西班牙专利ES2607153A2 Electric balance scooter

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专利摘要:
Provided is an electric balance scooter, comprising a top cover, a bottom cover, an inner cover, a rotating mechanism, two wheels, two wheel hub motors, a plurality of sensors, a power supply and a controller, wherein the top cover comprises a first top cover and a second top cover which are symmetrically arranged and can mutually rotate; the bottom cover is fixed to the top cover, and the bottom cover comprises a first bottom cover and a second bottom cover which are symmetrically arranged and can mutually rotate; the inner cover is fixed between the top cover and the bottom cover, and the inner cover comprises a first inner cover and a second cover which are symmetrically arranged and can mutually rotate; the rotating mechanism is fixed between the first inner cover and the second cover; the two wheels are rotatably fixed to two sides of the inner cover respectively; the two wheel hub motors are fixed in the two wheels respectively; the plurality of sensors are arranged between the bottom cover and the inner cover respectively; the power supply is fixed between the first bottom cover and the first inner cover; and the controller is fixed between the second bottom cover and the second inner cover, the controller is electrically connected to the plurality of sensors, the power supply and the wheel hub motors, and the controller controls the corresponding wheel hub motors to drive the corresponding wheels to rotate according to the sensed signals transmitted by the sensors.
公开号:ES2607153A2
申请号:ES201590115
申请日:2014-12-02
公开日:2017-03-29
发明作者:Jiawei Ying；Shaojun Cao
申请人:Hangzhou Chic Intelligent Technology Co Ltd；
IPC主号:

专利说明:

ELECTRICAL SELF-EQUIPMENT VEHICLE
BACKGROUND OF THE INVENTION
5 Field of the invention
The present invention relates to a two-wheel electric balancing vehicle, from which two platforms for transporting people can rotate in relation to each other to drive.
10 Description of the related technique
An electric self-balancing vehicle is also known as a somatosensory vehicle or a sensor-controlled vehicle. The operative principle of the same is established
15 mainly in a basic principle called "dynamic stabilization", the change of positions of the car is detected by a gyroscope and an acceleration sensor inside the body of the vehicle, and a motor is precisely operated by means of a servo control system to adjust accordingly, to maintain the balance of the system.
20 The existing self-balancing electric vehicle generally has an operating rod. A user stands on a foot platform of the self-balancing vehicle to operate the operating rod to move forward, reverse, and stop, and this control is also known as "manual control." The foot platform of the existing self-balancing vehicle is generally a flat plate, and the foot platform is always
25 keeps in a horizontal state during use and cannot rotate in a relative way. Therefore, the user cannot control the self-balancing vehicle only with his feet.
BRIEF SUMMARY OF THE INVENTION
To overcome at least one defect in the prior art, the present invention provides an electric self-balancing vehicle.
To achieve the above objective, the present invention provides an electric self-balancing vehicle that includes an upper cover, a lower cover, an inner cover, a rotating mechanism, two wheels, two hub motors, a plurality of sensors, a supply of Energy and a controller. The top cover includes a first cover

