Pedal vehicle control method and electric roller skate

Abstract

According to the pedal vehicle control method and the electric roller skate, driving control over the pedal vehicle during the period of leaving the ground and the period of grounding is achieved through the electronic gyroscope and left-right swing of the human body, and the human body can control the pedal vehicle more conveniently and effectively.

Description

Technical Field

[0001] This application relates to the field of vehicle and equipment control, specifically a method for controlling a pedal-powered vehicle and electric roller skates. Background Technology

[0002] There are various types of transportation vehicles. One type, electric vehicles, involves the user standing on each foot and moving on it. In this application, we refer to these as pedal-powered vehicles, such as electric roller skates and electric balance scooters. These vehicles have two parts, one for each foot, which are placed under the user's left and one for each foot. Due to their small size, light weight, and flexible use, they bring convenience and enjoyment to people's lives. These pedal-powered vehicles rely on the user's left and right feet touching the ground simultaneously or alternately for operation. During use, different operating states are required for the pedals to operate when the user's feet are on the ground and when they are off the ground. Specifically, when one foot is off the ground, the driving force output of that side of the pedals needs to be reduced to prevent idle running and potential loss of speed, waste, and danger. Conversely, when the foot is on the ground, the foot on the grounded side needs sufficient driving force to maintain stable operation. Existing technology addresses the control of the alternating grounding and lifting of the two parts of such vehicles. Limited technology exists in the current control methods. One approach involves installing a pressure switch on the pedal vehicle. When the user's foot lifts the vehicle off the ground, the pressure switch changes its on / off state, outputting a signal that controls the vehicle's operation between ground and off-ground states via a controller. Another approach uses a pressure sensor. When the user's foot lifts the vehicle off the ground, the sensor's elastic component detects the pressure change and outputs a signal that controls the vehicle's operation via a controller. For example, the patent application "Electric Roller Skating Control Method and Electric Roller Skating System" by the same applicant (application number 2020100595845) uses a pressure sensor for detection and control. Yet another method uses a handheld remote control knob to send a signal to the controller, thus controlling the pedal vehicle's operation between ground and off-ground states, as in the US patent application WEARABLE. MOBILITY DEVICE (Publication No. 20190374846): Pressure switches, pressure sensors, and handheld remote controls suffer from friction damage between mechanical parts and relatively low signal accuracy during use. Vibrations from ground contact during pedal vehicle use can cause incorrect output signals. Furthermore, they all require space for installation. Handheld remote controls cannot simultaneously control one pedal vehicle with its left foot off the ground and the other with its foot on the ground, or even control any pedal vehicle to operate off the ground. This prevents existing pedal vehicles from traversing ditches and obstacles. Additionally, the timing of the human-operated remote control and the pedal vehicle's cyclical lifting and lowering of the ground is difficult to coordinate accurately and effectively. These problems hinder the widespread use of pedal vehicles and therefore require improvement. Summary of the Invention

[0003] The purpose of this application is to provide a method for controlling a pedal vehicle and electric roller skates, which uses an electronic gyroscope and the left and right swing of the human body to achieve drive control of the pedal vehicle during its off-ground and ground-level periods, so that the human body can more conveniently and effectively control and use the pedal vehicle.

[0004] A method for controlling a pedal-powered vehicle, wherein the pedal-powered vehicle is electrically driven and includes an electric grounding device, a foot fixing device, a controller, and a power supply. The controller is electrically connected to both the electric grounding device and the power supply. The foot fixing device is used to fix the pedal-powered vehicle to the foot of a human body. The pedal-powered vehicle includes a first foot pedal and a second foot pedal. The first foot pedal is fixed to the left foot of the human body by the foot fixing device, and the second foot pedal is fixed to the right foot of the human body by the foot fixing device. The first foot pedal and the second foot pedal each include an electric grounding device. The controller of the pedal-powered vehicle is equipped with an electronic gyroscope, which is positioned at one of the various parts of the human body. During the use of the pedal-powered vehicle, the human body swings left and right along the left and right direction. The electronic gyroscope detects the left and right swing and outputs a signal to control the operation of the electric grounding devices of the first foot pedal and the second foot pedal through the controller.

