CN207445544U - Wheel skidding device, skidding system - Google Patents
Wheel skidding device, skidding system Download PDFInfo
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- CN207445544U CN207445544U CN201720928837.1U CN201720928837U CN207445544U CN 207445544 U CN207445544 U CN 207445544U CN 201720928837 U CN201720928837 U CN 201720928837U CN 207445544 U CN207445544 U CN 207445544U
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Abstract
The utility model embodiment provides a kind of wheel skidding device, skidding system, which is characterized in that wheel skidding device includes：Pedal, the rotation direction sensor coupled with the pedal, driving element, at least two earth elements, the first controller, the pedal is suitable for driver, and single-point is stood on it, and the rotation direction sensor is used to sense foot posture of the driver on the pedal；First controller is used for formation between being controlled such that described two earth elements to the output signal of the driving element according to foot's posture and is used to control the speed difference turned to, so as to ensure that even if station can be used as in the roller skate of wheel skidding device, as long as the control of steering finally can be realized according to foot's posture of user, the skill requirement to driver is reduced, improves the experience of user.
Description
Technical field
The utility model embodiment is related to skidding or walking-replacing tool technical field more particularly to a kind of wheel skidding device, wheel
Sliding system.
Background technology
Roller skate can be divided mainly into velocity profile, manipulation type, still, this two as a kind of converter tools or walking-replacing tool
The structure type of class roller skate is basically identical, different including shoe body and mounted on the wheel carrier of sole and several idler wheels
It is the difference according to purpose of usage, quantity, size and the arrangement of idler wheel have certain difference.It is by behaviour during use
Author manpower driving such as by pedaling realization slides, so as to have some limitations for a long time use or it is easy
Physical fatigue is caused, in addition, during sliding, steering will be controlled in roller skate by standing, to the more demanding of operator, from
And the user experience for ultimately resulting in roller skate is poor.
The content of the invention
In view of this, one of the technical issues of the utility model embodiment solves is to provide a kind of wheel skidding device, wheel
Sliding system, to overcome drawbacks described above of the prior art.
The utility model embodiment provides a kind of wheel skidding device, including：Pedal, the steering coupled with the pedal sensing
Device, driving element, at least two earth elements, the first controller, the pedal is suitable for driver, and single-point is stood on it, institute
Rotation direction sensor is stated for sensing foot posture of the driver on the pedal；First controller is used for according to foot's appearance
State forms to control what is turned between being controlled such that the output signal of the driving element described two earth elements
Speed difference.
The utility model embodiment also provides a kind of skidding system, including two wheel skidding devices, each skidding dress
Put the rotation direction sensor coupled including pedal, with the pedal, driving element, at least two earth elements and the first control
Device, the pedal is suitable for driver, and single-point is stood on it, and the rotation direction sensor is used to sense driver in the pedal
On foot's posture:Each first controller is for the step posture pair according to driver on its corresponding described pedal
The output signal of corresponding driving element is controlled so that is formed between its corresponding two described earth element for single
The speed difference and integrally turned to for two wheel skidding devices so that being formed between two wheel skidding devices that the wheel skidding device turns to
Speed difference.
By above technical scheme as it can be seen that in the utility model embodiment, when applied to a wheel skidding device, skidding dress
Put the rotation direction sensor coupled including pedal, with the pedal, driving element, at least two earth elements, the first controller, institute
Stating pedal, single-point is stood on it suitable for driver, and the rotation direction sensor is used to sense foot of the driver on the pedal
Portion's posture；First controller is for described in being controlled such that the output signal of the driving element according to foot's posture
It is formed between two earth elements for controlling the speed difference turned to, even if so as to ensure that station can be used as the wheel of wheel skidding device
On sliding footwear, as long as the control of steering finally can be realized according to foot's posture of user, the skill requirement to driver is reduced,
Improve the experience of user.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments described in the utility model embodiment, it for those of ordinary skill in the art, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is the structure brief configuration schematic diagram of wheel skidding device in the utility model embodiment one；
Fig. 2 is the structure brief configuration schematic diagram of wheel skidding device in the utility model embodiment two；
Fig. 3 a, Fig. 3 b are one of structure brief configuration schematic diagram of wheel skidding device in the utility model embodiment three and it
Two；
Fig. 3 c are the schematic diagram of fixed pedestal in alternative the utility model embodiment three；
Fig. 4 is the wheel skidding device brief configuration schematic diagram in the utility model embodiment four；
Fig. 5 is the specific implementation structure diagram of wheel skidding device in the utility model embodiment five；
Fig. 6 is the specific implementation structure diagram of wheel skidding device in the utility model embodiment six；
Fig. 7 a, Fig. 7 b are two of one of structure diagram of wheel skidding device sum in the utility model embodiment seven；
Fig. 8 is the partial schematic diagram of wheel skidding device in the utility model embodiment eight；
Fig. 9 is the control principle schematic diagram of wheel skidding device in the utility model embodiment nine；
Figure 10 is rotating direction control method flow diagram in the utility model embodiment ten；
Figure 11 is rotating direction control method flow diagram in the utility model embodiment 11；
Figure 12 is rotating direction control method flow diagram in the utility model embodiment 12；
Figure 13 is rotating direction control method flow diagram in the utility model embodiment 13.
