CN111301601A

CN111301601A - Electric bicycle

Info

Publication number: CN111301601A
Application number: CN202010124836.8A
Authority: CN
Inventors: 陈中元; 伊布拉辛; 袁玉斌; 侯柱
Original assignee: Ninebot Beijing Technology Co Ltd
Current assignee: Ninebot Beijing Technology Co Ltd
Priority date: 2018-01-24
Filing date: 2018-01-24
Publication date: 2020-06-19
Anticipated expiration: 2038-01-24
Also published as: CN108454753A; CN111301601B; CN108454753B

Abstract

The embodiment of the application discloses electronic car of riding instead of walk, the car of riding instead of walk includes: the device comprises a base, a wheel body, a driving seat plate, a motor, a sensor, a connecting mechanism, an operating control piece and a controller; the wheel body is connected with the base; the motor is connected with the wheel body; the control member is connected with the driver seat plate; the controller is electrically connected with the sensor and the motor respectively; the driver seat board is connected with the base through a connecting mechanism, and the driver seat board can rotate around an axis between the driver seat board and the base within a preset range relative to the base through the connecting mechanism; when the control piece is operated, the driver seat board can be pulled to rotate relative to the base; the sensor measures the position and posture of the driver seat board relative to the base and sends the measured position and posture information to the controller; the controller outputs a torque control instruction to the motor based on the pose information; the motor outputs a driving force to the wheel body based on the torque control command, and the driving wheel body rotates around the axis of the wheel body. This embodiment provides drive power for the car of riding instead of walk through the motor, has saved physical power greatly.

Description

Electric bicycle

Technical Field

The application relates to a scooter technology, in particular to an electric scooter.

Background

The personal traffic vehicle on the market at present mainly designs for the old person, and the vehicle of riding instead of walk can help the old person of handicapped to realize walking. However, in the scooter in the prior art, the old people completely rely on the physical strength of the old people to realize the sliding of the scooter when in use, and the operation is laborious.

Disclosure of Invention

The embodiment of the application provides an electric scooter for solving the problems in the prior art.

The embodiment of the application provides an electronic car of riding instead of walk, the car of riding instead of walk includes: the device comprises a base, a wheel body, a driving seat plate, a motor, a sensor, a connecting mechanism and a controller; the wheel body is connected with the base; the motor is connected with the wheel body; the controller is electrically connected with the sensor and the motor respectively;

the driver seat plate is connected with the base through the connecting mechanism, and rotates around an axis between the driver seat plate and the base within a preset range relative to the base through the connecting mechanism;

the sensor measures the position and posture of the driver seat board relative to the base and sends the measured position and posture information to the controller;

the controller outputs a torque control instruction to the motor based on the pose information;

the motor outputs a driving force to the wheel body based on the torque control command, and drives the wheel body to rotate around the axis of the wheel body.

In some optional implementations, the walker further includes: an operating control member;

the control piece is connected with the driver seat plate;

when the control piece is operated, the driver seat is pulled to rotate relative to the base.

In some alternative implementations, the seat pan front end is provided with an opening, and the first end of the control is movably disposed on the base; the middle part of the control part is connected with the driver seat plate; the second end of the operating control piece is matched with the opening and is arranged on the top side of the driver seat board through the opening;

when the second end of the control piece is operated, the first end of the control piece moves relative to the base, and the middle part of the control piece pulls the driver seat plate to rotate relative to the base.

In some optional implementations, the operating member includes a control rod and a pull rod, a first end of the control rod is rotatably disposed on the base, a middle portion of the control rod is connected with a first end of the pull rod, a second end of the control rod is matched with the opening and is disposed on the top side of the driver seat plate through the opening; the second end of the pull rod is connected with the driver seat plate;

when the second end of the control rod is rotationally operated, the first end of the control rod rotates relative to the base, and the middle part of the control rod pulls the driver seat board to rotate relative to the base through the pull rod.

In some optional implementations, the base is provided with an opening, the first end of the lever is rotatably disposed in the opening, and a worm gear is disposed in the middle of the lever; a worm matched with the worm wheel is arranged at the first end of the pull rod, and the worm is meshed with the worm wheel;

when the second end of the control rod is rotated, the first end of the control rod rotates in the opening, and the middle part of the control rod is meshed with the worm through the worm gear to pull the driver seat board to rotate relative to the base.

In some alternative implementations, the base is provided with a first connection hole having an axis parallel to an axis between the seat pan and the base; a first end of the control rod is provided with a second connecting hole corresponding to the first connecting hole; the first connecting hole and the second connecting hole are connected through a first connecting shaft, the first connecting hole is in clearance fit with the first connecting shaft, and the second connecting hole is in interference fit with the second connecting shaft; a third connecting hole is formed in the middle of the control rod, the axis of the third connecting hole is parallel to that of the first connecting hole, a fourth connecting hole corresponding to the third connecting hole is formed in the first end of the pull rod, the third connecting hole and the fourth connecting hole are connected through a second connecting shaft, the third connecting hole and the second connecting shaft are in clearance fit, and the fourth connecting hole and the second connecting shaft are in interference fit;

when the second end of the control rod is rotated, the first end of the control rod rotates around the axis of the first connecting hole through the first connecting shaft, the first end of the pull rod rotates around the axis of the third connecting hole through the second connecting shaft, and the second end of the pull rod pulls the driver seat plate to rotate relative to the base.

In some optional implementations, the operating member includes a control rod and a pull rod, a first end of the control rod is movably disposed on the base, a middle portion of the control rod is connected with a first end of the pull rod, a second end of the control rod is matched with the opening and is disposed on the top side of the driver seat plate through the opening; the second end of the pull rod is connected with the driver seat plate;

when the second end of the control rod is moved and operated, the first end of the control rod moves relative to the base, and the middle part of the control rod pulls the driver seat board to rotate relative to the base through the pull rod.

In some alternative implementations, the second end of the control is movable to a first operative position and a second operative position relative to the base;

during movement of the second end of the control in the third direction relative to the base, the operator's seat pan rotates relative to the base to a first limit angle as the second end of the control moves relative to the base to the first operational position, and the grip formed by rotation of the operator's seat pan relative to the base gradually decreases from the first limit angle to a second limit angle as the second end of the control moves relative to the base from the first operational position to the second operational position;

during movement of the second end of the control in a fourth direction relative to the base, the operator's seat pan rotates to a second limit angle relative to the base when the second end of the control moves to the second operational position relative to the base, and the grip formed by the rotation of the operator's seat pan relative to the base gradually decreases from the second limit angle to a first limit angle when the second end of the control moves from the second operational position to the first operational position relative to the base, wherein the third direction and the fourth direction are opposite.