[0005] In the above-mentioned control method for pedal-powered vehicles, the control of the electric grounding devices of the first and second pedal parts is as follows: the electronic gyroscope detects the left and right swing of the human body and generates a signal output to the controller. When the human body swings to the right, the electronic gyroscope outputs a signal to the controller to control the electric grounding device of the first pedal part to decelerate. When the human body swings to the left, the electronic gyroscope outputs a signal to the controller to control the electric grounding device of the second pedal part to decelerate.

[0006] In the above-mentioned control method for pedal-powered vehicles, the control of the electric grounding devices of the first and second pedal parts is as follows: the electronic gyroscope detects the left and right swaying of the human body and generates a signal output to the controller. When the human body is detected to be swaying to the right, the electronic gyroscope outputs a signal to the controller to control the electric grounding device of the first pedal part to decelerate, while simultaneously controlling the electric grounding device of the second pedal part to accelerate. When the human body is detected to be swaying to the left, the electronic gyroscope outputs a signal to the controller to control the electric grounding device of the second pedal part to decelerate, while simultaneously controlling the electric grounding device of the first pedal part to accelerate.

[0007] The electronic gyroscope is a multi-axis electronic gyroscope or multiple single-axis electronic gyroscopes. The electronic gyroscope is configured to detect different axes. The electronic gyroscope is configured to detect the left-right swing of the human body using one axis and the human body's forward-backward pitch using the other axes. The output signal controls the operation of the electric grounding device of the first foot pedal and the second foot pedal through the controller.

[0008] The electronic gyroscope and controller are installed on the waist, legs, chest, back, or head of the human body. The controller is connected to the electric grounding devices of the first and second foot pedals under the feet via cables. When the electronic gyroscope and controller are installed on the waist, the electronic gyroscope is set to control the electric grounding devices of the first and second foot pedals to accelerate when it detects that the waist is bent forward, and to decelerate, stop, or reverse when it detects that the waist is bent backward.

[0009] The output signal value of the electronic gyroscope is proportional to the amplitude of the human body's left and right swaying and forward and backward pitching. When the electronic gyroscope detects that the human body's left and right swaying posture and / or forward and backward pitching posture exceeds the set value, the controller stops the operation of the electric grounding device of the first foot pedal and the second foot pedal.

[0010] An electric roller skate includes a first roller skate pedal and a second roller skate pedal. The first and second roller skate pedals are respectively provided with fixing straps for securing the user's feet. Electric drive wheels are respectively provided downwards on the first and second roller skate pedals. The cables of the electric drive wheels are electrically connected to a controller located at the user's waist. The controller is electrically connected to a power source also located at the user's waist. A multi-axis electronic gyroscope is installed within the controller. The first axis of the multi-axis electronic gyroscope is configured to detect the left-right swaying posture of the user's waist, and the second axis is configured to detect the forward-backward pitching posture of the user's waist.

[0011] The controller and power supply are secured to the waist of the user using a belt.

[0012] The electric drive wheel is either an electric hub wheel or a track wheel.

[0013] Both the first and second roller skates are flat, and each of the first and second roller skates extends downwards with two parallel brackets, which are used to mount the electric drive wheel.

[0014] Two electric drive wheels are provided along the longitudinal direction of the first wheel slide pedal, and two electric drive wheels are provided along the longitudinal direction of the second wheel slide pedal.

[0015] There are two wheels along the longitudinal direction of the lower edge of the first wheel slide pedal. One of them is an electric drive wheel at the front and a non-powered gliding wheel at the rear. Similarly, there are two wheels along the longitudinal direction of the lower edge of the second wheel slide pedal. One of them is an electric drive wheel at the front and a non-powered gliding wheel at the rear.

[0016] The power supply is equipped with a power switch and can also be equipped with a USB interface for easy sharing of power with other devices.

