Self-balancing carrier

Abstract

The embodiment of the invention relates to the technical field of balance cars treaded by one foot, and particularly discloses a self-balancing carrier which comprises a foot platform, the foot platform is provided with a top face, a containing cavity is formed in the foot platform, the foot platform comprises a first shell and a second shell, the first shell is connected with the second shell, the first shell is provided with a first cavity, the second shell is provided with a second cavity, and the first cavity is communicated with the second cavity. The first cavity and the second cavity form an accommodating cavity; a first wheel and a second wheel rotatably connected to the foot platform; a drive assembly configured to drive the first wheel and the second wheel; an attitude sensor configured to sense an attitude of the foot platform; the power supply is arranged in the accommodating cavity; the controller is electrically connected with the driving assembly, the attitude sensor and the power supply and is configured to control the driving assembly to drive the first wheel and the second wheel; when the self-balancing load is in a self-balancing state, the average height from the top surface to the horizontal ground is smaller than the diameters of the first wheel and the second wheel. In this way, the trafficability of the self-balancing carrier can be improved.

Description

Technical Field

[0001] This application relates to the field of self-balancing vehicle technology, specifically to a self-balancing vehicle. Background Technology

[0002] The basic principle of a self-balancing scooter is self-balancing. This technology can be referenced in the earlier patent US6302230B1 in the field of self-balancing scooter technology, which details how to use the self-balancing principle to achieve a solution for riders to maintain balance when stepping on the scooter.

[0003] Later, on July 2, 2020, Shane Chen filed a U.S. patent application, application number 16920125, entitled "Self-balancing foot platform devices." Shane Chen proposed a personal transportation device that can be pedaled with one foot. This device is often referred to by consumers as a unicycle, hovercraft, or hover shoes. It includes: a foot platform configured to support the rider's foot during use; a wheel assembly positioned vertically below the foot platform; a motor driving the wheel assembly; a position sensor; and control circuitry driving the motor based on data from the position sensor; wherein the wheel assembly is substantially centered laterally relative to the foot platform; and wherein the device is configured for handlebar-less control. A significant drawback of this unicycle is its poor maneuverability. This maneuverability is primarily determined by the wheels. Generally, the smaller the wheel diameter, the more difficult it is to traverse obstacles, such as slightly larger stones or steps, resulting in poor maneuverability; conversely, the larger the wheel diameter, the easier it is to traverse obstacles, resulting in good maneuverability.

[0004] The personal transport device applied for by Shane Chen has relatively small wheel diameters compared to its foot platform, resulting in poor maneuverability. Furthermore, the wheels are mounted below the foot platform, which limits the wheel diameter. A larger wheel diameter would raise the rider's center of gravity, increasing the risk of falling. Additionally, this personal transport device has weak turning ability; when the rider steps on the foot platform, the turning of the scooter is supported by the friction between the rider's feet and the platform.

[0005] Therefore, it is necessary to improve the existing single-foot pedaling self-balancing vehicles to at least address their poor maneuverability. Summary of the Invention

[0006] In view of the above problems, this application provides a self-balancing vehicle to at least improve the poor maneuverability of electric balance vehicles that are pedaled by one foot.

[0007] According to one aspect of the embodiments of this application, a self-balancing vehicle is provided, including a foot platform for a rider to pedal with one foot, having a substantially flat top surface, the foot platform being provided with a receiving cavity, the foot platform including a first housing and a second housing, the first housing and the second housing being connected, the first housing being provided with a first cavity, the second housing being provided with a second cavity, the first cavity and the second cavity communicating to form the receiving cavity; a first wheel rotatably connected to a first side end of the foot platform and a second wheel rotatably connected to a second side end of the foot platform; a drive assembly configured to drive the first wheel and the second wheel; an attitude sensor configured to sense the attitude of the foot platform and generate a corresponding attitude signal; a power supply disposed within the receiving cavity; and a controller electrically connected to the drive assembly, the attitude sensor and the power supply, configured to control the drive assembly to drive the first wheel and the second wheel based on the attitude signal; wherein, when the self-balancing vehicle is in a self-balancing state on a horizontal surface, the average height of the top surface from the horizontal surface is less than the diameter of the first wheel and the second wheel.