In some optional implementations, the second end of the operating member is provided with a control handle and/or a control driver seat plate.

In some alternative implementations, the sensor includes an angle sensor located on the driver seat deck or on the base; correspondingly, the pose information comprises angle information of the driver seat board relative to the base;

the angle sensor measures an included angle of the driver seat board relative to the base and sends measured angle information to the controller;

the controller outputs a torque control command to the motor based on the angle information.

In some alternative implementations, the angle sensor is disposed at a front end of the driver seat pan or a front end of the base;

when the motor is in work, the motor is driven by the motor,

when the controller determines that the angle in the angle information is larger than a first preset angle, outputting a command of torque reduction to the motor, wherein the motor reduces the current output torque in response to the command of torque reduction; the controller outputs a torque holding instruction to the motor when determining that the angle in the angle information is smaller than or equal to a first preset angle and larger than or equal to a second preset angle, and the motor responds to the torque holding instruction to hold the current output torque; the controller determines that the angle in the angle information is smaller than a second preset angle, and outputs a torque increase instruction to the motor, and the motor increases the current output torque in response to the torque increase instruction; the first preset angle is larger than or equal to the second preset angle.

In some alternative implementations, the motor is not operated,

when the controller determines that the angle in the angle information is larger than a first preset angle, a torque control command for rotating in a first direction is output to the motor, and the motor rotates in the first direction in response to the torque control command for rotating in the first direction; when the controller determines that the angle in the angle information is smaller than or equal to a first preset angle and larger than or equal to a second preset angle, a torque control command is not output to the motor; when the controller determines that the angle in the angle information is smaller than a second preset angle, the controller outputs a torque control instruction rotating along a second direction to the motor; the motor rotates in a second direction in response to the torque control command for rotation in the second direction; wherein the first direction is opposite to the second direction.

In some optional implementation modes, the motor is arranged at the bottom side of the base, and a rotor on the outer side of the motor rotates around a stator in the middle of the motor; the wheel body is arranged on a rotor of the motor; the controller is arranged on the base;

the sensor comprises a first Inertial Measurement Unit (IMU) arranged on the driver seat board and a second Inertial Measurement Unit (IMU) arranged on the base, and correspondingly, the pose information comprises angle information of the driver seat board relative to the base;

the first IMU measures an included angle of the driver seat board relative to a horizontal plane and sends measured first angle information to the controller; the second IMU measures an included angle of the base relative to a horizontal plane and sends measured second angle information to the controller;

the controller calculates an angle difference between a first angle in the first angle information and a second angle in the second angle information, and outputs a torque control command to the motor based on the angle difference.

In some optional implementations, the connecting mechanism includes a rotating shaft, the base is provided with a through hole matched with the rotating shaft, and the driver seat board is provided with a through hole matched with the rotating shaft at a position corresponding to the base;

the rotating shaft penetrates through a through hole of the driver seat board and a through hole of the base, the rotating shaft and the through hole of the driver seat board are in interference fit, and the rotating shaft and the through hole of the base are in clearance fit;

the driver seat board passes through the pivot with the base is connected, just the driver seat board can pass through the pivot for the base is in the predetermined limit around the axis of the through-hole of base rotates.

In some alternative implementations, the sensor includes a rotational angle sensor disposed at the shaft; correspondingly, the pose information comprises angle information of the rotation of the rotating shaft;

the rotation angle sensor measures the rotation angle of the rotating shaft and sends the measured rotation angle information of the rotating shaft to the controller;

the controller outputs a torque control command to the motor based on the angle information of the rotation of the rotating shaft.

In some alternative implementations, the sensor includes a displacement sensor located at a front end of the driver seat deck, a rear end of the driver seat deck, a front end of the base, or a rear end of the base; correspondingly, the pose information includes displacement information of the driver seat pan relative to the base;

the displacement sensor measures the displacement of the driver seat board relative to the base and sends the measured displacement information to the controller;

the controller outputs a torque control command to the motor based on the displacement information.

In some alternative implementations, the displacement sensor is disposed at a front end of the driver seat pan or a front end of the base;

when the motor is in work, the motor is driven by the motor,

when the controller determines that the distance in the displacement information is greater than a first preset distance, outputting a command of torque reduction to the motor, wherein the motor reduces the current output torque in response to the command of torque reduction; when the controller determines that the distance in the displacement information is smaller than or equal to a first preset distance and larger than or equal to a second preset distance, outputting a torque holding instruction to the motor, and enabling the motor to respond to the torque holding instruction to hold the current output torque; when the controller determines that the distance in the displacement information is smaller than a second preset distance, outputting a torque increase instruction to the motor, and outputting a torque increase instruction to the motor, wherein the motor increases the current output torque in response to the torque increase instruction; the first preset distance is greater than or equal to the second preset distance.

In some alternative implementations, the motor is not operated,

when the controller determines that the distance in the displacement information is greater than a first preset distance, a torque control command for rotating in a first direction is output to the motor, and the motor rotates in the first direction in response to the torque control command for rotating in the first direction; when the controller determines that the distance in the displacement information is smaller than or equal to a first preset distance and larger than or equal to a second preset distance, the controller does not output a torque control command to the motor; when the controller determines that the distance in the displacement information is smaller than a second preset distance, a torque control instruction rotating along a second direction is output to the motor; the motor rotates in a second direction in response to the torque control command for rotation in the second direction; wherein the first direction is opposite to the second direction.

In some alternative implementations, the operator's seat pan is located on a top side of the base, and the connection mechanism is located between the operator's seat pan and the base;

when the driver seat board rotates to be parallel to the base through the connecting mechanism, a preset gap is formed between the driver seat board and the base.

In some optional implementations, the middle of the base is provided with an opening matching the shape of the driver seat deck, the driver seat deck is located in the opening, the driver seat deck is rotatable within a predetermined range relative to the base about an axis between the driver seat deck and the base within the opening by the connection mechanism, and the driver seat deck is rotatable into a plane in which the base is located.