upper and a second upper cover arranged symmetrically and which can rotate in relation to each other. The lower cover is fixed to the upper cover, and the lower cover includes a first lower cover and a second lower cover arranged symmetrically and which can rotate relative to each other. The inner cover is fixed between the upper cover and the lower cover, and the inner cover includes a first inner cover and a second inner cover arranged symmetrically and which can rotate relative to each other. The rotating mechanism is fixed between the first inner cover and the second inner cover. The two wheels are rotatably fixed on two sides of the inner cover, respectively. The two hub motors are fixed on the two wheels, respectively. The plurality of sensors are arranged between the lower cover and the inner cover, respectively. The power supply is fixed between the first lower cover and the first inner cover. The controller is fixed between the second lower cover and the second inner cover. The controller is electrically connected to the plurality of sensors, the power supply and the hub motors, and the controller controls the hub motors to drive the corresponding wheels to rotate according to detection signals transmitted by the sensors.
In accordance with an embodiment of the invention, the electric self-balancing vehicle may further include two pedals fixed to the upper cover and the inner cover.
According to an embodiment of the invention, the pedals may have mutually separated friction strips arranged on upper surfaces of the pedals.
According to an embodiment of the invention, the first upper cover and the second upper cover can have hollow spaces, respectively, the first inner cover and the second inner cover can have recesses in positions corresponding to the hollow spaces, respectively, and the spaces Gaps can be combined with recesses to form pedal cavities to hold the pedals.
According to an embodiment of the invention, the rotary mechanism may include two bearings, a shaft sleeve, and two elastic springs, the two bearings may be fixed to the first inner cover and the second inner cover respectively, and the tree sleeve may be fixed inside the two bearings and can be fixed to the inner cover by means of the two elastic springs.
According to an embodiment of the invention, the inner cover can have a cylindrical drum, and the bearings and the shaft sleeve can be installed in the drum by means of the elastic springs.
According to an embodiment of the invention, the electric self-balancing vehicle can5 also include a decorative headlamp arranged on the lower deck.
According to an embodiment of the invention, the upper cover may further include two indicative screens electrically connected to the controller. An indicative screen can show a remaining power supply capacity, and the other screen
Indicative 10 may show a state of operation of the self-balancing electric vehicle.
According to an embodiment of the invention, the sensor may include a gyroscope, an acceleration sensor, and an inductive switch, the inductive switch can detect if a
The user is on the self-balancing electric vehicle so that it is on or off, the controller can receive the detection signal from the inductive switch to control the hub motors to operate or stop, and the controller can receive the detection signals of the acceleration sensor and the gyroscope to control the hub motors to change a state or maintain the state.
According to an embodiment of the invention, the inductive switch may be an infrared photoelectric sensor.
According to an embodiment of the invention, the self-balancing electric vehicle may further include a charging interface arranged in the lower cover.
In accordance with an embodiment of the invention, the self-balancing electric vehicle may further include an interface cover that covers the charging interface.
In accordance with an embodiment of the invention, the self-balancing electric vehicle may further include a limiting shaft arranged between the first inner cover and the second inner cover, and the length of the limiting shaft in the second inner cover may be greater than the length of the limitation shaft in the first inner cover.
According to an embodiment of the invention, the upper cover can have two arc-shaped projections, and the two arc-shaped projections can be located

above the two wheels and can cover a part of the wheels respectively.
According to an embodiment of the invention, the width of the arc-shaped projections may be greater than the width of the wheels.
According to an embodiment of the invention, the upper cover and the lower cover can be made of plastic, and the inner cover can be made of aluminum alloy.
According to an embodiment of the invention, the electric self-balancing vehicle may further include a remote controller, and the controller may receive a control signal sent by the remote controller.
According to an embodiment of the invention, the controller can have a storage unit and a correction unit, the storage unit can store an initial equilibrium state of the self-balancing electric vehicle, and the correction unit can correct a state of Current balance of the self-balancing electric vehicle.
In summary, according to the invention, the inner cover is disposed only between the upper cover and the lower cover of the self-balancing electric vehicle, so that the entire structure of the self-balancing electric vehicle is more firm, and the electronic elements within the Vehicle body are protected at the same time. In addition, a space is formed to fix the electronic elements between the inner cover and the lower cover, so that the electronic elements are installed more compactly. The power supply and the controller are arranged in two parts of the vehicle body, respectively. Therefore, a power supply and a controller can control both hub motors simultaneously, assembly is easier, wiring is more practical, and more space is saved. Meanwhile, the weights on both sides of the vehicle body are better balanced to thereby improve the self-balance of the vehicle body. In accordance with the present invention, the wheels are located at the right and left edges of the vehicle body. In this way, wheels with a larger size can be used. Compared to the existing self-balancing vehicle with wheels installed in the lower part of the lower deck, the electric self-balancing vehicle has considerable advantages of movement distance and speed. In addition, hub motors are adopted in the present invention, and motors are installed directly on the wheels. Consequently, the structure of the self-balancing electric vehicle is more compact. Compared to the self-balancing vehicle installed individually with an engine, more space is saved and the entire device is more compact.
5 These and other features, aspects and advantages of the present invention will be better understood withwith respect to the following description, attached claims and attached drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
10 FIG. 1 is a sectional view showing an electric self-balancing vehicle according to a first embodiment of the present invention;
FIG. 2 is an exploded schematic diagram showing the electric self-balancing vehicle according to the first embodiment of the invention;
15 FIG. 3 is a schematic diagram showing the electric self-balancing vehicle according to the first embodiment of the invention;
FIG. 4 is a schematic diagram showing the electric self-balancing vehicle at another angle according to the first embodiment of the invention;
FIG. 5 is a functional and partial block diagram of the electric self-balancing vehicle according to the first embodiment of the invention; Y
25 FIG. 6 is a schematic diagram showing an electric self-balancing vehicle according to a second embodiment of the invention.
DETAILED DESCRIPTION OF THE INVENTION
30 Please see FIG. 1 to 5 together. A self-balancing electric vehicle 100 in this embodiment includes an upper cover 1, an inner cover 2, a lower cover 3, two hub motors 4, two wheels 50, a rotating mechanism 60, a plurality of sensors 80, a power supply 81, and a controller 82.
35 The upper cover 1 includes a first upper cover 11 and a second upper cover 12, and the first upper cover 11 and the second upper cover 12 are

