Pedal-powered vehicle control method and electric roller skates

Abstract

The objective of the present application is to provide a pedal-powered vehicle control method and electric roller skates. The driving control of a pedal-powered vehicle during off-ground and on-ground is realized by means of an electronic gyroscope and the left-right swing of a human body, so that the human body can more conveniently and effectively control the pedal-powered vehicle.

Description

Pedal vehicle control method and electric roller skates Technical Field

[0001] The present application relates to the field of vehicle equipment control, and in particular to a pedal vehicle control method and electric roller skates. Background Art

[0002] There are many kinds of vehicles. One type of electric vehicle is a vehicle that a person stands on and steps on with two feet, which is referred to as a pedal vehicle in this application. For example, electric roller skates, electric balance cars, etc. have two parts that are stepped on by the left and right feet of the person respectively. Because of their small size, light weight and flexible use, they bring convenience and fun to people's lives. This type of pedal vehicle relies on the left and right feet of the person to touch the ground at the same time or take turns to touch the ground to operate. During the use of this type of pedal vehicle, different operating states are required when the person's feet drive it to touch the ground and leave the ground. That is, it is necessary to reduce the driving force output of the pedal vehicle on the off-ground side when at least one foot is off the ground to prevent idling and stalling, causing waste and danger, and it is also necessary to have sufficient driving force to maintain stable operation when touching the ground. The existing technology has no control over the conversion between the two parts of this type of vehicle during the period of taking off and touching the ground in turn. There are fewer technologies. The existing control technology is to set a pressure switch on the pedal vehicle. When the human foot drives the pedal vehicle off the ground, the pressure switch changes the on or off state and the output signal is controlled by the controller to change the different operations of the pedal vehicle between off the ground and on the ground; there is also a pressure sensor set on the pedal vehicle. When the human foot drives the pedal vehicle off the ground or on the ground, the elastic component of the pressure sensor detects the pressure change and the output signal is controlled by the controller to change the operation of the pedal vehicle. For example, the patent application of the electric roller skating control and use method and electric roller skating system of the same applicant as this application (application number is 2020100595845) sets a pressure sensor for related detection and control. There is also a method of sending a signal to the controller by turning the knob of a handheld remote control to achieve change control of the operation of the pedal vehicle in different states of grounding or off the ground, such as the US patent application WEARABLE MOBILITY DEVICE (Publication No. 20190374846); pressure switches, pressure sensors, and handheld remote controls suffer from frictional damage and relatively low signal accuracy due to mechanical components during use. Vibration generated by ground contact during use of pedal vehicles can cause erroneous signal output, and all require necessary space for arrangement. The handheld remote control cannot simultaneously control one pedal vehicle under the left or right foot, one off the ground and one grounded, or even control any pedal vehicle to operate off the ground, resulting in the inability of existing pedal vehicles to cross ditches and ridges. Furthermore, it is difficult to accurately coordinate and effectively control the time points at which the human-operated remote control and the pedal vehicle cycle take off and touch down. These problems hinder the widespread use of pedal vehicles and therefore require improvement. Technical issues

[0003] Type your technical problem description paragraph here. Technical Solutions

[0004] The purpose of this application is to provide a pedal vehicle control method and electric roller skates, which use an electronic gyroscope and the left and right swing of the human body to achieve drive control of the pedal vehicle during its departure and landing, so that the human body can control and use the pedal vehicle more conveniently and effectively.

[0005] A method for controlling a pedal vehicle, wherein the pedal vehicle is electrically driven and contains 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 vehicle to a human foot, the pedal vehicle containing a first pedal portion and a second pedal portion, the first pedal portion being fixed to a human left foot by the foot fixing device and the second pedal portion being fixed to a human right foot by the foot fixing device, the first pedal portion and the second pedal portion respectively containing an electric grounding device, the controller of the pedal vehicle being provided with an electronic gyroscope, the electronic gyroscope being provided at one of various parts of the human body, utilizing the left and right swinging of a human body part along the left and right directions of the body during the use of the pedal vehicle, the electronic gyroscope detecting the left and right swinging output signal to control the operation of the electric grounding devices of the first pedal portion and the second pedal portion through the controller.