In some alternative implementations, the walker includes a pressure sensor electrically connected to the controller;

the pressure sensor measures the pressure born by the scooter and sends the measured pressure information to the controller;

the controller needs to judge whether the pressure in the pressure information is greater than a preset pressure or not before outputting a starting instruction to the motor based on the pose information, and when the pressure is greater than the preset pressure, the controller outputs the starting instruction to the motor; otherwise, the starting instruction is not output to the motor.

In the embodiment of the application, the driver seat board is connected with the base through the connecting mechanism, and the driver seat board can rotate around an axis between the driver seat board and the base within a preset range relative to the base through the connecting mechanism; when the control piece is operated, the driver seat board can be pulled to rotate relative to the base; the sensor measures the position and posture of the driver seat board relative to the base and sends the measured position and posture information to the controller; the controller outputs a torque control instruction to the motor based on the pose information; and the motor outputs driving force to the power input mechanism of the wheel body through the power output end based on the torque control command, and drives the wheel body to rotate around the axis of the wheel body. Thus, the motor provides driving force for the scooter, and the physical power is greatly saved; and the position and posture of the driving seat plate relative to the base are measured through the sensor, and the motor is controlled through the controller based on the position and posture information, so that the scooter is more intelligent to control and more convenient to operate.

Drawings

FIG. 1 is a schematic view of an alternative embodiment of the scooter of the present application;

FIG. 2 is a schematic view of another alternative embodiment of the walker in accordance with the present invention;

FIG. 3 is a schematic view of an alternative embodiment of the scooter of the present application;

fig. 4 is a schematic view of another alternative structure of the scooter in the embodiment of the present application.

Reference numerals: 110. a base; 120. a driver seat board; 130. a wheel body; 140. a connecting mechanism; 141. a rotating shaft; 150. a battery; 160. an operating control member; 161. a control lever; 162. a pull rod; 101. a first IMU; 102. a second IMU.

Detailed Description

The present application will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In the description of the embodiments of the present application, it should be noted that, unless otherwise specified and limited, the term "connected" should be interpreted broadly, for example, as an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.

It should be noted that the terms "first \ second \ third" referred to in the embodiments of the present application are only used for distinguishing similar objects, and do not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may exchange a specific order or sequence order if allowed. It should be understood that "first \ second \ third" distinct objects may be interchanged under appropriate circumstances such that the embodiments of the application described herein may be implemented in an order other than those illustrated or described herein.

The embodiment of the present application provides an electric scooter, and the electric scooter in the embodiment of the present application is described in detail below with reference to fig. 1 to 4.

As shown in fig. 1, the scooter provided in the embodiment of the present application includes: base 110, wheel body 130, driver's seat 120, motor, sensor, link mechanism 140 and controller; the wheel body 130 is connected with the base 110; the motor is connected with the wheel body 130; the control member 160 is connected to the seat pan; the controller is electrically connected with the sensor and the motor respectively; the driver seat pan 120 is connected to the base 110 by the connection mechanism 140, and the driver seat pan 120 is rotatable with respect to the base 110 by the connection mechanism 140 within a predetermined range about an axis between the driver seat pan 120 and the base 110; when the control member 160 is operated, the driver seat plate can be pulled to rotate relative to the base; the sensor measures the posture of the driver seat board 120 with respect to the base 110 and sends the measured posture information to the controller; the controller outputs a torque control instruction to the motor based on the pose information; the motor outputs a driving force to the wheel 130 based on the torque control command, and drives the wheel 130 to rotate around the axis of the wheel 130.

In this embodiment, the base 110 is used for supporting the driver seat board 120 and the human body on the driver seat board 120, and can slide on the ground through the wheel 130. The material of the base 110 may be set according to actual needs, and the base 110 needs to have certain strength. The structure and shape of the base 110 may be set according to actual needs. For example, the base 110 may be a rectangular plate or an oval plate. Fig. 1 exemplarily shows that the base 110 is a rectangular plate body.

The controller in this embodiment may be provided on the base 110 or on the driver seat board 120. The controller herein is configured to output a torque control command to the motor based on the attitude information of the attitude at which the driver's seat panel is positioned with respect to the base. The torque control command may be a command for increasing the torque, a command for decreasing the torque, or a command for maintaining the torque. It can be understood that when the controller outputs a command of increasing the torque to the motor, the output torque of the motor is increased, the rotating speed of the motor is increased, and the power of the motor is increased; when the controller outputs a command of reducing the torque to the motor, the output torque of the motor is reduced, the rotating speed of the motor is reduced, and the power of the motor is reduced; when the controller outputs a torque maintaining command to the motor, the output torque of the motor is maintained, the rotating speed of the motor is unchanged, and the power of the motor is unchanged.

In the embodiment, the wheel 130 is connected to the base 110, and the wheel 130 may be disposed on both sides of the base or on the bottom side of the base 110. The wheel body 130 is plural in number. Fig. 1 exemplarily shows that the number of the wheels 130 is four, and four wheels 130 are symmetrically arranged in two rows.

The motor in this embodiment is used to provide driving force for the wheel 130. The wheel body 130 is provided with a power input mechanism; the power output end of the motor is connected with the power input mechanism of the wheel body 130. The motor may be an inner rotor motor or an outer rotor motor. When the motor is an inner rotor motor, one end of a rotating shaft 141 of the motor is used as an output end and is connected with the power input mechanism of the wheel body 130; the power input mechanism may be a fixed shaft coupled to the wheel 130. When the motor is an outer rotor motor, the outer side of the outer rotor of the motor can be used as an output end to be connected with the power input mechanism of the wheel body 130; the power input means here may be a hub connected to the rotor. Specifically, the motor may be a hub motor, and the wheel body 130 is directly disposed on a rotor of the hub motor.

It should be noted that the number of motors may be matched to the number of wheels. One motor can drive a plurality of wheels simultaneously, and also can drive one wheel by one motor. Optionally, when the four wheel bodies 130 are symmetrically arranged in two rows, the scooter may further include four motors arranged on the base; the power output end of each motor is connected with the power input mechanism of the corresponding wheel body to drive the corresponding wheel body to rotate.

It should be understood that the walker may also include a battery 150. Here, the battery 150 provides power to the motor, and optionally, the battery 150 may be a storage battery 150.