[0008] The self-balancing vehicle provided in this application embodiment has a first wheel and a second wheel at both sides of the foot platform. When the self-balancing vehicle is in a self-balancing state on a horizontal surface and its top surface is parallel to the horizontal surface, the average height of the top surface from the horizontal surface is configured to be smaller than the diameter of the first wheel and the second wheel. In this way, it creatively improves the defect of the existing single-foot pedal self-balancing vehicle, where the drive wheel is located under the foot platform, which means that the diameter of the drive wheel cannot be too large relative to the size of the foot platform. That is, the single-foot pedal self-balancing vehicle provided in this application embodiment has larger wheels than the wheels of the existing single-foot pedal self-balancing vehicle, thereby improving passability.

[0009] In one alternative approach, the average height of the top surface from the horizontal ground is h, the diameter of the first wheel and the second wheel is H, and 0.3≤h / H≤0.7. This ensures that the rider's pedal position on the self-balancing vehicle remains at a relatively low level, thereby ensuring that the rider's center of gravity is also relatively low, which increases the stability and safety of the riding process.

[0010] In one alternative configuration, the wheel planes of the first wheel and the second wheel are parallel to each other, thus providing the rider with better stability when traveling in a straight line.

[0011] In one alternative approach, the wheel planes of the first wheel and the second wheel are tilted relative to each other, thus giving the rider better control over both wheels when turning.

[0012] In one alternative configuration, the foot platform is positioned laterally centered between the first and second wheels, thereby ensuring good lateral stability when the rider steps on the foot platform.

[0013] In one alternative configuration, the foot platform is positioned longitudinally centered between the first and second wheels, thereby ensuring good longitudinal stability for the rider when stepping on the foot platform.

[0014] In one alternative embodiment, the self-balancing vehicle includes an assist component disposed on the foot platform. The assist component includes an assist base plate disposed on the side of the foot platform away from the ground. The assist base plate is provided with an assist groove, which facilitates rider assistance, thereby enabling the self-balancing vehicle to turn.

[0015] In one alternative embodiment, the self-balancing vehicle includes a baffle disposed on the foot platform, positioned between the first wheel and the second wheel. This baffle provides protection, preventing injury caused by friction between the rider's legs and the first and second wheels during riding. Furthermore, the baffle also provides assistance.

[0016] In one alternative approach, the axle of the first wheel coincides with the axle of the second wheel, thus providing the rider with better stability while riding.

[0017] In one alternative embodiment, the average distance between the edge of the foot platform near the first wheel and the first wheel is d1, and the average distance between the edge of the foot platform near the second wheel and the second wheel is d2, and d1=d2. This ensures that the self-balancing vehicle has good stability and good balance performance.

[0018] In one alternative embodiment, the lateral dimension of the foot platform is d, and 0.5≤d1 / d≤0.95, 0.5≤d2 / d≤0.95.

[0019] In one alternative configuration, the axles of the first and second wheels are positioned above the foot platform, which lowers the rider's center of gravity, making the rider more stable and less prone to falling.

[0020] In one alternative embodiment, the foot platform is provided with a receiving cavity; the drive assembly includes a single motor disposed within the receiving cavity, the two ends of the output shaft of the single motor being connected to the first wheel and the second wheel respectively, and the single motor being configured to drive the first wheel and the second wheel to rotate synchronously. In this way, only one motor is needed to drive two wheels simultaneously, and the drive method is very simple and reliable, without the need for costly and complex control schemes such as differential control.

[0021] In one alternative embodiment, the single motor includes a reduction gear assembly, which increases the output torque of the motor and indirectly improves the passability of the wheels of the self-balancing vehicle.

[0022] In one alternative embodiment, the drive assembly includes two motors, one motor disposed within the hub of the first wheel and the other motor disposed within the hub of the second wheel, thereby allowing the user to turn using the speed difference between the first and second wheels.

[0023] In one alternative embodiment, the longitudinal dimension of the foot platform is D, the lateral dimension of the foot platform is d, and D > d.