Specific embodiment
Certainly, implement any technical solution of the utility model embodiment must be not necessarily required to reach simultaneously more than it is all
Advantage.
In order to which those skilled in the art is made to more fully understand the technical scheme in the embodiment of the utility model, below in conjunction with this
Attached drawing in utility model embodiment, the technical scheme in the utility model embodiment is clearly and completely described, shows
So, described embodiment is only the utility model embodiment part of the embodiment, instead of all the embodiments.Based on this reality
With the embodiment in new embodiment, those of ordinary skill in the art's all other embodiments obtained should all belong to this
The scope of utility model embodiment protection.
Further illustrate that the utility model embodiment implements with reference to the utility model embodiment attached drawing.
In the utility model embodiment, since the pedal is coupled in the first sensor and the earth element, institute
It states earth element and is coupled to the driving element, first controller is coupled to the first sensor and the driving member
Part；Wherein:The pedal is used to being suitable for single-point standing, and for can forward or be tilted backwards when single-point is stood；It is described
Earth element is used to act under the driving of the driving element；The first sensor is used to sense driver in the pedal
On posture；The driving element for generate control earth element action and maintain the wheel skidding device generally in
The output signal of equilibrium state；First controller is used to export the generation of signal according to the gesture stability, so as to
It avoids manpower driving realization and slides caused physical fatigue, in addition, during sliding, since device can maintain in itself
Equilibrium state, it is relatively low to the operation skill requirement of operator, so as to improve user experience, in other words, one is provided on the whole
The kind better wheel skidding device of user experience.
In the following embodiments of the utility model embodiment, the first sensor is specifically used for sensing driver and is stepped on described
Posture on plate simultaneously generates pitching sensed data, and first controller is specifically used for determining institute according to the pitching sensed data
State the current pitch angle of pedal.First controller is when controlling the output signal of the driving element, especially by described
Pedal it is expected that pitch angle and the current pitch angle control the output signal of the driving element, for example passes through the pedal
The differential seat angle it is expected between pitch angle and the current pitch angle.
In the utility model embodiment, when applied to a wheel skidding device, since the wheel skidding device includes pedal and institute
Rotation direction sensor, driving element, at least two earth elements, the first controller of pedal coupling are stated, the pedal is suitable for driving
The person of sailing on it stand by single-point, and the rotation direction sensor is used to sense foot posture of the driver on the pedal；Described
One controller is used to be controlled such that described two earth elements to the output signal of the driving element according to foot's posture
Between formed for control turn to speed difference, even if so as to ensure that station can be used as in the roller skate of wheel skidding device, as long as
The control of steering finally can be realized according to foot's posture of user, reduce the skill requirement to driver, improve user
Experience.
One be applied to wheel skidding device steering when, illustratively, rotating direction control method is specifically as follows：According to institute
It states the foot's posture generation of driver that rotation direction sensor senses on the pedal and turns to sensed data；According to the steering
Sensed data generation course changing control instruction；Institute is controlled such that two earth elements according to course changing control instruction
Formation refers to aftermentioned related embodiment and records for controlling the speed difference turned between stating two earth elements.