The driver seat board 120 in this embodiment is used for carrying a human body, and the structure and shape of the driver seat board 120 may be set according to the shape of the human body as long as it is convenient for supporting the human body. For example, various seats of the related art may be directly provided on the driver seat pan 120. Fig. 1 exemplarily shows that a seat is provided on the driver seat pan 120.

The material of the driver seat board 120 may be set according to actual needs as long as the driver seat board 120 can support a human body. It should be noted that, in order to rotate the driver seat pan 120 forward or backward by operating the operation member 160, the driver seat pan 120 has a certain strength and does not deform while supporting the human body.

The driver seat pan 120 in the present embodiment is connected to the base 110 by the connection mechanism 140, and the driver seat pan 120 is rotatable with respect to the base 110 by the connection mechanism 140 within a predetermined range about an axis between the driver seat pan 120 and the base 110.

There are many implementations of the connection mechanism 140, two of which are specifically listed below.

In a first implementation manner of the connection mechanism 140, as shown in fig. 1 to 2, the connection mechanism 140 includes a rotating shaft 141, the base 110 is provided with a through hole matching with the rotating shaft 141, and a through hole matching with the rotating shaft 141 is provided at a position of the driver seat board 120 corresponding to the base 110; the rotating shaft 141 is arranged in the through hole of the driver seat board 120 and the through hole of the base 110 in a penetrating manner, the rotating shaft 141 and the through hole of the driver seat board 120 are in interference fit, and the rotating shaft 141 and the through hole of the base 110 are in clearance fit; the driver seat plate 120 is connected to the base 110 through the rotation shaft 141, and the driver seat plate 120 is rotatable around an axis of the through hole of the base 110 within a predetermined range with respect to the base 110 through the rotation shaft 141.

In a second implementation of the linkage 140, the linkage 140 includes a crank and rocker disposed between the seat pan 120 and the base 110. The first end of the crank is hinged with the driver seat board 120 through a first rotating shaft, and the second end of the crank is hinged with the base 110 through a second rotating shaft; the first end of the rocker is hinged to the driver's seat board 120 through a third rotating shaft, and the second end of the rocker is hinged to the base 110 through a fourth rotating shaft. Wherein the seat plate 120 serves as a link; the axes of the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft are respectively parallel.

The predetermined range may be set according to the maximum angle at which the human body can be tilted forward and backward on the driver seat plate 120, and may be set by those skilled in the art according to actual needs. Here, the angle at which the driver seat plate 120 is rotated to be parallel to the base 110 is set to 0 degree; the angle at which the driver seat board 120 is tilted forward (forward tilt) with respect to the base 110 is a negative angle; as shown in fig. 2, the angle at which the driver seat plate 120 is tilted backward (reclined) with respect to the base 110 is a positive angle. For example, the maximum angle at which the human body can lean forward on the driver seat board 120 is 30 degrees, and the maximum angle at which the human body can lean backward is 15 degrees; correspondingly, the predetermined range may be from minus 25 degrees to 10 degrees, or from minus 30 degrees to 15 degrees.

It should be noted that, for convenience of description, both forward and backward in the present embodiment are with respect to the person sitting on the driver seat board 120.

The position of the driver seat plate 120 relative to the base 110 in the present embodiment is not limited as long as the driver seat plate can be connected to the base 110 by the connection mechanism 140. For example, the driver seat plate 120 and the base 110 may or may not be disposed in the same plane.

For example, an alternative position of the driver seat deck 120 and the base 110 is shown in fig. 1, where the driver seat deck 120 is located on the top side of the base 110 and the connection mechanism 140 is located between the driver seat deck 120 and the base 110; when the driver seat plate 120 is rotated to be parallel to the base 110 by the connection mechanism 140, a predetermined gap is formed between the driver seat plate 120 and the base 110. The predetermined gap is such that the driver seat plate 120 does not contact the driver seat plate 120 when the driver seat plate 120 is rotated relative to the base 110 within a predetermined range by the connection mechanism 140.

For another example, in yet another alternative position of the driver seat deck 120 and the base 110, an opening matching the shape of the driver seat deck 120 is provided in the middle of the base 110, the driver seat deck 120 is located in the opening, the driver seat deck 120 can rotate in the opening within a predetermined range relative to the base 110 via the connection mechanism 140 around an axis between the driver seat deck 120 and the base 110, and the driver seat deck 120 can rotate to the plane of the base 110.

The control member 160 in this embodiment is connected to the seat pan, and when the control member 160 is operated, the seat pan can be pulled to rotate relative to the base. The structure and shape of the manipulating member 160 can be set according to actual needs. For example, the control member 160 may be a control lever 161 or a control rope.

The connection and position of the operator control member 160 and the seat plate can be set according to actual requirements, as long as the operator control member 160 can be operated to pull the seat plate to rotate relative to the base. For example, when the operating member 160 is an operating lever 161, the operating lever 161 may be fixedly connected to the driver seat panel or may be rotatably connected to the driver seat panel; when the control member 160 is a control rope, the control rope may be fixedly connected to the seat pan. One specific configuration of the handle 160 is exemplarily set forth below.

Specifically, as shown in fig. 1 and 2, the front end of the seat pan is provided with an opening, and a first end of the control member 160 is movably disposed on the base; the middle part of the control member 160 is connected with the driver seat plate; a second end of the control member 160 is matched with the opening and is arranged on the top side of the driver seat plate through the opening; when the second end of the control 160 is operated, the first end of the control 160 moves relative to the base, and the middle of the control 160 pulls the seat pan to rotate relative to the base.

In this example, when the control member 160 is a control lever 161, a first end of the control lever 161 may be rotatably disposed on the base or movably disposed on the base. An implementation in which the first end of the lever 161 is rotatably disposed on the base and an implementation in which the first end of the lever 161 is movably disposed on the base are exemplarily listed below.

In an implementation mode that a first end of a control lever 161 is rotatably arranged on the base, the control member 160 comprises a control lever 161 and a pull rod 162, the first end of the control lever 161 is rotatably arranged on the base, the middle part of the control lever 161 is connected with the first end of the pull rod 162, and the second end of the control lever 161 is matched with the opening and is arranged on the top side seat board through the opening; a second end of the pull rod 162 is connected with the driver seat plate; when the second end of the lever 161 is rotationally operated, the first end of the lever 161 rotates relative to the base, and the middle portion of the lever 161 pulls the driver seat pan to rotate relative to the base through the pull rod 162.