symmetrically arranged and can rotate in relation to each other. When the self-balancing electric vehicle 100 is in a state of use, the upper cover 1 is located at the top. The first upper cover 11 may be a left upper cover, and the second upper cover 12 may be a right upper cover. However, the invention is not limited thereto. When the self-balancing electric vehicle 100 rotates 180 degrees horizontally, the first upper deck 11 becomes the upper right deck, and the second upper deck 12 becomes the upper left deck.
The shapes of the first upper cover 11 and the second upper cover 12 are basically the same, and the first upper cover 11 and the second upper cover 12 can rotate relative to each other under the action of the rotating mechanism 60. The interior parts of the First upper cover 11 and the second upper cover 12 are connected to form an X-shape, and two indicative screens 13 are arranged at the inner ends. The indicative screens 13 are electrically connected to the controller 82, in which one of the indicative screens 13 can show a remaining capacity of the power supply 81, and the other indicative screen 13 can show a functioning state of the self-balancing electric vehicle 100 . In the current application, a transparent outer cover 14 is arranged on each indicative screen 13 to protect the indicative screen 13 and facilitate reading for a user. The indicative screen 13 showing the operating status may show different icons (for example, a battery icon and the like) according to different modes of the self-balancing electric vehicle 100, for example, a low speed mode, a high mode speed, a normal state of the system, a locked state and the like, thus making it possible for the user to intuitively and clearly understand the operating state of the self-balancing electric vehicle 100.
In the embodiment, the outer parts of the first upper cover 11 and the second upper cover 12 have arc-shaped projections 15, respectively, and the two arc-shaped projections 15 are located above the two wheels 50 and cover a part of the wheels 50, respectively. In the first embodiment, the width W1 of each of the arc-shaped projections 15 is greater than the width W2 of each of the wheels 50. The arc-shaped projections 15 completely cover the upper parts of the wheels 50. Due to this arrangement, arc-shaped projections 15 can effectively block the muddy water that splashes when wheels 50 are moved. Meanwhile, a hanging object (for example, a waistband is prevented)

too long of the user's clothing) is accidentally wound on the wheels in a movement process to cause a possible injury to the user, whereby the safety of the electric vehicle 100 is improved. However, the invention is not limited thereto. In other embodiments, the arc-shaped projections 15 can be designed to narrow at two ends and widen in the middle.
The lower cover 3 is fixed to the upper cover 1. In the current application, the upper cover 1 and the lower cover 3 can be fixed by screws. In the present invention, the upper cover 1, the inner cover 2 and the lower cover 3 together form the frame of the self-balancing electric vehicle 100, and after the upper cover 1 and the lower cover 3 are fixed together, Inner cover 2 is covered inside the body of the vehicle and is not exposed. When the self-balancing electric vehicle 100 is in the state of use, the lower cover 3 is located at the bottom.
The lower cover 3 includes a first lower cover 31 and a second lower cover 32, and the first lower cover 31 and the second lower cover 32 are symmetrically arranged and can rotate relative to each other. The shapes of the first lower cover 31 and the second lower cover 32 are basically the same, and the first lower cover 31 and the second lower cover 32 can rotate relative to each other under the action of the rotating mechanism 60. The interior parts of the First lower cover 31 and the second lower cover 32 are connected to form an X-shape. Similarly, the first lower cover 31 may be a lower left cover, and the second lower cover 32 may be a lower right cover. When the self-balancing electric vehicle 100 rotates 180 degrees horizontally, the first lower deck 31 becomes the lower right deck, and the second lower deck 32 becomes the lower left deck.
In the embodiment, the lower cover 3 has two decorative headlights 33 to increase a beautiful appearance and have a lighting paper at the same time. The covers of the decorative lights 33 can be transparent to transmit light. In the current application, the decorative headlights 33 can be electrically connected to the controller 82, so that the decorative headlights 33 can reflect a driving state of the self-balancing electric vehicle 100 to remind the surrounding people, thereby improving safety during use. For example, when the self-balancing electric vehicle 100 advances, the decorative headlights 33 can be kept on; when the self-balancing electric vehicle 100 is reversing, the decorative headlights 33 may flash; when the vehicle