[0024] In one alternative approach, the self-balancing vehicle satisfies at least one of the following conditions: The longitudinal dimension D of the foot platform satisfies: 15cm≤D≤45cm; the transverse dimension d of the foot platform satisfies: 5cm≤d<20cm.

[0025] In one alternative approach, the average thickness of the foot platform is 1 / 5 to 2 / 3 of the diameter of the first or second wheel, which lowers the rider's center of gravity and prevents falls.

[0026] In one alternative approach, the self-balancing vehicle satisfies at least one of the following conditions: The diameter of the first wheel is 10cm-50cm; the diameter of the second wheel is 10cm-50cm.

[0027] In one alternative, the average thickness of the first or second wheel is less than or equal to half the lateral dimension of the foot platform. This makes it easier for the self-balancing vehicle to turn, because the smaller the average thickness of the wheel, the less ground friction the self-balancing vehicle needs to overcome when turning.

[0028] In one alternative embodiment, the self-balancing vehicle includes a limiting assembly disposed on the foot platform. The limiting assembly includes a limiting rod that is arc-shaped. One end of the limiting rod is connected to the side of the foot platform near the first wheel, and the other end of the limiting rod is connected to the side of the foot platform near the second wheel. This prevents the rider from accidentally slipping off the foot platform or sliding off the self-balancing vehicle due to large movements, thus increasing riding enjoyment and safety.

[0029] In one alternative embodiment, the self-balancing vehicle includes an auxiliary wheel rotatably mounted on the foot platform, the auxiliary wheel having a diameter smaller than that of the first or second wheel. The auxiliary wheel provides auxiliary support, thereby improving the rider's balance, preventing falls, and allowing the rider to control the self-balancing vehicle more stably. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0031] Figure 1 This is a schematic diagram of a self-balancing vehicle in use according to an embodiment of this application; Figure 2 This is a schematic diagram of the overall structure of the self-balancing vehicle according to an embodiment of this application; Figure 3 This is a schematic diagram of the overall structure of one embodiment of the self-balancing vehicle of this application; Figure 4 This is an exploded view of the overall structure of the self-balancing vehicle according to an embodiment of this application; Figure 5 This is a schematic diagram of the overall structure of the self-balancing vehicle according to an embodiment of this application from an angle. Figure 6 This is another schematic diagram of the overall structure of the self-balancing vehicle according to an embodiment of this application; Figure 7 This is a schematic diagram of the overall structure of the self-balancing vehicle according to an embodiment of this application, shown from one angle and another. Figure 8 This is a schematic diagram of the overall structure of an embodiment of the self-balancing vehicle of this application from an angle. Figure 9 This is a schematic diagram of the overall structure from an angle of another embodiment of the self-balancing vehicle of this application; Figure 10 This is another schematic diagram of the overall structure of the self-balancing vehicle according to an embodiment of this application, taken from another angle and with another annotation. Figure 11 This is an exploded view of the overall structure of another embodiment of the self-balancing vehicle of this application. Detailed Implementation

[0032] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as "connected to" another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only and should be understood in detail with reference to the accompanying drawings.

[0033] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application.

[0034] Furthermore, the technical solutions or features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0035] In actual use, the self-balancing vehicle in the embodiments of this application, such as Figure 1 As shown, the rider steps on one pedal with each foot to achieve better stability and performance. The structure of a single self-balancing vehicle will be explained in detail below.

[0036] Please see Figure 2 This application provides a self-balancing vehicle 100, which may include a foot platform 10, a first wheel 20, a second wheel 30, a drive assembly, an attitude sensor, a power supply, and a controller. The foot platform 10 can be stepped on by a rider with one foot; specifically, the rider can step on the top surface 103 of the foot platform.

[0037] The first wheel 20 is rotatably connected to the first side end of the foot platform 10, and the second wheel 30 is rotatably connected to the second side end of the foot platform 10. The drive assembly is configured to drive the first wheel 20 and the second wheel 30. The attitude sensor is configured to sense the attitude of the foot platform 10 and generate a corresponding attitude signal. The power supply is located inside the foot platform 10. The controller is electrically connected to the drive assembly, the attitude sensor, and the power supply. The controller is configured to control the drive assembly to drive the first wheel 20 and the second wheel 30 based on the attitude signal.