Here, the first end of the lever 161 may be rotatably provided on the base by a shaft, or may be provided on the base by a ball joint. For example, as shown in fig. 3, the base is provided with an opening, the first end of the lever 161 is rotatably disposed in the opening, and the middle of the lever 161 is provided with a worm gear; a worm matched with the worm wheel is arranged at the first end of the pull rod 162, and the worm is meshed with the worm wheel; when the second end of the lever 161 is rotated, the first end of the lever 161 rotates in the opening, and the middle of the lever 161 is engaged with the worm gear to pull the seat plate to rotate relative to the base. For another example, as shown in fig. 1 and 2, the base is provided with a first connection hole having an axis parallel to an axis between the driver seat plate and the base; a first end of the lever 161 is provided with a second connection hole corresponding to the first connection hole; the first connecting hole and the second connecting hole are connected through a first connecting shaft, the first connecting hole is in clearance fit with the first connecting shaft, and the second connecting hole is in interference fit with the second connecting shaft; a third connecting hole is formed in the middle of the operating rod 161, the axis of the third connecting hole is parallel to the axis of the first connecting hole, a fourth connecting hole corresponding to the third connecting hole is formed in the first end of the pull rod 162, the third connecting hole and the fourth connecting hole are connected through a second connecting shaft, the third connecting hole and the second connecting shaft are in clearance fit, and the fourth connecting hole and the second connecting shaft are in interference fit; when the second end of the lever 161 is rotationally operated, the first end of the lever 161 rotates around the axis of the first connection hole through the first connection shaft, the first end of the pull rod 162 rotates around the axis of the third connection hole through the second connection shaft, and the second end of the pull rod 162 pulls the seat plate to rotate relative to the base.

Here, the second end of the lever 161 is disposed on the top side of the driver seat panel through the opening so that the human body seated on the driver seat panel manipulates the second end of the lever 161. The shape of the opening can be set according to the actual requirement. It should be noted that the opening does not limit the rotational operation of the second end of the lever 161.

In the implementation mode that the first end of the control rod 161 is movably disposed on the base, as shown in fig. 4, the control member 160 includes a control rod 161 and a pull rod 162, the first end of the control rod 161 is movably disposed on the base, the middle of the control rod 161 is connected to the first end of the pull rod 162, and the second end of the control rod 161 is matched with the opening and disposed on the top side of the driver seat panel through the opening; a second end of the pull rod 162 is connected with the driver seat plate; when the second end of the lever 161 is moved, the first end of the lever 161 moves relative to the base, and the middle portion of the lever 161 pulls the driver seat pan to rotate relative to the base through the pull rod 162.

Here, the first end of the manipulation lever 161 may be movably disposed on the base through a slide rail, and may also be movably disposed on the base through a slide groove. Fig. 4 exemplarily shows that the first end of the lever 161 is movably disposed on the base through the slide groove.

The shape of the opening can be set according to the actual requirement. It should be noted that the opening does not limit the moving operation of the second end of the lever 161.

In some alternative implementations of the present example, the second end of the control 160 is movable to a first operative position and a second operative position relative to the base; during movement of the second end of the control 160 relative to the base in the third direction, the operator's seat pan rotates relative to the base to a first limit angle when the second end of the control 160 moves relative to the base to the first operational position, and the grip formed by the rotation of the operator's seat pan relative to the base gradually decreases from the first limit angle to a second limit angle when the second end of the control 160 moves relative to the base from the first operational position to the second operational position; during movement of the second end of the control 160 relative to the base in a fourth direction, the operator's seat pan rotates relative to the base to a second limit angle when the second end of the control 160 moves relative to the base to the second operational position, and the grip formed by the operator's seat pan rotating relative to the base gradually decreases from the second limit angle to a first limit angle when the second end of the control 160 moves relative to the base from the second operational position to the first operational position, wherein the third direction is opposite the fourth direction.

The second end of the control member 160 is rotatable relative to the base to a first operative position and a second operative position, and is also movable to the first operative position and the second operative position. Correspondingly, the third direction and the fourth direction may be two directions in which the second end of the manipulating member 160 is rotatable or two directions in which the second end is movable.

The first limit angle here refers to a maximum angle at which the driver seat panel is tilted backward (reclined) with respect to the base. The second limit angle here refers to a maximum angle at which the driver seat panel is tilted forward (forward tilt) with respect to the base.

In this example, the second end of the operating member is provided with a control handle and/or a control pedal. When the second end of the operating part is provided with the control handle, the operating part can be controlled through the control handle; when the second end of the operating part is provided with an operating pedal, the operating part can be operated by operating the operating pedal; when the second end of the operating member is provided with the manipulation handle and the manipulation pedal, the operating member can be manipulated by simultaneously manipulating the manipulation handle and the manipulation pedal.

The sensor in this embodiment measures the posture of the driver seat board 120 with respect to the base 110, and sends the measured posture information to the controller; the controller outputs a torque control instruction to the motor based on the pose information; the motor outputs a driving force to the power input mechanism of the wheel body 130 through the power output end based on the torque control command, and drives the wheel body 130 to rotate around the axis of the wheel body 130.

During use of the scooter, the driver seat plate 120 rotates relative to the base 110 when the operator is manipulated; the angle of rotation of the driver's seat pan 120 relative to the base 110 can be sent to the controller by a sensor, and the wheel body 130 can be controlled to rotate by the controller. Of course, when the driver seat pan 120 rotates relative to the base 110, the displacement of the driver seat pan 120 relative to the base 110 also changes, and here, the displacement of the driver seat pan 120 relative to the base 110 may be transmitted to the controller through the sensor, and the rotation of the wheel body 130 may be controlled by the controller. It should be noted that the position of the sensor is not limited as long as the posture of the driver seat board relative to the base can be measured and the measured posture information can be sent to the controller. The following exemplary list four sensor configurations.

In a first arrangement of sensors, the sensors comprise angle sensors; correspondingly, the pose information includes angle information of the driver seat board 120 with respect to the base 110; the angle sensor measures an included angle of the driver seat board 120 relative to the base 110 and sends the measured angle information to the controller; the controller outputs a torque control command to the motor based on the angle information.