[0006] In the above-mentioned pedal vehicle control method, the electric grounding device of the first pedal part and the second pedal part is controlled as follows: the electronic gyroscope detects the left and right swinging of the human body part and generates a signal to output to the controller. When the human body part is detected to be swinging 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 the operation. When the human body part is detected to be swinging 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 the operation.

[0007] In the above-mentioned pedal vehicle control method, the electric grounding devices of the first pedal part and the second pedal part are controlled as follows: the electronic gyroscope detects the left and right swinging of the human body part and generates a signal to output to the controller. When the human body part is detected to be swinging 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 and control the electric grounding device of the second pedal part to accelerate. When the human body part is detected to be swinging 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 and control the electric grounding device of the first pedal part to accelerate.

[0008] The electronic gyroscope is a multi-axis electronic gyroscope, or multiple single-axis electronic gyroscopes. The electronic gyroscope is configured to detect different axial directions. One of the axial directions of the electronic gyroscope is used to detect changes in the left and right swing of the human body, and the other axial directions of the electronic gyroscope are used to detect changes in the front and back pitch of the human body. The output signal is used by the controller to control the operation of the electric grounding device of the first foot pedal part and the second foot pedal part.

[0009] The electronic gyroscope and controller are arranged on the waist, legs, chest, back or head of the human body, and the controller is connected to the electric grounding device of the first pedal part and the second pedal part under the foot via a cable. When the electronic gyroscope and controller are arranged on the waist of the human body, the electronic gyroscope is set for the forward and backward pitch posture of the human body. When the electronic gyroscope detects that the human body's waist is bent forward, the electric grounding device of the first pedal part and the second pedal part is controlled to accelerate the operation; when the electronic gyroscope detects that the human body's waist is leaning backward, the electric grounding device of the first pedal part and the second pedal part is controlled to decelerate the operation, stop or reverse backward.

[0010] The output signal value of the electronic gyroscope is proportional to the amplitude of the left-right swing and the front-back pitch of the human body. When the electronic gyroscope detects that the left-right swing posture and / or the front-back pitch posture of the human body exceed the set value, the controller stops the operation of the electric grounding device of the first footrest part and the second footrest part.

[0011] An electric roller skate comprises a first roller skate pedal and a second roller skate pedal, wherein the first roller skate pedal and the second roller skate pedal are respectively provided with fixing straps for fixing a human foot upward, and electric drive wheels are respectively provided downward, wherein cables of the electric drive wheels are electrically connected to a controller provided at the human waist, and the controller is electrically connected to a power supply also provided at the human waist, and a multi-axis electronic gyroscope is provided in the controller, wherein a first axial direction of the multi-axis electronic gyroscope is provided for detecting the left-right swinging posture of the human waist, and a second axial direction of the multi-axis electronic gyroscope is provided for detecting the front-back pitching posture of the human waist.

[0012] The controller and power supply are fixed to the waist of the human body with a belt.

[0013] The electric drive wheel is an electric hub wheel or a track wheel.

[0014] The first roller skating pedal and the second roller skating pedal are both in the shape of a flat plate. The first roller skating pedal and the second roller skating pedal respectively extend two parallel brackets downwards, and the parallel brackets are used to install the electric drive wheel.

[0015] Two electric drive wheels are provided under the first roller skate pedal in the longitudinal direction of the front and rear, and two electric drive wheels are provided under the second roller skate pedal in the longitudinal direction of the front and rear.

[0016] There are two wheels in total along the longitudinal direction under the first roller skates, of which one is the electric drive wheel at the front and one is an unpowered sliding wheel at the rear. Similarly, there are two wheels in total along the longitudinal direction under the second roller skates, of which one is the electric drive wheel at the front and one is an unpowered sliding wheel at the rear.

[0017] The power supply is provided with a power switch and may also be provided with a USB interface to facilitate sharing of power with other devices. Beneficial effects

[0018] The beneficial effects of the present application are: a pedal vehicle control method and electric roller skates described in the present application are used to provide a new control method for pedal vehicles, which uses the detection of the left and right swing of the human body to control the lift-off and grounding operation instead of the direct detection of the lift-off and grounding of the pedal vehicle in the prior art to control the lift-off and grounding operation, and uses an electronic gyroscope with high precision, high sensitivity, small size and low power consumption, which overcomes the inconvenience and inaccuracy of manual control of a remote control, as well as the wear of the mechanical parts of the pressure sensor and the large space occupied. It is suitable for a variety of pedal vehicles, and the control method is consistent with the natural movement habits of the human body and is reliable and safe. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] FIG1 is a schematic diagram of an electric roller skate of the present application.