Applied at least two wheel skidding devices, since each wheel skidding device is configured to be suitable for driver's list on it
Point is stood, and each wheel skidding device includes pedal, the rotation direction sensor coupled with the pedal, driving element, at least two
Earth element and the first controller, the pedal is suitable for driver, and single-point is stood on it, the described method includes:According to every
Foot posture of the driver that a rotation direction sensor senses on the correspondence pedal is to the defeated of corresponding driving element
Go out signal to be controlled；Action control is carried out to its corresponding two earth element according to the output signal, so that its is right
The speed difference (as be described hereinafter first that the single wheel skidding device is controlled to turn to is formed between two earth elements answered
Speed difference, second speed are poor) and to form what is integrally turned to for controlling two wheel skidding devices between two wheel skidding devices
Speed difference (third speed as be described hereinafter is poor).
When one is applied to the skidding system steering for including at least two wheel skidding devices, illustratively, rotating direction control method
It is specifically as follows：According to foot posture difference of the driver that each rotation direction sensor senses on the correspondence pedal
Generation first turns to sensed data, the second steering sensed data；The first course changing control is generated according to the first steering sensed data to refer to
It makes and turns to sensed data according to second and generate the instruction of the second course changing control；It is instructed according to first course changing control, is described
To it, each corresponding two earth elements carry out action control to the instruction of second course changing control, to cause respectively described in each two
Formed to control between earth element turn to First Speed is poor, second speed is poor and two wheel skidding device entirety
Between formed to control the third speed turned to poor, refer to aftermentioned related embodiment and record.
It is following to realize that above-mentioned wheel skidding device illustrates in the form of specific roller skate, however, it is desirable to explanation
That roller skate is not unique way of realization of wheel skidding device, above-mentioned wheel skidding device can also be made suitable on hand into
The product form of row skidding, alternatively, carrying out any products form of skidding suitable for disabled person.
Further, in following embodiments, the earth element is illustratively wheel, and the earth element is in the drive
It is rolled under the driving of dynamic element.When subsequent control turns to, the rotating speed of wheel is controlled to generate to control what is turned to turn
Speed difference.
But in other embodiments, it is not limited to wheel or any other actual object can be formed with ground
Manage the structure type of contact.For example if applied to the scenes such as skating or skiing, the earth element can also be similar flat
The structural member of plate, the earth element are slided under the driving of the driving element.
Further, in following embodiments, the first sensor is specifically as follows gyroscope, still, is not limited to
Gyroscope, as long as posture of the driver on the pedal can be sensed.
Further, in following embodiments, the driving element is specially motor, and still, portion is not limited as motor, only
The earth element can be driven to be acted, can realize specific application scenarios.When the driving element is electricity
During machine, the output signal of the driving element is the output torque of the motor.
Embodiment one (an independent grounding element)：
Fig. 1 is the structure brief configuration schematic diagram of wheel skidding device in the utility model embodiment one；As shown in Figure 1, with
When this specific product form of roller skate realizes wheel skidding device, roller skate specifically includes above-mentioned pedal 101, earth element 102, electricity
Machine (not shown in figure 1), the first controller (not shown in figure 1), the pedal 101 is configured to be suitable for standing on one leg, described
The quantity of earth element 102 is specially one, i.e., only there are one contact points by the roller skate and ground by driver.It is corresponding
Ground, the quantity of the motor is one.
Specifically, the motor can be directly embedded in the wheel hub of the earth element 102, so that roller skate is whole
It is more compact in body structure.
However, it is desirable to explanation, if without considering or emphasis consider the integrally-built compactedness of roller skate, the electricity
Machine can not also be arranged in the wheel hub of the earth element 102 with embedded mode, for example pass through fixed seat or other classes
The lower position of pedal 101 is set directly at like structure.
Embodiment two (two earth elements 102a and 102b closely setting)
Fig. 2 is the structure brief configuration schematic diagram of wheel skidding device in the utility model embodiment two；As shown in Fig. 2, this reality
It applies in example, unlike above-described embodiment one, the quantity of the earth element is two, respectively earth element 102a,
102b, the horizontal spacing between earth element 102a, 102b is smaller, so as to fulfill that will be positioned close to 101 center of pedal
Position at so that driver forms two contact points by the roller skate and ground, used so as to reduce roller skate
Difficulty.