The angle sensor here may be disposed on the driver seat board 120, or may be disposed on the base 110, as long as the angle of the driver seat board 120 relative to the base 110 can be measured. Optionally, the angle sensor is located at the front end of the driver seat deck, the rear end of the driver seat deck, the front end of the base, or the rear end of the base, so that the angle sensor more sensitively measures the angle of the driver seat deck 120 relative to the base 110.

For example, the angle sensor is provided at a front end of the driver seat plate 120 or a front end of the base 110; when the motor works, when the controller determines that the angle in the angle information is larger than a first preset angle, a command of reducing the torque is output to the motor, and the motor reduces the current output torque in response to the command of reducing the torque; the controller outputs a torque holding instruction to the motor when determining that the angle in the angle information is smaller than or equal to a first preset angle and larger than or equal to a second preset angle, and the motor responds to the torque holding instruction to hold the current output torque; the controller determines that the angle in the angle information is smaller than a second preset angle, and outputs a torque increase instruction to the motor, and the motor increases the current output torque in response to the torque increase instruction; the first preset angle is larger than or equal to the second preset angle.

The first preset angle refers to a relatively adaptive backward bending angle when the human body is positioned on the scooter running at a constant speed. For example, the first preset angle may range from minus 1 degree to 2 degrees. The second preset angle refers to a forward inclination angle which is suitable for the human body on the scooter running at a constant speed. For example, the second preset angle may range from minus 3 degrees to 0 degrees. The first preset angle and the second preset angle may be equal or unequal. Specifically, the first preset angle and the second preset angle are both 0 degree; here, when the human body is located on the scooter running at a constant speed, the included angle of the driver seat board 120 with respect to the base 110 is not changed; when the included angle of the driver seat board 120 relative to the base 110 is larger than 0 degree by operating the operating control member 160, the scooter decelerates to run; when the included angle of the driver seat plate 120 relative to the base 110 is less than 0 degree by operating the operation control member 160, the scooter accelerates. More specifically, the first preset angle is 2 degrees, and the second preset angle is minus 2 degrees; here, when the human body is located on the scooter running at a constant speed, the included angle of the driver seat board 120 relative to the base 110 may be changed between minus 2 degrees and 2 degrees; when the included angle of the driver seat board 120 relative to the base 110 is larger than 2 degrees by operating the operating control member 160, the scooter decelerates to run; when the included angle of the driver seat plate 120 relative to the base 110 is less than minus 2 degrees by operating the operation control member 160, the scooter accelerates. It should be noted that when the first preset angle and the second preset angle are symmetrically arranged with respect to 0 degree, the human body is more humanized in operation on the driver seat plate 120.

For another example, the angle sensor is provided at a front end of the driver seat board 120 or a front end of the base 110; when the motor is not operated, the controller determines that the angle in the angle information is larger than a first preset angle, and outputs a torque control command rotating along a first direction to the motor, and the motor responds to the torque control command rotating along the first direction to rotate along the first direction; when the controller determines that the angle in the angle information is smaller than or equal to a first preset angle and larger than or equal to a second preset angle, a torque control command is not output to the motor; when the controller determines that the angle in the angle information is smaller than a second preset angle, the controller outputs a torque control instruction rotating along a second direction to the motor; the motor rotates in a second direction in response to the torque control command for rotation in the second direction; wherein the first direction is opposite to the second direction.

The scooter starts from a standstill, when the scooter rotates along a first direction, the wheel body rotates along the first direction, and the scooter backs up; when the wheel body rotates along the second direction, and the scooter moves forwards.

In a second arrangement of sensors, the sensors include a first IMU101 disposed on the driver seat deck 120 and a second IMU102 disposed on the base 110, and correspondingly, the pose information includes angle information of the driver seat deck 120 relative to the base 110; the first IMU101 measures an angle of the driver seat pan 120 with respect to a horizontal plane and sends measured first angle information to the controller; the second IMU102 measures an angle of the base 110 relative to a horizontal plane and sends second angle information of the measurement to the controller; the controller calculates an angle difference between a first angle in the first angle information and a second angle in the second angle information, and outputs a torque control command to the motor based on the angle difference.

The position where the first IMU101 is disposed on the driver seat pan 120 is not limited herein, and the position where the second IMU102 is disposed on the base 110 is not limited. As exemplarily shown in fig. 1 to 2, the first IMU101 is disposed at a bottom side of a front end of the driver seat deck 120, and the second IMU102 is disposed at a top side of a front end of the base 110.

Here, when the angle difference is equal to 0 degree, the driver seat plate 120 is parallel to the base 110; when the angular difference is greater than 0 degrees, the driver seat plate 120 leans back relative to the base 110; when the angle difference is less than 0 degrees, the driver seat plate 120 tilts forward with respect to the base 110.

The angle difference, the controller, the wheel body 130 and the motor in this embodiment correspond to the angle, the controller, the wheel body 130 and the motor in the angle information in the first setting of the sensor, respectively, and the description of the angle, the controller, the wheel body 130 and the motor in the angle information in the first setting of the sensor applies to the angle difference, the controller, the wheel body 130 and the motor in this embodiment as well, and thus, the description thereof is omitted.

In a third arrangement of the sensor, when the connection mechanism 140 is realized by the first implementation, the sensor includes a rotation angle sensor provided at the rotating shaft 141; correspondingly, the pose information includes angle information of the rotation of the rotating shaft 141; the rotation angle sensor measures the rotation angle of the rotating shaft 141 and sends the measured rotation angle information of the rotating shaft 141 to the controller; the controller outputs a torque control command to the motor based on the angle information of the rotation of the rotating shaft 141.

Here, the angle information about the rotation of the rotating shaft 141 includes the angle of rotation of the rotating shaft 141. Specifically, the initial position of the rotation angle sensor may be set at a position where the driver seat plate 120 is parallel to the base 110, and the rotation angle of the rotation shaft 141 is 0 degree; when the driver seat plate 120 tilts backward relative to the base 110, the rotation angle of the rotating shaft 141 is greater than 0 degree; when the driver seat plate 120 tilts forward with respect to the base 110, the angle by which the rotation shaft 141 rotates is less than 0 degree.