[0038] like Figure 3As shown, the self-balancing vehicle 100 may further include a power-assist component 40, a baffle 50, a limiting component 60, and an auxiliary wheel 70. The power-assist component 40 is mounted on the foot platform 10, facilitating rider assistance during turns. The baffle 50 is mounted on the foot platform 10, positioned between the first wheel 20 and the second wheel 30. The limiting component 60 is mounted on the foot platform 10. The auxiliary wheel 70 is rotatably mounted on the foot platform 10, and its diameter is smaller than that of either the first wheel 20 or the second wheel 30. The following provides a detailed description of the foot platform 10, the first wheel 20, the second wheel 30, the drive assembly, the attitude sensor, the power supply, the controller, the power-assist component 40, the baffle 50, the limiting component 60, and the auxiliary wheel 70.

[0039] To better illustrate the structure of the self-balancing vehicle, the structure will be described using the X, Y, and Z coordinate axes, where the X, Y, and Z coordinate axes are perpendicular to each other. The longitudinal direction of the foot platform 10 is the X-axis direction, the transverse direction of the foot platform 10 is the Y-axis direction, and the thickness direction of the foot platform 10 is the Z-axis direction.

[0040] For the aforementioned foot platform 10, such as Figure 2 and Figure 4 As shown, the foot platform 10 is for the rider to step on and is suitable for single-foot pedaling. The rider can tilt forward or backward when pedaling with one foot. The foot platform 10 is provided with a receiving cavity (not shown), which can be used to house components such as drive components and power supplies. The foot platform 10 includes a first housing 101 and a second housing 102, which are connected. The first housing 101 is provided with a first cavity (not shown), and the second housing 102 is provided with a second cavity (not shown). When the first housing 101 and the second housing 102 are connected, the first cavity and the second cavity communicate to form the receiving cavity of the foot platform 10. In addition, as shown... Figure 5 As shown, when the self-balancing vehicle is in a self-balancing state on a horizontal surface, the average height h of the top surface 103 of the foot platform 10 from the horizontal surface is less than the diameter H of the first wheel 20 and the second wheel 30. Since the diameter of the first wheel 20 and the second wheel 30 is larger, compared with the prior art where the wheels are set under the foot platform, if the diameter of the wheels is set to be very large, it will cause the rider's center of gravity to be too high, and the rider will be prone to falling. However, in this application, the first wheel 20 and the second wheel 30 are located on both sides of the foot platform 10. At this time, increasing the diameter of the first wheel 20 and the second wheel 30 not only has no significant impact on the rider's center of gravity, but also the self-balancing vehicle has better passability when there are stones or steps on the ground.

[0041] It should be noted that when a self-balancing vehicle 100 is in a self-balancing state on a horizontal surface, it means that it allows the rider to step on it with one foot and keep the rider in a stable and balanced state without tipping over. At this time, the self-balancing vehicle 100 may move with the rider or may keep the rider stationary in place.

[0042] In other examples, when a self-balancing vehicle 100 is in a self-balancing state on a horizontal surface, it can also mean that the self-balancing vehicle 100 achieves a self-balancing state when placed on a horizontal surface without a rider. A very common situation is that the self-balancing vehicle 100 generally has a self-balancing function when turned on, that is, when the self-balancing vehicle 100 is turned on, it can achieve a balanced state without tipping over even without a rider stepping on it.

[0043] Furthermore, when the self-balancing vehicle 100 is in the aforementioned self-balancing state on a horizontal surface, the top surface 103 of the foot platform 10 may be parallel to the horizontal surface or at an angle (for example, the top surface 103 may have an angle within ±30 degrees with the horizontal surface). These two different states can be set by different self-balancing algorithms. For example, depending on different factory settings, the foot platform and the horizontal surface in the self-balancing state may be set to have a certain angle, which is not specifically limited here.

[0044] Furthermore, at this time, the average height of the top surface 103 from the horizontal ground is less than the diameter of the first and second wheels. Specifically, as mentioned above, in this self-balancing state, the top surface 103 may be parallel to the horizontal plane or form an angle with it. Therefore, the average height of the basically flat top surface 103 from the horizontal ground has at least two aspects: Firstly, in a self-balancing state, when the top surface 103 is parallel to the horizontal plane, the average height of the top surface 103 to the horizontal ground is the distance between the two planes, the top surface 103 and the horizontal ground.