[0017] The beneficial effects of this application are as follows: The pedal-powered vehicle control method and electric roller skates described in this application provide a new control method for pedal-powered vehicles. It replaces the existing technology of directly detecting the pedal-powered vehicle's left and right sway to control its off-ground and grounded operation. Furthermore, the use of an electronic gyroscope, with its high precision, high sensitivity, small size, and low power consumption, overcomes the inconvenience and inaccuracy of manual remote control, as well as the wear and tear and large space occupation of mechanical parts in pressure sensors. It is suitable for various pedal-powered vehicles, and the control method conforms to the natural movement habits of the human body, ensuring reliability and safety. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of an electric roller skate according to this application.

[0019] Figure 2 This is a schematic diagram illustrating the use of an electric roller skate according to this application.

[0020] In the diagram, 1-first wheel tread, 2-second wheel tread, 3-cable, 4-electric drive wheel, 5-bracket, 6-non-powered gliding wheel, 7-waist belt, 8-control box, 9-fixing strap. Implementation

[0021] The present invention will be further described below with reference to specific embodiments. Figure 1This is a schematic diagram of an electric roller skate according to this application. The electric roller skate shown includes a first roller pedal 1 and a second roller pedal 2. A fixing strap 9 is provided above the first roller pedal, and a bracket 5 is provided below the first roller pedal 1. An electric drive wheel 4 is provided in front of the bracket 5 along the longitudinal direction of the first roller pedal 1, and a non-powered skating wheel 6 is provided behind it. The fixing strap 9 has front and rear parts. The cable of the electric drive wheel 4 extends upward through the fixing strap 9 near the heel and is electrically connected to a controller located in a control box 8 located at the waist. The controller is electrically connected to a power source located in the control box 8. The control box 8 is attached to the waist belt 7. The first roller skate pedal 1 is fixed to the left foot of the user. A fixing strap 9 is installed above the second roller skate pedal 2. A bracket 5 is installed below the second roller skate pedal 2. An electric drive wheel 4 is installed in front of the bracket along the longitudinal direction of the second roller skate pedal 2, and a non-powered skating wheel 6 is installed behind it. The cable of the electric drive wheel 4 extends upward through the fixing strap 9 near the heel and is electrically connected to the controller inside the control box 8 located on the waist. When using the electric roller skates, the first roller skate pedal 1 is fixed to the left foot of the user, and the second roller skate pedal 2 is fixed to the right foot of the user. Pressing the power switch on the control box 8 starts the electric roller skates, and the user's waist moves forward. When bending or tilting, the multi-axis electronic gyroscope on the controller in the control box 8 detects the change in human posture in the front-to-back axis and outputs a signal to the controller to control the electric drive wheels 4 under the first and second roller skates to accelerate. When the human waist leans backward, the electronic gyroscope on the controller in the control box 8 detects the change in human posture and outputs a signal to the controller to control the electric drive wheels 4 under the first and second roller skates to decelerate. Alternatively, when the human body leans backward beyond a certain limit, the electric drive wheels 4 under the first and second roller skates can be controlled to stop or rotate backward, so that the electric roller skates stop or move backward.When using the electric roller skates, the user can alternately use their feet to drive the first roller skate pedal 1 and the second roller skate pedal 2 to touch the ground and lift off. The feet can be used in the same way as with existing non-electric roller skates, alternating between the two feet and the electric roller skates. The user's own strength propels the electric roller skates forward in an inverted "V" shape, utilizing the combined force of the electric roller skates and the user to increase range. When the user uses their left foot to lift the first roller skate pedal 1 off the ground, they stand on their right foot and the second roller skate pedal 2. The user will swing to the right to shift their center of gravity to their right leg and right foot, causing their waist to swing to the right. A multi-axis electronic gyroscope in the controller, located in the control box 8 at the user's waist, detects changes in posture along the left and right axes and outputs a signal to the controller to decelerate the electric drive wheel 4 under the first roller skate pedal 1, while simultaneously controlling the second wheel... The electric drive wheel 4 under the sliding pedal 2 accelerates. Similarly, when the body uses its right foot to lift the second sliding pedal 2 off the ground, and the body stands using its left foot and the first sliding pedal 1, the body will swing to the left to shift its center of gravity to its left leg and left foot, causing the waist to swing to the left. The multi-axis electronic gyroscope on the controller in the control box 8 located at the waist detects the change in body posture along the left and right axes and outputs a signal to the controller to decelerate the electric drive wheel 4 under the second sliding pedal 2, while simultaneously accelerating the electric drive wheel 4 under the first sliding pedal 1. This deceleration prevents the first or second sliding pedal 1 from stalling due to loss of ground friction, thus avoiding wasted power and potential danger. It also increases the driving force of the electric drive wheel 4 on the grounded side of the first or second sliding pedal 1 to ensure stable operation of the electric roller skates. (Appendix) Figure 2 The diagram illustrates the use of the electric roller skates by a human body. The first roller skate pedal 1 and the second roller skate pedal 2 are fixed to the left and right feet of the human body, respectively. The cables of the electric drive wheels 4 of the first roller skate pedal 1 and the second roller skate pedal 2 extend upwards from the heel and the human body's leg to the waist and connect to the controller in the control box 8. The cables are secured to the legs with leg straps. The diagram shows the movement state of the electric roller skates as the first roller skate pedal 1 and the second roller skate pedal 2 alternately touch the ground and leave the ground under the action of the human body.