The angle of rotation of the rotating shaft 141, the controller, the wheel body 130 and the motor herein correspond to the angle, the controller, the wheel body 130 and the motor in the angle information in the first setting mode of the sensor, respectively, and the description of the angle, the controller, the wheel body 130 and the motor in the angle information in the first setting mode of the sensor is also applicable to the angle, the controller, the wheel body 130 and the motor of rotation of the rotating shaft 141 herein, and will not be described again.

In a fourth arrangement of sensors, the sensors include a displacement sensor provided to the driver seat plate 120 or the base 110; correspondingly, the pose information includes displacement information of the driver's seat pan 120 relative to the base 110; the displacement sensor measures the displacement of the driver seat board 120 with respect to the base 110 and transmits the measured displacement information to the controller; the controller outputs a torque control command to the motor based on the displacement information.

The displacement sensor may be disposed on the driver seat board 120 or on the base 110, as long as the distance of the driver seat board 120 from the base 110 can be measured. It is to be noted that the displacement of the driver seat pan 120 relative to the base 110 is constant at the axis between the driver seat pan 120 and the base 110, and therefore, a sensor for measuring the displacement is provided at a position other than the position corresponding to the axis between the driver seat pan 120 and the base 110. Optionally, the displacement sensor is located at a front end of the driver seat deck, a rear end of the driver seat deck, a front end of the base, or a rear end of the base, so that the displacement sensor more sensitively measures a distance of the driver seat deck 120 relative to the base 110.

For example, the displacement sensor is provided at a front end of the driver seat plate or a front end of the base; when the motor works, when the controller determines that the distance in the displacement information is greater than a first preset distance, outputting a command of torque reduction to the motor, and enabling the motor to reduce the current output torque in response to the command of torque reduction; when the controller determines that the distance in the displacement information is smaller than or equal to a first preset distance and larger than or equal to a second preset distance, outputting a torque holding instruction to the motor, and enabling the motor to respond to the torque holding instruction to hold the current output torque; when the controller determines that the distance in the displacement information is smaller than a second preset distance, outputting a torque increase instruction to the motor, and outputting a torque increase instruction to the motor, wherein the motor increases the current output torque in response to the torque increase instruction; the first preset distance is greater than or equal to the second preset distance.

Here, when the human body is positioned on the scooter running at a constant speed and the driver seat board 120 is parallel to the base 110, the distance between the driver seat board 120 and the base 110 is a predetermined distance. The preset distance here may be 0, or may be a value greater than 0.

The first preset distance is a distance between the front end of the driver seat board 120 and the base 110 when the driver seat board 120 is at a relatively suitable backward tilt angle with respect to the base 110. For example, the first preset distance may range from-1 cm to +2cm degrees. The second preset distance is a distance between the front end of the driver seat board 120 and the base 110 when the driver seat board 120 is tilted forward relative to the base 110 at a relatively suitable forward tilting angle when the human body is on the scooter running at a constant speed. For example, the second preset distance may range from-2 cm to +1 cm. The first preset distance and the second preset distance may be equal or unequal. Specifically, the first preset distance and the second preset distance are both preset distances; here, when the human body is located on the scooter running at a constant speed, the distance of the driver seat board 120 with respect to the base 110 is not changed; when the distance from the front end of the driver seat board 120 to the base 110 is greater than a preset distance by operating the control member 160, the scooter decelerates; when the distance of the driver's seat board 120 with respect to the base 110 is less than a preset distance by operating the manipulation member 160, the scooter accelerates. More specifically, the first preset distance is a preset distance of +1cm, and the second preset distance is a preset distance of-1 cm; here, when the human body is located on the scooter running at a constant speed, the distance between the front end of the driver seat board 120 and the base 110 may be changed from a preset distance of-1 cm to a preset distance of +1 cm; when the distance between the front end of the driver seat board 120 and the base 110 is greater than the preset distance +1cm by operating the operation control member 160, the scooter decelerates; when the distance of the front end of the driver seat plate 120 with respect to the base 110 is less than a preset distance-1 cm by operating the manipulation member 160, the scooter accelerates. It should be noted that when the first preset distance and the second preset distance are symmetrically arranged with respect to the preset distance, the human body is more humanized in operation on the driver seat board 120.

For another example, the displacement sensor is provided at a front end of the driver seat plate or a front end of the base; when the motor works, when the controller determines that the distance in the displacement information is greater than a first preset distance, a torque control command rotating along a first direction is output to the motor, and the motor responds to the torque control command rotating along the first direction to rotate along the first direction; when the controller determines that the distance in the displacement information is smaller than or equal to a first preset distance and larger than or equal to a second preset distance, the controller does not output a torque control command to the motor; when the controller determines that the distance in the displacement information is smaller than a second preset distance, a torque control instruction rotating along a second direction is output to the motor; the motor rotates in a second direction in response to the torque control command for rotation in the second direction; wherein the first direction is opposite to the second direction.

The first direction and the second direction in this case correspond to the first direction and the second direction in the first arrangement of the sensor, respectively, and the description of the first direction and the second direction in the first arrangement of the sensor is also applicable to the first direction and the second direction in this case, and will not be described herein again.

In some optional implementations of this embodiment, the walker includes a pressure sensor electrically connected to the controller; the pressure sensor measures the pressure born by the scooter and sends the measured pressure information to the controller; the controller needs to judge whether the pressure in the pressure information is greater than a preset pressure or not before outputting a starting instruction to the motor based on the pose information, and when the pressure is greater than the preset pressure, the controller outputs the starting instruction to the motor; otherwise, the starting instruction is not output to the motor.

The preset pressure refers to the pressure applied to the scooter by the human body on the scooter. The value of the preset pressure can be set according to actual needs. For example, the value of the preset pressure may be required according to the average weight of the age of the person driving the walker, or may be set to the average weight of the human body.

The pressure sensor here is used to measure whether a person is on the scooter. The pressure sensor may be disposed on the driver seat board 120 or on the base 110, as long as the pressure applied to the scooter can be measured. When the pressure sensor measures that the human body is on the scooter, a starting instruction is output to the motor, and the wheel body 130 runs; when the pressure sensor detects that the human body is not on the scooter, the pressure sensor does not output a starting instruction to the motor, and the wheel body 130 does not run; thus, the safety of the scooter can be improved, and the motor of the scooter can be prevented from being started after the driver seat board 120 rotates relative to the base 110 by mistakenly touching the driver seat board 120 or a human body is not on the driver seat board 120.