[0045] Secondly, in the self-balancing state, when the top surface 103 is not parallel to the horizontal ground, the average height of the top surface 103 to the horizontal ground can be the average distance from each region / locality / point on the top surface 103 to the horizontal ground according to a certain rule. In the simplest case, for example, at this time, we can take the maximum height of the top surface 103 to the horizontal ground and the minimum height of the top surface 103 to the horizontal ground, and then take the average of the two as the average height of the top surface 103 to the horizontal ground at this time.

[0046] It is worth noting that, based on common consumer usage habits, the top surface 103 of the foot platform 10 is generally set to be parallel to the horizontal ground when the self-balancing vehicle 100 is in a self-balancing state, as this provides the best riding experience; when the consumer / rider steps on the top surface 103, it is equivalent to stepping on a horizontal ground. In some embodiments, such as Figure 6 As shown, the longitudinal dimension of the foot platform 10 is D, and the lateral dimension of the foot platform 10 is d, where D > d. Optionally, the longitudinal dimension D of the foot platform 10 satisfies: 15cm ≤ D ≤ 45cm, and the lateral dimension d of the foot platform 10 satisfies: 5cm ≤ d < 20cm. This dimension design is from an ergonomic perspective, aiming to provide the rider with a reasonable and appropriate pedaling platform.

[0047] In some embodiments, the thickness of the foot platform 10 is 1 / 5 to 2 / 3 of the diameter of the first wheel 20 or the second wheel 30. This configuration allows the rider's center of gravity to be in a lower position, preventing falls.

[0048] It should be noted that since the shape of the foot platform 10 can be irregular, the longitudinal dimension, transverse dimension and thickness dimension of the foot platform 10 can all be average dimensions, and users can choose according to the actual situation.

[0049] In some embodiments, such as Figure 7 As shown, in a self-balancing state, and when the top surface 103 is parallel to the horizontal ground, the average height h of the top surface 103 to the horizontal ground is the distance h between the two planes, the top surface 103 and the horizontal ground. The diameters of the first wheel 20 and the second wheel 30 are H, and 0.3≤h / H≤0.7. With this setting, the diameters of the first wheel 20 and the second wheel 30 are larger, and the first wheel 20 and the second wheel 30 have better passability when there are stones or steps on the ground.

[0050] In some embodiments, to ensure good lateral stability when the rider steps on the foot platform 10, the foot platform 10 is positioned laterally centered between the first wheel 20 and the second wheel 30.

[0051] In some embodiments, to ensure good longitudinal stability when the rider steps on the foot platform 10, the foot platform 10 is longitudinally centered between the first wheel 20 and the second wheel 30.

[0052] In some embodiments, the distance between the edge of the foot platform 10 near the first wheel 20 and the first wheel 20 is d1, and the distance between the edge of the foot platform 10 near the second wheel 30 and the second wheel 30 is d2, and d1=d2. This ensures that the self-balancing vehicle has good stability and good balance performance. Optionally, the lateral dimension d of the foot platform 10 satisfies the following relationship with d1 and d2: 0.5≤d1 / d≤0.95, 0.5≤d2 / d≤0.95.

[0053] It should be noted that: since the foot platform 10 may be a regular or irregular shape, the "edge" of the foot platform 10 near the first wheel 20 refers to the closest point or surface of the foot platform 10 to the first wheel 20, and the distance d1 is the distance between the two closest points or surfaces on the foot platform 10 and the first wheel 20. Similarly, the "edge" of the foot platform 10 near the second wheel 30 refers to the closest point or surface of the foot platform 10 to the second wheel 30, and the distance d2 is the distance between the two closest points or surfaces on the foot platform 10 and the second wheel 30.