100 electric self-balancing turns to the left, the decorative headlamp 33 on the left side can flash or stay on, and the decorative headlamp 33 on the right side can be turned off; when the self-balancing electric vehicle 100 turns to the right, the decorative headlight 33 on the right side can flash or stay on, and the decorative headlight 33 on the left side can be turned off. The lighting states of the decorative lights 33 are not limited in the invention.
The inner cover 2 is fixed between the upper cover 1 and the lower cover 3. The inner cover 2 includes a first inner cover 21, a second inner cover 22, and the first inner cover 21 and the second inner cover 22 are arranged symmetrically and They can rotate in relation to each other. The shapes of the first inner cover 21 and the second inner cover 22 are basically the same, and the first inner cover 21 and the second inner cover 22 can rotate relative to each other under the action of the rotation mechanism 60. The rotation mechanism 60 can be installed in the middle of the inner cover 2, and the longitudinally installed hub motors 4 are fixed to the left and right edges. In the embodiment, the first inner cover 21 and the second inner cover 22 are interconnected to form a whole. However, the invention is not limited thereto. In other embodiments, the first inner cover 21 and the second inner cover 22 may be mutually separate and independent components. Similarly, the first inner cover 21 can be a left inner cover, and the second inner cover 22 can be a right inner cover. When the self-balancing electric vehicle 100 rotates 180 degrees horizontally, the first inner cover 21 becomes the right inner cover, and the second inner cover 22 becomes the left inner cover.
In the embodiment, the self-balancing electric vehicle 100 further includes two pedals 5, and the pedals 5 are fixed to the upper deck 1 and the inner deck 2. To make it possible for the user to remain more stable in the process of movement, mutually separate friction strips 51 are arranged on the upper surface of each pedal 5 of the self-balancing vehicle 100 in the embodiment to increase the frictional force.
To fix the pedals 5 and reduce the volume of the self-balancing vehicle 100, the first upper deck 11 and the second upper deck 12 have hollow spaces 16, respectively, the first inner cover 21 and the second inner cover 22 have recesses 23 in corresponding positions with the hollow spaces 16, respectively, and

the hollow spaces 16 and the recesses 23 are mutually combined to form pedal cavities (not shown in FIG. 2) to contain the pedals 5. In the current application, the hollow spaces 16 are penetrated into the upper deck 1, the recesses 23 do not penetrate the inner cover 2, and the shapes of the hollow spaces 16 and the recesses 23 coincide with the shapes of the pedals 5. The pedal cavities are containment spaces that have lower surfaces and side walls formed after the combination of the hollow spaces 16 with the recesses 23.
During use, the pedals 5 directly support the user. The inner cover 2 is used as the inner frame of the entire self-balancing vehicle 100 to indirectly support the weight of the user transferred by the pedals 5, thus preventing the electronic elements between the inner cover 2 and the lower cover 3 from being extruded by the user's weight Therefore, the entire self-balancing electric vehicle 100 is firmer and stronger, and the electronic elements inside are protected, so that the self-balancing vehicle 100 operates more stably and has a longer lifespan. Preferably, the inner cover 2 is made of aluminum alloy. In this way, the resistance is greater, and the structure is more stable. The upper cover 1 and the lower cover 3 are made of plastic, whereby the weight of the entire body of the vehicle is reduced, processes, such as spray coating, coloring etc., are conveniently carried out in the appearance of the vehicle body, and waterproof and anti-fouling functions are achieved. Since the conventional self-balancing electric vehicle does not include the inner cover 2, the internal electronic elements directly support the user's weight, and due to the shocks generated during the driving process of the conventional self-balancing vehicle, it is easy for a situation of automatic shutdown, and it is easy for the user to fall while driving. The self-balancing electric vehicle 100 in the present invention has solved this technical problem.
The rotating mechanism 60 is fixed between the first inner cover 21 and the second inner cover 22. In the first embodiment, the rotating mechanism 60 includes two bearings 61, a shaft sleeve 62, and two elastic springs 63. The two bearings 61 are fixed to the inner ends of the first inner cover 21 and the second inner cover 22, respectively. The shaft sleeve 62 is fixed inside the two bearings 61 and fixed to the inner cover 2 by means of the two elastic springs 63. In this way, the right and left inner covers of the inner cover 2 can rotate in cooperation with the rotating mechanism 60. Due to the arrangement of the rotating mechanism 60, the two pieces