[0020] FIG2 is a schematic diagram of the use of an electric roller skate of the present application.

[0021] In the figure, 1-first wheel skate pedal, 2-second wheel skate pedal, 3-cable, 4-electric drive wheel, 5-bracket, 6-unpowered gliding wheel, 7-belt, 8-control box, 9-fixing strap. Best Mode for Carrying Out the Invention

[0022] The present invention will be further described below with reference to specific embodiments. FIG1 is a schematic diagram of an electric roller skate according to the present invention. The electric roller skate shown in the figure comprises a first roller skate pedal 1 and a second roller skate pedal 2. A fixing strap 9 is disposed above the first roller skate pedal 1, and a bracket 5 is disposed below the first roller skate pedal 1. An electric drive wheel 4 is disposed longitudinally forward of the bracket 5 along the first roller skate pedal 1, and an unpowered gliding wheel 6 is disposed behind the bracket 5. The fixing strap 9 has a front and rear portion. The cable of the electric drive wheel 4 extends upward through the fixing strap 9 near the heel of the foot and is electrically connected to a controller within a control box 8 disposed at the waist of the human body. The controller is electrically connected to a power source within the control box 8. The control box 8 is hung on the belt 7, the first roller skate 1 is fixed under the left foot of the human body, a fixing strap 9 is set above the second roller skate 2, and a bracket 5 is set below the second roller skate 2. An electric drive wheel 4 is set on the bracket 5 along the longitudinal front of the second roller skate 2, and an unpowered sliding wheel 6 is set at the rear. The cable of the electric drive wheel 4 extends upward near the heel position through the fixing strap 9 and is electrically connected to the controller in the control box 8 set at the waist of the human body. When using the electric roller skates, the first roller skate 1 is fixed under the left foot of the human body, and the second roller skate 2 is fixed under the right foot of the human body. Press the power switch on the control box 8 to start the electric roller skates, and the human waist moves forward. When bending and tilting, the front and rear axial parts of the multi-axis electronic gyroscope on the controller in the control box 8 detect the change in the posture of the human body, and output a signal to the controller to control the electric drive wheels 4 under the first roller skate pedal 1 and the second roller skate pedal 2 to accelerate. When the human waist leans back, the electronic gyroscope on the controller in the control box 8 detects the change in the posture of the human body, and outputs a signal to the controller to control the electric drive wheels 4 under the first roller skate pedal 1 and the second roller skate pedal 2 to decelerate. It can also control the electric drive wheels 4 under the first roller skate pedal 1 and the second roller skate pedal 2 to stop running or reverse running when the posture of the human body leans back beyond a certain limit, so that the electric roller skates stop or move backward.When a person uses the electric roller skates, the person's feet can be used to drive the first roller skate pedal 1 and the second roller skate pedal 2 to touch the ground and leave the ground in turn. The feet can use the same principle as that of existing non-electric roller skates, and use the two feet and the electric roller skates in turn to use the power of the person's own body to push the electric roller skates forward in an inverted "eight" shape. The combined power of the electric roller skates and the person's body is used to move forward, thereby increasing the cruising range. When the person uses the left foot to drive the first roller skate pedal 1 off the ground, the person relies on the right foot and the second roller skate pedal 2 to stand, and the person will move forward. The right swinging action transfers the center of gravity of the human body to the right leg and right foot, causing the human body's waist to swing to the right. The multi-axis electronic gyroscope on the controller in the control box 8 arranged at the human body's waist is used to detect the left and right axial parts. When the body posture changes, it outputs a signal to the controller to control the electric drive wheel 4 under the first roller skate 1 to decelerate and control the electric drive wheel 4 under the second roller skate 2 to accelerate. By the same principle, when the human body uses the right foot to drive the second roller skate 2 off the ground, the human body uses the left foot and the first roller skate 1 to stand, and the human body will swing to the left to transfer the center of gravity of the human body. The left leg and left foot cause the waist of the human body to swing to the left. The multi-axis electronic gyroscope on the controller in the control box 8 arranged at the waist of the human body is used to detect the left and right axial parts. When the body posture changes, the multi-axis electronic gyroscope outputs a signal to the controller to control the electric drive wheel 4 under the second roller skate 2 to decelerate and control the electric drive wheel 4 under the first roller skate 1 to accelerate. When the first roller skate 1 or the second roller skate 2 leaves the ground, it is decelerated so that it will not stall due to the loss of ground friction resistance when leaving the ground, which wastes electricity and causes danger, and increases the first roller skate 1 on the ground side. or the driving force of the electric drive wheel 4 of the second roller skate 2 to ensure smooth travel of the electric roller skates. FIG2 is a schematic diagram of a person using the electric roller skates. The first roller skate 1 and the second roller skate 2 are respectively fixed to the left and right feet of the person. The cables of the electric drive wheels 4 of the first roller skate 1 and the second roller skate 2 extend upward through the heels and legs of the person to the waist, where they are connected to the controller in the control box 8. The cables are provided with leg straps fixed to the legs. The figure shows the electric roller skates in motion, with the first roller skate 1 and the second roller skate 2 alternately touching and lifting off the ground, driven by the person.

