and the magnet is mounted on the vehicle body; The second sensor includes a magnet and a Hall plate, wherein the magnet is mounted on the second pedal, and the Hall plate is mounted on the second vehicle body; Alternatively, the Hall plate is mounted on the second pedal, and the magnet is mounted on the second vehicle body.

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