of the body of the electric self-balancing vehicle 100 can rotate freely and relatively.
To install the rotary mechanism 60, a cylindrical drum 24 can be designed at the inner ends of the first inner cover 21 and the second inner cover 22, and the bearings 61 and the shaft sleeve 62 are installed in the drum 24 by means of the elastic springs 63 from outside to inside. To limit a relative rotation angle that is too large between the first inner cover 21 and the second inner cover 22, the self-balancing electric vehicle 100 further includes a limiting shaft 7, and the length of the limiting shaft 7 in the second inner cover 22 is greater than the length of the limiting shaft 7 in the first inner cover 21. In the embodiment, the limiting shaft 7 is located between the inner ends of the first inner cover 21 and the second inner cover 22.
The two wheels 50 are rotatably fixed on two sides of the inner cover 2, respectively, and the two hub motors 4 are fixed on the two wheels 50, respectively. The hub motor 4 is also called a wheel motor, in which the energy, transmission and braking devices are incorporated into a hub, so that a greater number of transmission components can be omitted, the self-balancing vehicle structure can be more simple, a better space utilization rate can be obtained, and transmission efficiency can be improved at the same time. Since the hub motor 4 has the characteristic of independently steering a single wheel, a differential driving similar to a caterpillar tractor type vehicle can be achieved by different rotation speeds and even by reversing the left and right wheels 50, to that the turning radius of the vehicle can be greatly reduced, and on-site driving can be achieved almost in a particular condition.
The plurality of sensors 80 are arranged between the lower cover 3 and the inner cover 2. In detail, one half of the sensors 80 are arranged between the first lower cover 31 and the first inner cover 21, and the other half of the sensors 80 they are arranged between the second lower cover 32 and the second inner cover 22. The power supply 81 is fixed between the first lower cover 31 and the first inner cover 21. The controller 82 is fixed between the second lower cover 32 and the second cover interior 22. In the present invention, only one power supply 81 and one controller 82 are needed to simultaneously control the two hub motors 4, so assembly is easier, wiring is more convenient, and vehicle repair 100 electric self-balancing sold that has been returned to the factory is more convenient.

In addition, the power supply 81 and the controller 82 are arranged in two half parts of the vehicle body, respectively. In this way, more space is saved and the structure of the entire vehicle body is more compact. An electrical cable connecting the power supply 81 and the controller 82 and the electrical cables connecting the controller 82 and the hub motors 4 can penetrate through the articulation of the two half parts of the body of the vehicle, i.e. Electrical wires penetrate from the left half (or the right half) of the body of the vehicle to the right half (or the left half).
In the embodiment, the sensors 80 include a gyroscope 83, an inductive switch 84 and an acceleration sensor 85. In the current application, to modulate the internal elements of the entire device, the acceleration sensor 85 and the gyroscope 83 are arranged in The same circuit card. Due to a visual angle, only the front surface of the circuit board can be seen in FIG. 2, and the acceleration sensor 85 and the gyroscope 83 (indicated by dotted lines in FIG. 2) are arranged on the back surface of the circuit card in the current application. The controller 82 is electrically connected to the plurality of sensors 80, the power supply 81, and the hub motors 4, and the controller 82 controls the hub motors 4 to drive the corresponding wheels 50 and which rotate according to signals of detection transmitted by the sensors 80.
The inductive switch 84 detects if the user is on the self-balancing electric vehicle 100 to turn it on or off, the controller 82 receives the detection signal (i.e., the on or off signal) of the inductive switch 84 to control the motors 4 of hub for operation or stop, and controller 82 receives the detection signals from acceleration sensor 85 and gyroscope 83 to control hub motors 4 to change state or maintain state. In the first embodiment, inductive switch 84 is an infrared photoelectric sensor. However, the invention is not limited thereto. In other embodiments, the inductive switch 84 may be a microwave inductive switch, an ultrasonic inductive switch, or any other inductive switch capable of achieving the same function. In the embodiment, the self-balancing electric vehicle 100 further includes a blocking element 86. When the user steps on the pedals 5, the blocking element 86 will block an infrared induction area of the infrared photoelectric sensor, and in this way the sensor is started Infrared photoelectric The controller 82 receives a start signal sent by the inductive switch 84, thereby driving the hub motors 4 to operate.