[0054] For the first round of 20 and the second round of 30 mentioned above, as Figure 2 As shown, the first wheel 20 is rotatably connected to the first side end of the foot platform 10, and the second wheel 30 is rotatably connected to the second side end of the foot platform 10. The first wheel 20 and the second wheel 30 rotate on the ground, thereby moving the rider to a preset position. The rotational speeds of the first wheel 20 and the second wheel 30 can be the same or different; no specific limitation is made here. For example, when the rotational speeds of the first wheel 20 and the second wheel 30 are the same, they move the rider forward or backward, making straight-line movement more stable. When the rotational speeds of the first wheel 20 and the second wheel 30 are different, the difference in speed between them makes turning more convenient for the rider. Optionally, the diameter of the first wheel 20 is 10cm-50cm, and the diameter of the second wheel 30 is 10cm-50cm.

[0055] In some embodiments, the wheel plane of the first wheel 20 is parallel to the wheel plane of the second wheel 30. It is understood that the wheel planes of the first wheel 20 and the second wheel 30 are not limited to being parallel to each other; they may also be inclined to each other, for example: Figure 8 and Figure 9 As shown, the wheel plane of the first wheel 20 and the wheel plane of the second wheel 30 are arranged in an upright "V" or inverted "V" shape. This arrangement gives the rider better control over the first wheel 20 and the second wheel 30 when turning.

[0056] It should be noted that the wheel plane is a plane that is perpendicular to the wheel's axis of rotation and passes through the center of the contact area between the tire or the elastic cover mounted on the wheel and the ground.

[0057] In some embodiments, the axle of the first wheel 20 coincides with the axle of the second wheel 30, which provides the rider with better stability while riding.

[0058] In some embodiments, the wheel axles of the first wheel 20 and the second wheel 30 are located above the foot platform 10. This arrangement can lower the rider's center of gravity, making the rider more stable and less prone to falling.

[0059] In some embodiments, such as Figure 10 As shown, the average thickness d3 of the first wheel 20 or the second wheel 30 is less than or equal to 1 / 2 of the lateral dimension d of the foot platform 10. This setting makes it easier for the self-balancing vehicle to turn, because the smaller the average thickness of the wheels, the less ground friction the self-balancing vehicle 100 needs to overcome when turning.

[0060] The aforementioned drive assembly is configured to drive the first wheel 20 and the second wheel 30. In some embodiments, the drive assembly may be a single motor disposed within the accommodating cavity. The two ends of the output shaft of the single motor may be connected to the first wheel 20 and the second wheel 30 respectively. In this way, the single motor can simultaneously drive the first wheel and the second wheel to rotate, and the rotation of the first wheel and the second wheel is synchronized. This drive method is very simple and reliable, and does not require costly and complex drive control schemes such as differential control.

[0061] It is understood that the drive components include, but are not limited to, the single motor mentioned above. As long as they can drive the first wheel 20 and the second wheel 30 to perform the corresponding actions, they can achieve the specific drive function.

[0062] In some embodiments, the single motor may further include a reduction gear assembly, which may include, for example, a planetary reducer. The reduction gear assembly can be used to increase the output torque of the drive assembly, thereby improving the ability of the self-balancing vehicle to pass through obstacles.

[0063] In some embodiments, the drive assembly may also consist of two motors, one of which is disposed within the hub of the first wheel 20, and the other motor is disposed within the hub of the second wheel 30. Compared to the above-mentioned single motor simultaneously controlling the rotational speeds of the first wheel 20 and the second wheel 30, two motors can control the rotational speeds of the first wheel 20 and the second wheel 30 respectively. The user can utilize the speed difference between the first wheel 20 and the second wheel 30 to turn. For example, when the rotational speed of the first wheel 20 is faster than that of the second wheel 30, the self-balancing vehicle can turn in a direction biased towards the second wheel 30; when the rotational speed of the first wheel 20 is slower than that of the second wheel 30, the self-balancing vehicle can turn in a direction biased towards the first wheel 20.

[0064] For the aforementioned baffle 50, such as Figure 3 As shown, a baffle 50 is disposed on the foot platform 10, located between the first wheel 20 and the second wheel 30. Optionally, there are two baffles 50, one located between the first wheel 20 and the foot platform 10, and the other located between the second wheel 30 and the foot platform 10. Optionally, the baffles 50 are fixed to both ends of the foot platform 10. The baffles 50 serve a protective function, preventing injury to the rider's legs from friction between the first wheel 20 and the second wheel 30 during the riding of the self-balancing vehicle.