In some optional implementations of this embodiment, a damping structure may be further disposed between the driver seat deck 120 and the base 110, where a damping force of the damping structure is minimum when the driver seat deck 120 rotates relative to the base 110 within a range from a second preset angle to a first preset angle, and when the rotation angle of the driver seat deck 120 relative to the base 110 is greater than the first preset angle; alternatively, when the rotation angle of the driver seat pan 120 with respect to the base 110 is smaller than a second preset angle, the damping force of the damping structure increases. Thus, the human body is more humanized when operating the driver seat board 120, and erroneous operation is prevented, and the rotational angle of the driver seat board 120 with respect to the base 110 is changed too much, thereby causing erroneous acceleration or deceleration operation.

The damping structure here may be provided in the rotational direction of the link mechanism 140. Illustratively, the walker may also include a spring disposed between the rider board 120 and the base 110. Wherein the spring is in a compressed state. The springs here may be disposed on both sides of the connection mechanism 140. When the rotation angle of the driver seat pan 120 with respect to the base 110 is rotated within a range from a second preset angle to a first preset angle, the spring restoring force at both sides of the link mechanism 140 is minimized, and when the rotation angle of the driver seat pan 120 with respect to the base 110 is greater than the first preset angle; alternatively, when the rotation angle of the driver seat plate 120 with respect to the base 110 is smaller than a second preset angle, the restoring force of the spring at the side of the link mechanism 140 is gradually increased.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An electric scooter, comprising: the device comprises a base, a wheel body, a driving seat plate, a motor, a sensor, a connecting mechanism and a controller; the wheel body is connected with the base; the motor is connected with the wheel body; the controller is electrically connected with the sensor and the motor respectively;

2. The walker of claim 1 further comprising: an operating control member;

the control piece is connected with the driver seat plate;

3. The scooter of claim 2 wherein the seat deck is provided with an opening at a front end thereof, the first end of the control member being movably disposed on the base; the middle part of the control part is connected with the driver seat plate; the second end of the operating control piece is matched with the opening and is arranged on the top side of the driver seat board through the opening;

4. The scooter of claim 3 wherein the control member comprises a lever and a tie bar, a first end of the lever being rotatably disposed on the base, a middle portion of the lever being connected to the first end of the tie bar, a second end of the lever being mated with the opening and disposed on the top side of the seat deck through the opening; the second end of the pull rod is connected with the driver seat plate;

5. The scooter of claim 4 wherein the base is provided with an opening, the first end of the lever is rotatably disposed in the opening, and the middle of the lever is provided with a worm gear; a worm matched with the worm wheel is arranged at the first end of the pull rod, and the worm is meshed with the worm wheel;

6. The scooter of claim 4 wherein the base is provided with a first connection hole having an axis parallel to an axis between the seat plate and the base; a first end of the control rod is provided with a second connecting hole corresponding to the first connecting hole; the first connecting hole and the second connecting hole are connected through a first connecting shaft, the first connecting hole is in clearance fit with the first connecting shaft, and the second connecting hole is in interference fit with the second connecting shaft; a third connecting hole is formed in the middle of the control rod, the axis of the third connecting hole is parallel to that of the first connecting hole, a fourth connecting hole corresponding to the third connecting hole is formed in the first end of the pull rod, the third connecting hole and the fourth connecting hole are connected through a second connecting shaft, the third connecting hole and the second connecting shaft are in clearance fit, and the fourth connecting hole and the second connecting shaft are in interference fit;

7. The scooter of claim 3 wherein the control member comprises a lever and a tie bar, a first end of the lever is movably disposed on the base, a middle portion of the lever is connected to the first end of the tie bar, a second end of the lever is matched to the opening and disposed on the top side of the seat plate through the opening; the second end of the pull rod is connected with the driver seat plate;

8. The walker of claim 3 wherein the second end of the control is movable to first and second operative positions relative to the base;

9. The walker of claim 1 wherein the sensor comprises an angle sensor located on the seat pan or on the base; correspondingly, the pose information comprises angle information of the driver seat board relative to the base;

10. The scooter of claim 9 wherein the angle sensor is disposed at a front end of the seat deck or a front end of the base;

when the motor is in work, the motor is driven by the motor,

11. The scooter of claim 10 wherein the motor is not in operation,

12. The scooter of claim 1 wherein the motor is disposed on the underside of the base, the rotor on the outside of the motor rotating about the stator in the middle of the motor; the wheel body is arranged on a rotor of the motor; the controller is arranged on the base;

the sensor comprises a first inertial measurement unit IMU arranged on the driver seat board and a second inertial measurement unit IMU arranged on the base, and correspondingly, the pose information comprises angle information of the driver seat board relative to the base;

13. The scooter of claim 1 wherein the connection mechanism comprises a shaft, the base is provided with a through hole matching with the shaft, and the driver seat plate is provided with a through hole matching with the shaft at a position corresponding to the base;

14. The walker of claim 13 wherein the sensors include a rotation angle sensor disposed at the axle; correspondingly, the pose information comprises angle information of the rotation of the rotating shaft;

15. The walker of claim 1 wherein the sensor comprises a displacement sensor located at a front end of the seat deck, a rear end of the seat deck, a front end of the base, or a rear end of the base; correspondingly, the pose information includes displacement information of the driver seat pan relative to the base;

16. The scooter of claim 15 wherein the displacement sensor is disposed at a front end of the driver seat plate or a front end of the base;

when the motor is in work, the motor is driven by the motor,

17. The walker of claim 16 wherein the motor, when not in operation,

18. The walker as claimed in any one of claims 1-17 wherein said rider deck is located on a top side of said base and said attachment mechanism is located between said rider deck and said base;

19. The scooter of any one of claims 1 to 17 wherein the base is provided with an opening in the middle thereof matching the shape of the seat pan, the seat pan being located within the opening, the seat pan being rotatable within a predetermined range relative to the base about an axis between the seat pan and the base by the connection mechanism within the opening, and the seat pan being rotatable into the plane of the base.

20. The walker of any one of claims 1-17 further comprising a pressure sensor electrically connected to the controller;