[0023] In the present application, accelerating the electric grounding device and the electric drive wheel is consistent with increasing the driving force of the electric grounding device and the electric drive wheel, and similarly decelerating the electric grounding device and the electric drive wheel is consistent with reducing the driving force of the electric grounding device and the electric drive wheel.

[0024] The fixing strap 9 and the waist belt 7 can be made of Velcro or snap fasteners, etc., and can be implemented using various existing structures and materials, which will not be described in detail here.

[0025] The motor inside the electric drive wheel 4 can be a brushless motor, and the tire is fixed outside the motor.

[0026] The directional terms such as up, down, left, and right described in this application are used to illustrate this application and are not used to limit this application.

[0027] The posture detection of the left-right swing and front-back pitch of the human body described in this application at least includes the detection of acceleration and / or angle.

[0028] Because the structures and functions of electronic components such as acceleration sensors and magnetic sensors have many overlapping and identical parts with the electronic gyroscope described in this application, different files may have different names. Therefore, the electronic gyroscope described in this application is understood to include electronic components or combinations such as electronic gyroscopes, acceleration sensors and magnetic sensors that can achieve the same functions as described in this application. In physical space, it may be a combination of one or several electronic components. For example, in order to achieve accurate measurement, a gravity accelerometer, a gyroscope and a magnetic sensor for measuring azimuth angles compensate each other, and their overall function is also to achieve the same function as described in this application. Such combination prior art is often used in many fields, and those skilled in the art can understand and implement it according to the technical solution of this application.

[0029] Except for the above description, the contents known to those skilled in the art will not be described here again, and those skilled in the art can understand and implement them.

[0030] In the above embodiments of the present application, the present application is described only through selected embodiments, and the above embodiments are used to illustrate rather than to limit the present application. Modes for Carrying Out the Invention

[0031] Type here a paragraph describing embodiments of the invention. Industrial Applicability

[0032] Type your industrial applicability description paragraph here. Sequence Listing Free Content

[0033] Type your sequence listing free description paragraph here.

Claims

1. A control method for a pedal vehicle, wherein the pedal vehicle is electrically driven and comprises an electric grounding device, a foot fixing device, a controller and a power supply, wherein the controller is electrically connected to the electric grounding device and the power supply respectively, and the foot fixing device is used to fix the pedal vehicle to a human foot, wherein the pedal vehicle comprises a first pedal part and a second pedal part, wherein the first pedal part is fixed to a human left foot through the foot fixing device and the second pedal part is fixed to a human right foot through the foot fixing device, and the first pedal part and the second pedal part respectively comprise an electric grounding device, wherein the method comprises: The controller of the pedal vehicle is provided with at least one electronic gyroscope, and the electronic gyroscope is arranged at one of the parts of the human body. The human body part swings left and right along the left and right directions of the body during the use of the pedal vehicle. The electronic gyroscope detects the left and right swinging 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 pedal vehicle control method according to claim 1, characterized in that: In the above-mentioned pedal vehicle control method, the electric grounding device of the first pedal part and the second pedal part is controlled as follows: the electronic gyroscope detects the left and right swinging of the human body part and generates a signal to output to the controller. When the action state of the human body part swinging to the right is detected, the electronic gyroscope outputs a signal to the controller to control the electric grounding device of the first pedal part to decelerate. When the action state of the human body part swinging to the left is detected, the electronic gyroscope outputs a signal to the controller to control the electric grounding device of the second pedal part to decelerate.