In the present embodiment, the transmission shaft of the motor laterally sets i.e. vertical with the direction that roller skate is advanced, the transmission
The both ends of axis set the earth element 102a and 102b respectively, and the motor is embedded in the wheel hub of the earth element 102,
And pass through transmission shaft and be directly connected to the earth element 102a, while the earth element 102b couplings with not being embedded with the motor
It connects.In other words, the earth element 102a for being embedded with the motor is used as driving wheel during roller skate is advanced, and does not embed
There is the earth element 102b of the motor as driven wheel, the driven wheel rotates under the drive of the driving wheel.
It should be noted that in other embodiments, one can also be respectively configured to described earth element 102a, 102b
Motor, so that the rotating speed of each earth element can be controlled individually.
It should be noted that in Fig. 2 embodiments, due to view, only illustrate described earth element 102a, 102b, not
Illustrate other component.
Embodiment three (distantly located two earth elements 102a and 102b)
Fig. 3 a, Fig. 3 b are one of structure brief configuration schematic diagram of wheel skidding device in the utility model embodiment three and it
Two；As shown in Figure 3a, 3b, in the present embodiment, from above-described embodiment and unlike, earth element 102a, 102b are set respectively
It puts at the position close to 101 left and right sides edge of pedal, i.e., the two contact point lateral separations formed with ground are larger,
So as to further reduce the difficulty that roller skate uses.
Similar above-described embodiment two, earth element 102a, 102b share a motor, specifically by the transmission shaft of the motor
Laterally set it is i.e. vertical with the direction that roller skate is advanced, the both ends of the transmission shaft set respectively the earth element 102a,
102b, the motor is embedded in the wheel hub of the wherein one earth element 102a, and passes through transmission shaft and the earth element
102a is directly connected to, while the earth element 102b with not being embedded with the motor is coupled.In other words, it is embedded with the motor
Earth element 102a is used as driving wheel during roller skate is advanced, and the earth element 102b for not being embedded with the motor makees
For driven wheel, the driven wheel rotates under the drive of the driving wheel.
Alternately, in an other embodiment, the quantity of the motor is two, earth element 102a, 102b difference
A motor is configured, so as to fulfill the independent control of earth element 102a, 102b rotating speed, in normal traveling process, is connect
The rotating speed of ground element 102a, 102b are identical.
In above-described embodiment one to three, the axle center of the earth element is located at 101 lower position of pedal, and described connects
Ground element also integrally is located at 101 lower position of pedal.
As shown in Figure 3b, further include：Fixed pedestal 100a, described earth element 102a, 102b are coupling in the fixed base
On seat 100a, the fixed pedestal 100a is fixed on the lower surface of the pedal 101.In a concrete application scene, it can incite somebody to action
Earth element becomes one 102a, 102b and fixed pedestal 100a, then fixed pedestal 100a is fixed under pedal 101
Surface.
It, can also be with any other structure by described earth element 102a, 102b it should be noted that in his embodiment
It is eventually coupled on the pedal 101.Fig. 3 c are the schematic diagram of fixed pedestal in alternative the utility model embodiment three；Such as figure
Shown in 3c, described earth point 102a, 102b are coupled to the lower surface of pedal by quick-disassembly structure 100b.
Example IV (distantly located two earth elements 102a and 102b)
Unlike above-described embodiment three, in following Fig. 4 embodiments, when including earth element 102a, 102b and phase
Lateral separation between mutually is larger, and the axle center of earth element 102a, 102b is located at 101 lower position of pedal, but partly to
On protrude from the pedal 101.
101 entirety of pedal in above-described embodiment three is moved down, obtains the wheel skidding device in example IV as shown in Figure 4
Brief configuration schematic diagram.
Alternately, in an other embodiment, the quantity of the motor is two, earth element 102a, 102b difference
A motor is configured, so as to fulfill the independent control of earth element 102a, 102b rotating speed, in normal traveling process, is connect
The rotating speed of ground element 102a, 102b are identical.
Fig. 5 is the specific implementation structure diagram of wheel skidding device in the utility model embodiment five；As shown in figure 5, conduct
The roller skate of wheel skidding device includes an earth element 102, which is located at the position at 101 center of pedal,
And it is provided with motor in the wheel hub of the earth element 102.During the transmission shaft of motor is threaded through in wheel hub, while transmission shaft 103 leans on
Between position be configured with clutch shaft bearing structure 104, which couples with earth element 102, so as to which earth element 102 be driven to revolve
Turn.