[0022] In this application, accelerating the operation of the electric grounding device and the electric drive wheel is the same as increasing the driving force of the electric grounding device and the electric drive wheel, and similarly, decelerating the operation of the electric grounding device and the electric drive wheel is the same as reducing the driving force of the electric grounding device and the electric drive wheel.

[0023] The fixing straps 9 and waist belt 7 can be made of hook and loop fasteners or buckles, and can be implemented using various existing technologies and materials, which will not be described in detail here.

[0024] The motor inside the electric drive wheel 4 can be a brushless motor, with the tire fixed outside the motor.

[0025] The directional terms used in this application, such as up, down, left, and right, are for illustrative purposes only and are not intended to limit the scope of this application.

[0026] The posture detection of the human body for left-right swaying and forward-backward pitching as described in this application includes at least the detection of acceleration and / or angle.

[0027] Because the structure and function of electronic components such as accelerometers and magnetic sensors have many overlapping parts with the electronic gyroscope described in this application, and different documents may have different names, the electronic gyroscope described in this application is understood to include electronic gyroscopes, accelerometers, and magnetic sensors, etc., which can achieve the same functions as described in this application. In physical space, it may be a combination of one or more electronic components. For example, to ensure accurate measurement, a gravity accelerometer, a gyroscope, and a magnetic sensor for measuring azimuth angle are used simultaneously to compensate for each other. Its overall function is also to achieve the same function as described in this application. Such combinations are frequently used in many fields, and those skilled in the art can understand and implement them based on the technical solutions of this application.

[0028] Other than those described above, which are well known to those skilled in the art, will not be described here, and will be understood by those skilled in the art.

[0029] In the above embodiments of this application, this application has been described only by means of selected embodiments, and the above embodiments are for illustration and not for limiting this application.

Claims

1. A control method for a pedal-powered vehicle, wherein the pedal-powered vehicle is electrically driven and includes an electric grounding device, a foot fixing device, a controller, and a power supply, the controller being electrically connected to the electric grounding device and the power supply respectively, the foot fixing device being used to fix the pedal-powered vehicle to a human foot, the pedal-powered vehicle including a first foot pedal part and a second foot pedal part, the first foot pedal part being fixed to the left foot of a human body by the foot fixing device and the second foot pedal part being fixed to the right foot of a human body by the foot fixing device, the first foot pedal part and the second foot pedal part each including an electric grounding device, characterized in that: The controller of the pedal vehicle is equipped with at least one electronic gyroscope, which is placed in one of the various parts of the human body. During the use of the pedal vehicle, the human body swings left and right along the left and right direction. The electronic gyroscope detects the left and right swing and outputs a signal to control the operation of the electric grounding device of the first pedal part and the second pedal part through the controller.