3. The pedal vehicle control method according to claim 1, characterized in that: The control of the electric grounding device of the first pedal part and the second pedal part is that the electronic gyroscope detects the left and right swinging of the human body part and generates a signal to output to the controller. When the action state of the human body part swinging to the right is detected, the electronic gyroscope outputs a signal to the controller to control the electric grounding device of the first pedal part to slow down and control the electric grounding device of the second pedal part to accelerate. When the action state of the human body part swinging to the left is detected, the electronic gyroscope outputs a signal to the controller to control the electric grounding device of the second pedal part to slow down and control the electric grounding device of the first pedal part to accelerate.

4. The pedal vehicle control method according to claim 1, characterized in that: The electronic gyroscope is a multi-axis electronic gyroscope, or a plurality of single-axis electronic gyroscopes. The electronic gyroscope is configured to detect different axes. One of the axes of the electronic gyroscope is used to detect changes in the left and right swing of a human body, and the other axes of the electronic gyroscope are used to detect changes in the front and back pitch of a human body. The output signal controls the electric grounding devices of the first pedal part and the second pedal part through a controller.

5. The pedal vehicle control method according to claim 4, characterized in that: The electronic gyroscope and controller are arranged on the waist, legs, chest, back or head of the human body, and the controller is connected to the electric grounding device of the first pedal part and the second pedal part under the foot through a cable; when the electronic gyroscope and the controller are arranged on the waist of the human body, the electronic gyroscope is set for the front and back pitch posture of the human body, when the electronic gyroscope detects that the waist of the human body is bent forward, the electric grounding device of the first pedal part and the second pedal part is controlled to accelerate the operation, and when the electronic gyroscope detects that the waist of the human body is bent backward, the electric grounding device of the first pedal part and the second pedal part is controlled to decelerate the operation, stop or reverse backward.

6. The pedal vehicle control method according to claim 1, characterized in that: The output signal value of the electronic gyroscope is proportional to the amplitude of the left-right swing and the front-back pitch of the human body. When the electronic gyroscope detects that the left-right swing posture and / or the front-back pitch posture of the human body exceed the set value, the controller stops the operation of the electric grounding device of the first pedal part and the second pedal part.

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 roller skate pedal and the second roller skate pedal are respectively provided with fixing straps for fixing human feet upwards, and electric drive wheels are respectively provided downwards of the first roller skate pedal and the second roller skate pedal, the cables of the electric drive wheels are electrically connected to a controller provided at the human waist, and the controller is electrically connected to a power supply also provided at the human waist, the first roller skate pedal and the second roller skate pedal are both flat-plate-shaped, and the first roller skate pedal and the second roller skate pedal respectively extend two parallel brackets downwards, and the parallel brackets are used to install the electric drive wheels, and a multi-axis electronic gyroscope is provided in the controller, and the first axial direction of the multi-axis electronic gyroscope is provided for detecting the left and right swinging posture of the human waist, and the second axial direction of the multi-axis electronic gyroscope is provided for detecting the front and back pitching posture of the human waist.

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

9. The electric roller skates according to claim 7, characterized in that: A total of two electric drive wheels are arranged longitudinally along the front-to-back direction under the first roller skate pedal, and a total of two electric drive wheels are arranged longitudinally along the front-to-back direction under the second roller skate pedal.

10. The electric roller skates according to claim 7, characterized in that: There are two wheels in total along the front-to-back longitudinal direction under the first roller skate pedal, wherein one of the electric drive wheels is arranged at the front part under the first roller skate pedal, and one of the unpowered gliding wheels is arranged at the rear part. Similarly, there are two wheels in total along the front-to-back longitudinal direction under the second roller skate pedal, wherein one of the electric drive wheels is arranged at the front part under the second roller skate pedal, and one of the unpowered gliding wheels is arranged at the rear part.

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