The wheels of the self-balancing vehicle in the prior art begin to rotate automatically once the self-balancing vehicle is activated, so that the user cannot easily place on the self-balancing vehicle. When the user gets off the self-balancing vehicle, the wheels do not stop rotating, and all wheels stop rotation only after the power switch is turned off. In this way, there is a very large potential risk, and the use is very impractical. When the self-balancing electric vehicle 100 is activated in the embodiment, the hub motors 4 do not work, while the wheels 50 are driven by detecting if the user is on the pedals 5, thus avoiding the blind rotation situation of the vehicle. Self-balancing in the prior art and greatly improving the safety of use. On the other hand, the self-balancing electric vehicle 100 in the embodiment achieves an automatic balance after the detection of the footsteps instead of balancing once the power supply is activated, so that the safety of the vehicle body can be guaranteed, the rotation of the vehicle body is small to avoid the problem in the prior art that automatic equilibrium is achieved once the power supply is activated and cause an incorrect balance point of the vehicle body and the broken vehicle body to have As a result a user imbalance.
The acceleration sensor 85 and the gyroscope 83 detect the state of motion of the electric self-balancing vehicle 100 as a whole, for example, the acceleration, angular velocity and the like of the self-balancing vehicle 100. The controller 82 drives the hub motors 4 in accordance with the detection signals transmitted by the acceleration sensor 85 and the gyroscope 83, thereby determining whether or not to change the direction or speed of the self-balancing vehicle 100. The acceleration sensor 85 and gyroscope 83 detection technology is conventional and will not be described herein for a concise purpose.
In the embodiment, the self-balancing electric vehicle 100 further includes a U-shaped fixing element 9. The sensors 80 and the blocking element 86 are fixed to the U-shaped fixing element 9 to achieve a modularized installation of the elements. electronics of the entire device and facilitate assembly, wiring and subsequent maintenance.
In practice, the user operates a part or two parts of the body of the vehicle so thatturn by means of the forces of the feet, to activate the sensors 80 and to send thedetection signals to controller 82. Controller 82 drives hub motors 4

so that they work according to an internal control program, to make it possible for the user to turn, advance or reverse, so that the "foot control" is achieved, the use is more convenient and the control is more flexible.
How the controller 82 in the present invention controls the self-balancing vehicle to achieve a state of self-balancing and controls the wheels 50 to advance, reverse or turn belongs to the prior art, and will not be described herein for an end. concise. The specific reference may refer to control methods and technologies for self-balancing vehicles currently disclosed and adopted by self-balancing vehicle production companies. For example, Chinese Patent Application No. 201320050547.3, entitled BALANCE CONTROL DEVICE FOR SMART BALANCE VEHICLE AND SMART BALANCE VEHICLE, in which the control device may be the controller 82 in the embodiment. Or, for example, the Chinese patent application No. 201220367045.9, entitled CIRCUIT CONTROL DEVICE FOR CONTROLLING A BALANCE VEHICLE MOTOR USING CPLD. Certainly, in the current application, other control devices and methods can also be selected, for example, the control method described in the Chinese patent application No. 201310516158.X, entitled CONTROL METHOD FOR TWO-WHEELED SELF-BALANCE VEHICLE.
In the embodiment, the self-balancing electric vehicle 100 further includes a charging interface 87, and the charging interface 87 is arranged on the lower deck 3. Specifically, the charging interface 87 is arranged on the outer side of the lower deck 3 to charge the power supply 81 conveniently.
In the embodiment, the controller 82 has a storage unit 821 and a correction unit 822, the storage unit 821 stores an initial equilibrium state of the self-balancing electric vehicle 100, and the correction unit 822 corrects a current equilibrium state of the electric self-balancing vehicle 100. Specifically, after the self-balancing electric vehicle 100 leaves the factory, the data of when the vehicle body is placed horizontally is recorded in the storage unit 821. After the self-balancing electric vehicle 100 is used for a period of time. of time, due to external environments, such as temperature etc., and to situations of use such as jolts, the sensors 80 of the self-balancing electric vehicle 100 may deviate to some extent, whereby the horizontal reference value of the electric vehicle 100 of Self balance will change accordingly. In that