[0065] Furthermore, the baffle 50 also provides assistance. For example, when the rider wants to turn left, they only need to lean their leg against the baffle 50 on the left side. This way, the right wheel will bear less weight pressure from the rider than the left wheel. At this time, the baffle 50 on the left side can act as a fulcrum, and the rider's leg can act as a lever, thus tilting the right wheel to a state of near-suspended position. Of course, this suspension is negligible, or rather, the right wheel still appears to be touching the ground to the naked eye. However, it is clear that the pressure on the right wheel is significantly less than that on the left wheel. Once the right wheel is in this suspended state, the only part of the self-balancing vehicle in contact with the ground is the left wheel, and it is the part of the left wheel that is in contact with the ground in a straight line. Although the pressure on the left wheel increases, the contact area between the self-balancing vehicle and the ground is significantly reduced, while the increased pressure on the rider is not very large. Therefore, for the self-balancing vehicle as a whole, when the rider wants to turn left, the friction force exerted by the ground on the self-balancing vehicle will be much smaller, making it easier to turn.

[0066] Regarding the aforementioned assistive component 40, such as Figure 3As shown, the assist component 40 is disposed on the foot platform 10. The assist component 40 includes an assist base plate 401, which is disposed on the side of the foot platform 10 away from the ground. An assist groove 40a is provided on the assist base plate 401. The assist groove 40a facilitates rider assistance, thereby enabling the self-balancing vehicle 100 to turn, which is relatively convenient. The assist principle of the assist groove 40a is similar to that of the baffle 50 mentioned above, and will not be described again here.

[0067] For the aforementioned limiting component 60, such as Figure 3 As shown, the limiting component 60 is disposed on the foot platform 10. The limiting component 60 is used to limit the rider's feet, preventing the rider from accidentally slipping off the foot platform 10 or sliding off the self-balancing vehicle due to large movements, thus increasing riding enjoyment and safety. The limiting component 60 includes a limiting rod (not shown), which is arc-shaped. One end of the limiting rod is connected to the side of the foot platform 10 near the first wheel 20, and the other end is connected to the side of the foot platform 10 near the second wheel 30. It is understood that the structure of the limiting component 60 is not limited to the above and can also be other structures. For example, the limiting component 60 includes two limiting ropes: one limiting rope is disposed on the side of the foot platform 10 near the first wheel 20, and the other limiting rope is disposed on the side of the foot platform 10 near the second wheel 30. The two limiting ropes can be used to partially bind the rider's feet to achieve the purpose of limiting their movement.

[0068] For the aforementioned auxiliary wheel 70, as Figure 3 and Figure 11 As shown, the training wheel 70 is rotatably mounted on the foot platform 10, and the diameter of the training wheel 70 is smaller than the diameter of the first wheel 20 or the second wheel 30. The training wheel 70 can provide auxiliary support, thereby improving the rider's balance and preventing the rider from falling. At the same time, it allows the rider to control the self-balancing vehicle more stably.

[0069] The attitude sensor, power supply, and controller described above are electrically connected to the drive assembly, attitude sensor, and power supply. The power supply provides electric power to the self-balancing vehicle. The attitude sensor is configured to sense the attitude of the foot platform 10 and generate corresponding attitude signals, including pitch sensing data. The controller determines the current pitch angle of the foot platform 10 based on the pitch sensing data and drives the first wheel 20 and the second wheel 30 by controlling the drive assembly. Optionally, the attitude sensor can be a gyroscope. It is understood that the attitude sensor is not limited to a gyroscope, as long as it can sense the rider's attitude on the foot platform 10 and generate corresponding attitude signals.