2. The method for controlling a pedal-powered vehicle according to claim 1, characterized in that: In the above-mentioned control method for pedal-powered vehicles, the control of the electric grounding devices of the first and second pedal parts is as follows: the electronic gyroscope detects the left and right swing of the human body and generates a signal output to the controller. When the human body swings to the right, the electronic gyroscope outputs a signal to the controller to control the electric grounding device of the first pedal part to decelerate. When the human body swings to the left, the electronic gyroscope outputs a signal to the controller to control the electric grounding device of the second pedal part to decelerate.

3. The method for controlling a pedal-powered vehicle according to claim 1, characterized in that: The control of the electric grounding devices of the first and second foot pedals is as follows: the electronic gyroscope detects the left and right swing of the human body and generates a signal output to the controller. When the human body swings to the right, the electronic gyroscope outputs a signal to the controller to control the electric grounding device of the first foot pedal to decelerate and at the same time control the electric grounding device of the second foot pedal to accelerate. When the human body swings to the left, the electronic gyroscope outputs a signal to the controller to control the electric grounding device of the second foot pedal to decelerate and at the same time control the electric grounding device of the first foot pedal to accelerate.

4. The method for controlling a pedal-powered vehicle according to claim 1, characterized in that: The electronic gyroscope is a multi-axis electronic gyroscope or multiple single-axis electronic gyroscopes. The electronic gyroscope is configured to detect different axes. The electronic gyroscope is configured to detect the left and right swing of the human body using one axis and the left and right pitch of the human body using the other axes. The output signal controls the electric grounding device of the first foot pedal and the second foot pedal through the controller.

5. The method for controlling a pedal-powered vehicle according to claim 4, characterized in that: The electronic gyroscope and controller are installed on the waist, legs, chest, back, or head of the human body. The controller is connected to the electric grounding devices of the first and second foot pedals under the feet via cables. When the electronic gyroscope and controller are installed on the waist, the electronic gyroscope is set to control the electric grounding devices of the first and second foot pedals to accelerate when it detects that the waist is bent forward, and to decelerate, stop, or reverse when it detects that the waist is bent backward.

6. The method for controlling a pedal-powered vehicle according to claim 1, characterized in that: The output signal value of the electronic gyroscope is proportional to the amplitude of the human body's left and right swaying and forward and backward pitching. When the electronic gyroscope detects that the human body's left and right swaying posture and / or forward and backward pitching posture exceeds the set value, the controller stops the operation of the electric grounding device of the first foot pedal and the second foot pedal.

7. An electric roller skate, characterized in that: The electric roller skates include a first roller skate pedal and a second roller skate pedal. The first and second roller skate pedals are respectively provided with upward-facing fixing straps for securing the user's feet. Electric drive wheels are respectively provided downward-facing on the first and second roller skate pedals. The cables of the electric drive wheels are electrically connected to a controller located at the user's waist. The controller is electrically connected to a power source also located at the user's waist. Both the first and second roller skate pedals are flat. Two parallel brackets extend downward from each of the first and second roller skate pedals, and these parallel brackets are used to mount the electric drive wheels. A multi-axis electronic gyroscope is installed within the controller. The first axis of the multi-axis electronic gyroscope is configured to detect the left-right swaying posture of the user's waist, and the second axis is configured to detect the forward-backward pitching posture of the user's waist.

8. The electric roller skates according to claim 7, characterized in that: The electric drive wheel is either an electric hub wheel or a track wheel.

9. The electric roller skates according to claim 7, characterized in that: Two electric drive wheels are provided along the longitudinal direction of the first wheel slide pedal, and two electric drive wheels are provided along the longitudinal direction of the second wheel slide pedal.

10. The electric roller skates according to claim 7, characterized in that: There are two wheels along the longitudinal direction of the lower edge of the first wheel slide pedal. One of them is an electric drive wheel at the front and a non-powered gliding wheel at the rear. Similarly, there are two wheels along the longitudinal direction of the lower edge of the second wheel slide pedal. One of them is an electric drive wheel at the front and a non-powered gliding wheel at the rear.

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