In addition, in figure 5 it is possible to a second bearing structure 105 is set respectively at the both ends of transmission shaft, and transmission shaft is each
The bearing arrangement at end is coupled with pedal 101, so as to fulfill motor, transmission shaft to be integrally provided in the lower position of pedal 101.
Fig. 6 is the specific implementation structure diagram of wheel skidding device in the utility model embodiment six；As shown in fig. 6, conduct
The roller skate of wheel skidding device includes two earth elements, that is, earth element 102a, 102b, and earth element 102a, 102b are set respectively
At the position close to 101 left and right sides edge of pedal.Earth element 102a, 102b configure a motor, motor with
And the set-up mode of transmission shaft is referred to above-mentioned embodiment illustrated in fig. 5.
Unlike above-mentioned Fig. 1-Fig. 4 embodiments, in Fig. 5, Fig. 6 embodiment, pedal 101 is not rectangle, but
Its both ends has circular arc.
Fig. 7 a, Fig. 7 b are two of one of structure diagram of wheel skidding device sum in the utility model embodiment seven；Referring to figure
7a, Fig. 7 b on the basis of above-mentioned Fig. 1 embodiments, add constraint unit 108, and the constraint unit 108 is arranged on described step on
On plate 101, the foot position of individual of the wheel skidding device or foot upper position are used for fixed.Optionally, it is described
It is that either the structure of locking buckle passes through the thread gluing or the locking buckle and fixes described in use with thread gluing to fetter unit
The foot position of the driver of wheel skidding device or foot upper position, prevent driver from falling from roller skate.Foot position
For example be instep position, foot upper position is such as ankle or shank.
Further, in the present embodiment, wheel skidding device further includes：Protective cover 109, the protective cover are used for standing in institute
The heel contact of single foot on pedal 101 is stated so that single foot to be made to be stabilized on the pedal 101 during skidding.Protective cover
Concrete shape can be arc, so as to be fitted closely with heel, provide stable supporting role.
In the present embodiment, provided by fettering unit and protective cover to the foot of driver in rear position and anterior position
Firm effect, it is dangerous so as to effectively prevent tumble injury caused by driver falls during skidding from roller skate.
Further, in the present embodiment, optionally, in any embodiment of the utility model, further include：Battery compartment
106, be provided with battery pack 107 in the battery compartment 106, the battery pack 107 be used for the motor and other need to use
Structure or the circuit power supply of electricity.Specifically, the pedal 101 has hollow cavity, and the battery is set in the hollow cavity
Storehouse 106.
Fig. 8 is the partial schematic diagram of wheel skidding device in the utility model embodiment eight；In the present embodiment, as roller skate
The rear position of wheel skidding device be provided with battery pack 107, specifically, for example, battery compartment be arranged on protective cover 109 it is hollow in
In chamber, battery pack 107 is arranged in the battery compartment.
It should be noted that in an other embodiment, unlike above-mentioned Fig. 8, but by driver by battery
Group 107 backs on the body, then passes through the power circuit in external power cord and roller skate or element such as the first controller, motor
Connection.
Fig. 9 is the control principle schematic diagram of wheel skidding device in the utility model embodiment nine；As shown in figure 9, it is stepped on when described
For plate forward or when tilting backwards, first controller is configured to expectation pitching angle theta * and current pitching according to the pedal
Differential seat angle generation between the θ of angle drives electric signal to control the output torque size of the driving element.Specifically, according to described
Differential seat angle θ between the current rate of pitch ω of pedal and expectation pitching angle theta * and current pitching angle thetaerrorGeneration driving electricity
Signal is to control the output torque size of the driving element.In the present embodiment, driving electric signal is such as driving voltage.First
Controller (also referred to as balance controller) is such as PID controller.
Specifically, wheel skidding device can also include second controller (also referred to as speed control), second control
Device is configured to：According to the current rotating speed V of the driving element and maximum (top) speed V of setting*Determine the expectation pitching angle theta *.
In the present embodiment, second controller is such as also PID controller.