At the moment, if the horizontal data adopted when leaving the factory is still adopted, the self-balancing electric vehicle 100 is controlled inaccurately. After long-term use, accidents may occur. A correction program is stored in the correction unit 822 in the embodiment. When the correction program is operated, the self-balancing electric vehicle 100 detects the real-time conditions of the sensors 80 and evaluates and compares the real-time conditions with the initial horizontal data, to determine whether to overwrite the original data to restart. By adjusting the correction program, the control accuracy and the service life of the self-balancing electric vehicle 100 are greatly improved, and the problem of the prior art is solved that the flexibility and precision of the self-balancing electric vehicle decrease afterwards. of the use of the self-balancing vehicle for a period of time.
FIG. 6 is a schematic diagram showing an electric self-balancing vehicle according to a second embodiment of the invention. Please see FIG. 6. The only difference between the self-balancing electric vehicle 200 in the second embodiment and the self-balancing electric vehicle 100 in the first embodiment is that the self-balancing electric vehicle 200 further includes a remote controller 210, and the controller receives a signal from control sent by the remote controller 210. The remote control of the self-balancing electric vehicle 200 can be achieved by the remote controller 210. A start button and a correction button and the like can be arranged on the remote controller 210. However, the invention It is not limited to it. The self-balancing electric vehicle 200 further includes an interface cover 220, and the interface cover 220 covers the charging interface. The interface cover 220 can prevent the muddy water that splashes while operating the self-balancing electric vehicle 200 from contaminating the charging interface and even entering the vehicle body.
In summary, according to the invention, the inner cover is disposed only between the upper cover and the lower cover of the self-balancing electric vehicle, so that the entire structure of the self-balancing electric vehicle is more firm, and the electronic elements within the Vehicle body are protected at the same time. In addition, the space for fixing the electronic elements is formed between the inner cover and the lower cover, so that the electronic elements are installed more compactly. The power supply and the controller are arranged in two parts of the vehicle body respectively. Therefore, a power supply and a controller can control the two hub motors simultaneously, the assembly is easier, the wiring is more convenient, and more space is saved. Meanwhile, the weights in both
sides of the vehicle body are better balanced to thereby improve the self-balance of the vehicle body. In accordance with the present invention, the wheels are located on the left and right edges of the vehicle body. In this way, wheels with larger sizes can be used. Compared to existing 5-wheel self-balancing vehicles installed on the bottom of the lower deck, the electric self-balancing vehicle has considerable advantages of movement distance and speed. In addition, hub motors are adopted in the present invention, and motors are installed directly on the wheels. Consequently, the structure of the self-balancing electric vehicle is more compact. In comparison with the self-balancing vehicle
10 installed individually with an engine, more space is saved and the whole device is more compact.
Although the present invention has been described in considerable detail in reference to certain preferred embodiments thereof, the disclosure is not intended to limit the
15 scope of the invention. Persons skilled in the art can make various modifications and changes without departing from the scope and spirit of the invention. Therefore, the scope of the appended claims should not be limited to the description of the preferred embodiments described above.

权利要求:
Claims (10)
[1]
1. An electric self-balancing vehicle, comprising: an upper cover comprising a first upper cover and a second upper cover arranged symmetrically and which can rotate in relation to one another;
a lower cover fixed to the upper cover, the lower cover comprising a first lower cover and a second lower cover arranged symmetrically and which can rotate;
an inner cover fixed between the upper cover and the lower cover, 10 the inner cover comprising a first inner cover and a second inner cover arranged symmetrically and which can rotate in relation to one another; a rotating mechanism fixed between the first inner cover and the second inner cover; two wheels rotatably fixed on two sides of the inner cover,
15 respectively; two hub motors fixed on the two wheels, respectively; a plurality of sensors arranged between the lower cover and the inner cover; a power supply fixed between the first bottom cover and the first cover
inside; Y
20 a controller fixed between the second lower cover and the second inner cover, in which the controller is electrically connected with the plurality of sensors, the power supply and the hub motors, and the controller controls the hub motors to drive the corresponding and rotating wheels according to detection signals transmitted by the sensors.
[2]
2. The electric self-balancing vehicle according to claim 1, further comprising two pedals, wherein the pedals are fixed to the upper cover and the inner cover.
The electric self-balancing vehicle according to claim 2, wherein the pedals have mutually separated friction strips arranged on upper surfaces of the pedals.
[4]
4. The electric self-balancing vehicle according to claim 2, wherein the
The first upper cover and the second upper cover have hollow spaces, respectively, the first inner cover and the second inner cover have recesses in corresponding positions with the hollow spaces, respectively, and the hollow spaces are combined with the recesses to form pedal cavities to contain the pedals.
5 5. The self-balancing electric vehicle according to any of theclaims 1-4, wherein the rotary mechanism comprises two bearings, a sleeveshaft and two elastic springs, the two bearings are fixed to the first inner cover and to thesecond inner cover respectively, and the tree sleeve is fixed within the twobearings and is fixed to the inner cover by means of the two elastic springs.
[6]
6. The self-balancing electric vehicle according to claim 5, wherein the inner cover has a cylindrical drum, and the bearings and the shaft sleeve are installed in the drum by means of the elastic springs.
The electric self-balancing vehicle according to any of claims 1-6, further comprising a decorative headlamp disposed on the lower deck.
[8]
8. The self-balancing electric vehicle according to any of the
20 claims 1-7, wherein the top cover further includes two indicative screens electrically connected to the controller, an indicative screen shows a remaining capacity of the power supply, and the other indicative screen shows an operating state of the self-balancing electric vehicle .
The electric self-balancing vehicle according to any one of claims 1-8, wherein the sensor comprises a gyroscope, an acceleration sensor, and an inductive switch, the inductive switch detects whether a user is placed on the vehicle. electric self-balancing to activate or shut down, the controller receives the detection signal from the inductive switch to control the hub motors so that
30 work or stop, and the controller receives the detection signals from the acceleration sensor and the gyroscope to control the hub motors and change a state or maintain the state.
[10]
10. The self-balancing electric vehicle according to claim 9, wherein the inductive switch is an infrared photoelectric sensor.
[11]
11. The electric self-balancing vehicle according to any of claims 1-10 further comprising a charging interface disposed on the lower deck.
The electric self-balancing vehicle according to claim 11, whichit also comprises an interface cover, in which the interface cover covers thecharging interface
[13]
13. The self-balancing electric vehicle according to any of the
10 claims 1-12, further comprising a limitation tree disposed between the first inner cover and the second inner cover, wherein the length of the limiting tree in the second inner cover is greater than the length of the limiting tree in the First inner cover.
The electric self-balancing vehicle according to any one of claims 1-13, wherein the upper deck has two arc-shaped projections, and the two arc-shaped projections are located above the two wheels and they cover a part of the wheels, respectively.
The electric self-balancing vehicle according to claim 14, wherein the width of the arc-shaped projections is greater than the width of the wheels.
[16]
16. The self-balancing electric vehicle according to any of the
claims 1-15, wherein the upper cover and the lower cover are made of plastic, and the inner cover is made of aluminum alloy.
[17]
17. The electric self-balancing vehicle according to any of claims 1-16, further comprising a remote controller, wherein the controller receives a control signal sent by the remote controller.
18. The self-balancing electric vehicle according to any one of claims 1-17, wherein the controller has a storage unit and a correction unit, the storage unit stores an initial equilibrium state of the self-balancing electric vehicle. , and the correction unit corrects a current equilibrium state of the self-balancing electric vehicle.