[0070] In this embodiment, a foot platform 10 for a rider to pedal with one foot, a first wheel 20, a second wheel 30, a drive assembly, an attitude sensor, a power supply, and a controller are provided. The foot platform has a receiving cavity and includes a first housing 101 and a second housing 102 connected together. The first housing 101 has a first cavity, and the second housing 102 has a second cavity. The first and second cavities communicate to form the receiving cavity. The first wheel 20 is rotatably connected to a first side of the foot platform 10, and the second wheel 30 is rotatably connected to a second side of the foot platform 10. The drive assembly is configured to drive the first wheel 20 and the second wheel 30. The attitude sensor is configured to sense the attitude of the foot platform 10 and generate a corresponding attitude signal. The power supply is located within the receiving cavity. The controller is electrically connected to the drive assembly, the attitude sensor, and the power supply, and is configured to control the drive assembly to drive the first wheel 20 and the second wheel 30 based on the attitude signal. Furthermore, when the self-balancing vehicle is in a self-balancing state on a level surface, the height of the rider's foot pedal position on the foot platform 10 from the level surface is less than the diameter of the first wheel 20 and the second wheel 30. This setting not only lowers the rider's center of gravity and prevents the rider from falling, but also, when the diameter of the first wheel 20 and the second wheel 30 is larger than the height of the foot pedal position from the level surface, the first wheel 20 and the second wheel 30 have better passability when there are obstacles on the ground such as stones or steps.

[0071] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A ground self-balancing vehicle, characterized in that, include: A foot platform for a rider to pedal with one foot, having a generally flat top surface, the foot platform being provided with a receiving cavity, the foot platform including a first housing and a second housing, the first housing and the second housing being connected, the first housing being provided with a first cavity, the second housing being provided with a second cavity, the first cavity and the second cavity being connected to form the receiving cavity; A first wheel rotatably connected to a first side end of the foot platform and a second wheel rotatably connected to a second side end of the foot platform; A driving component configured to drive the first and second wheels; An attitude sensor is configured to sense the attitude of the foot platform and generate a corresponding attitude signal; A power source is installed within the accommodating cavity; as well as, A controller electrically connected to the drive assembly, attitude sensor, and power supply is configured to control the drive assembly to drive the first wheel and the second wheel based on the attitude signal; When the self-balancing vehicle is in a self-balancing state on a horizontal surface, the average height of the top surface from the horizontal surface is less than the diameter of the first wheel and the second wheel.

2. The self-balancing vehicle according to claim 1, characterized in that, Therefore, the average height of the top surface from the horizontal ground is h, the diameter of the first and second wheels is H, and 0.3≤h / H≤0.

7.

3. The self-balancing vehicle according to claim 1, characterized in that, The device includes a power-assisting component, which is disposed on the foot platform. The power-assisting component includes a power-assisting base plate, which is disposed on the side of the foot platform away from the ground. The power-assisting base plate is provided with a power-assisting groove.

4. The self-balancing vehicle according to claim 1, characterized in that, The self-balancing vehicle includes a baffle plate disposed on the foot platform, the baffle plate being located between the first wheel and the second wheel.

5. The self-balancing vehicle according to claim 1, characterized in that, The axle of the first wheel coincides with the axle of the second wheel.

6. The self-balancing vehicle according to claim 5, characterized in that, The average distance between the edge of the foot platform near the first wheel and the first wheel is d1, and the average distance between the edge of the foot platform near the second wheel and the second wheel is d2, and d1=d2.

7. The self-balancing vehicle according to claim 5, characterized in that, The axles of the first and second wheels are located above the foot platform.

8. The self-balancing vehicle according to claim 1, characterized in that, The drive assembly includes a single motor disposed within the accommodating cavity. The two ends of the output shaft of the single motor are respectively connected to the first wheel and the second wheel, and the single motor is configured to drive the first wheel and the second wheel to rotate synchronously.

9. The self-balancing vehicle according to claim 1, characterized in that, The self-balancing vehicle includes a limiting component disposed on the foot platform. The limiting component includes a limiting rod, which is arc-shaped. One end of the limiting rod is connected to the side of the foot platform near the first wheel, and the other end of the limiting rod is connected to the side of the foot platform near the second wheel.

10. The self-balancing vehicle according to claim 1, characterized in that, The self-balancing vehicle includes an auxiliary wheel, which is rotatably mounted on the foot platform, and the diameter of the auxiliary wheel is smaller than the diameter of the first wheel or the second wheel.

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