Further, whether the current rotating speed V for judging the driving element is more than the maximum (top) speed V set*It is if super
It crosses, shows that wheel skidding device will enter overspeed condition, export the expectation pitching angle theta * of a setting nonzero size therefore, it is and current
Above-mentioned differential seat angle θ is calculated in pitching angle thetaerror, the first controller is according to differential seat angle θerrorGeneration drives electric signal to control
The output torque of the driving element simultaneously finally causes the pedal towards the direction inclination in contrast to direct of travel, so as to limit
The travel speed of the wheel skidding device does not exceed the upper limit of travel speed.If not less than, it is 0 it is expected pitching angle theta *, then
According to the differential seat angle θerror, the first controller is according to differential seat angle θerrorGeneration driving electric signal is first to control the driving
The output torque of part simultaneously finally causes the pedal dynamic to be in horizontality.
Specifically, wheel skidding device can also include second sensor, and the second sensor is first for sensing the driving
The current rotating speed of part.
In addition, it is necessary to explanation, in some concrete application scenes, can not also consider when generation drives electric signal
Current rate of pitch.
In addition, it is necessary to explanation, it, can not also when determining the expectation pitch angle in some concrete application scenes
Second controller is configured, but is multiplexed the first controller.That is the first controller is configurable to working as according to the driving element
The preceding rotating speed V and maximum (top) speed V of setting*It determines the expectation pitching angle theta *, is also configured as the phase according to the pedal
The differential seat angle generation hoped between pitching angle theta * and the current pitching angle theta drives electric signal to control the output of the driving element
Torque.
In an other concrete application scene, if being configured with second controller, the second controller can also be multiplexed with
First controller.I.e. second controller is configurable to be turned according to the current rotating speed V of the driving element and the maximum of setting
Fast V*It determines the expectation pitching angle theta *, is also configured as the expectation pitching angle theta * according to the pedal and the current pitching
Differential seat angle generation between the θ of angle drives electric signal to control the output torque size of the driving element.
In addition, it is necessary to explanation, the output signal of driving element can also other forms, output torque is in the present embodiment
In simply illustrate.
In rotating direction control method in the following embodiments of the utility model, for using the application scenarios of a wheel skidding device
For, it first, should according to foot posture generation steering feeling of the driver that the rotation direction sensor senses on the pedal
Data；Afterwards, according to the steering sensed data generation course changing control instruction；Finally instructed according to the course changing control to two
The earth element rotating speed forms to control the speed difference turned between being controlled such that described two earth elements.
As previously mentioned, such as earth element is wheel, then the rotating speed of wheel is controlled when controlling earth element,
Further, the speed discrepancy of the speed difference specific location wheel.
Figure 10 is rotating direction control method flow diagram in the utility model embodiment ten；As shown in Figure 10, in above-mentioned bag
In any embodiment for including two earth elements, pressure sensor is configured on the wheel skidding device, the pressure sensor is used
In foot posture of the sensing driver on the wheel skidding device to generate pressure sensitive data, accordingly, in the present embodiment, side
Method includes the following steps：
S1001, foot's posture generation pressure sensitive according to the driver that pressure sensor senses on the pedal
Data；
S1002, course changing control instruction is generated according to the pressure sensitive data；
In the present embodiment, the wheel skidding device is configured at least two pressure sensors, accordingly, according to the feeling of stress
Data generation course changing control instruction is answered to include：According to the bad student for the pressure sensitive data that at least two pressure sensor generates
It is instructed into course changing control.Specifically, pressure sensor can be configured directly in the upper surface of pedal, contacted with foot it is more direct,
So as to improve the accuracy of course changing control.
Specifically, two pressure sensors can be arranged on two half part of left and right of pedal, in the process of steering, if past
Turn left, then the body of driver makes the posture being tilted to the left, and for the pressure sensor on the right, the pressure on the left side passes
The value of the pressure sensitive data of sensor output is larger, then generates and turn to control instruction to the left.
Alternatively, it can also be turned by the positive and negative of the pressure sensitive data difference that the pressure sensor of left and right two exports to generate
To control instruction, for example if the value for being defined as the pressure sensitive data of left side pressure sensor output subtracts the right pressure sensing
The value of the pressure sensitive data of device output, if turning to the left, pressure sensitive data difference is positive value, is otherwise negative value.Into one
Step ground in order to ensure the accuracy of control, can also set certain difference threshold, be taken definitely after obtaining pressure sensitive data difference
Value if absolute value is more than the difference threshold of setting, generates course changing control instruction.