类似技术:

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CN108275230A|2018-07-13|

AU2017232090B2|2019-11-21|

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CN104958894A|2015-10-07|

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JP2016527115A|2016-09-08|

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PT2987712T|2018-07-18|

NO2987712T3|2018-09-22|

AT518313A5|2017-09-15|

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CN204864865U|2015-12-16|

DK2987712T3|2018-06-14|

AU2014397250B2|2017-06-29|

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AU2014397250A1|2016-01-28|

CN108275229B|2021-07-06|

GB2529565C|2016-09-21|

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US20200102040A1|2020-04-02|

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CN108275228A|2018-07-13|

CA2903571C|2016-11-01|

KR20160075380A|2016-06-29|

CN104986263B|2017-10-13|

US10696348B2|2020-06-30|

US20170088225A1|2017-03-30|

ES2607153B1|2018-03-07|

US10486764B2|2019-11-26|

US20210053646A1|2021-02-25|

JP6209663B2|2017-10-04|

CN108275227B|2020-04-10|

CN104986263A|2015-10-21|

CN104014123A|2014-09-03|

CN108275230B|2021-06-08|

ES2607153R1|2017-06-06|

US20210078662A1|2021-03-18|

US11173980B2|2021-11-16|

KR20170095414A|2017-08-22|

HK1209264A2|2016-03-24|

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CN104986264A|2015-10-21|

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EP3552936A1|2019-10-16|

CN108275231B|2021-06-08|

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KR101806092B1|2017-12-07|

CN105939922B|2018-03-30|

WO2015188599A1|2015-12-17|

PL2987712T3|2018-07-31|

EP2987712B9|2018-07-11|

US9376155B2|2016-06-28|

US20200047839A1|2020-02-13|

EP2987712B1|2018-04-25|

US10988200B2|2021-04-27|

ES2672771T3|2018-06-18|

JP6031623B2|2016-11-24|

CN204699363U|2015-10-14|

DE202014010564U1|2015-12-22|

US11180213B2|2021-11-23|

US20200094905A1|2020-03-26|

TR201807640T4|2018-06-21|

US20210245829A1|2021-08-12|

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优先权:

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CN201410262353.9|2014-06-13|

CN201410262353.9A|CN104014123A|2014-06-13|2014-06-13|Longitudinal double-wheel vehicle body|

PCT/CN2014/092849|WO2015188599A1|2014-06-13|2014-12-02|Electric balance scooter|

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