It, alternately, for another example can be by carrying out horizontal rubbing on the pedal, so that pedal in the present embodiment
Two pressure sensor generations of the left and right sides are worth pressure sensitive data of different sizes, such as if turned left, foot to
Left rubbing causes the pressure sensitive data that the pressure sensor to keep left generates numerically to be more than the pressure sensor kept right and produced
Raw pressure sensitive data, so as to generate course changing control instruction.
S1003, two earth elements are controlled according to course changing control instruction so that described two ground connection
It is formed to control the speed difference turned between element.
If for example, turning to the left, the earth element rotating speed in left side is less than the earth element rotating speed on right side, so as to the interior right side
Speed discrepancy is formed between the earth element of side；If turned to the right, the earth element rotating speed in left side is more than the ground connection member on right side
Part rotating speed, so as to form speed discrepancy between the earth element on interior right side.If each wheel is equipped with a motor, when to the left
During steering, then so that the smaller output torque of motor generation coupled with the earth element in left side, and with the earth element on right side
The motor of coupling generates larger output torque so that left side, right side earth element between form speed discrepancy.When to the right
During steering, then so that the larger output torque of motor generation coupled with the earth element in left side, and with the earth element on right side
The motor of coupling generates smaller output torque so that left side, right side earth element between form speed discrepancy.
If being only configured with motor there are one wheel, if motor and the earth element direct-coupling on right side, and with left side
Earth element INDIRECT COUPLING, if turning to the left, motor generate output torque directly act on right side earth element, this is defeated
Go out after torque is handled by speed adjusting gear deceleration to act on the earth element in left side, so that left side, the earth element on right side
Between the speed discrepancy that turns to the left.If turning to the right, the output torque that motor generates directly acts on the earth element on right side, should
Output torque acts on the earth element in left side after being handled by speed adjusting gear acceleration, so that left side, the ground connection member on right side
The speed discrepancy turned to the right between part.
Figure 11 is rotating direction control method flow diagram in the utility model embodiment 11；As shown in figure 11, above-mentioned
In any embodiment including two earth elements, steering spindle is configured on the wheel skidding device, the steering spindle is used to sense
To generate steering induced moment, rotating direction control method includes foot's posture of the driver on the pedal：
S1101, answered according to foot posture generation steering feeling of the driver that steering spindle senses on the wheel skidding device
Torque；
In the present embodiment, the steering spindle is configured to vertical with the wheel skidding device direct of travel.
Specifically, steering spindle can be only fitted to the surface of pedal so that pedal can tilt, thus will by steering spindle
Tilting for pedal is converted into turning to induced moment.
S1102, instructed according to the steering induced moment generation course changing control；
It can specifically be instructed by turning to the positive and negative generation course changing control of induced moment, if turning to induced moment as just
Value then generates the course changing control instruction turned to the left, otherwise generates the course changing control instruction turned to the right.
S1103, described two ground connection are controlled such that two earth elements according to course changing control instruction
It is formed to control the speed discrepancy turned between element.
Step S1003 forms the principle of speed discrepancy similar to the above-mentioned related description that can refer to above-mentioned Figure 11 in the present embodiment.
Figure 12 is rotating direction control method flow diagram in the utility model embodiment 12；As shown in figure 12, above-mentioned
In any embodiment including two earth elements, the wheel skidding device configures gyroscope, and the gyroscope drives for sensing
Foot posture of the person on the wheel skidding device is to generate angular movement data, and accordingly, rotating direction control method includes：
S1201, foot's posture generation angular movement number according to the driver that gyroscope senses on the wheel skidding device
According to；
It is unlike the embodiments above to be, it is the foot's appearance that tilts that driver is sensed by gyroscope in the present embodiment
State, and generate corresponding angular movement data.In the present embodiment, due to when controlling equilibrium state, it is also necessary to gyroscope, therefore,
Can be that wheel skidding device configures two gyroscopes, a gyroscope is configured to tilt forward and back sensitivity to pedal, another is matched somebody with somebody
It is set to the sensitivity that tilts to pedal.
Certainly, in other embodiments, a gyroscope can also be only used, had both been configurable to the anteversion and retroversion to pedal
It is tiltedly sensitive, and it is configurable to the sensitivity that tilts to pedal.
S1202, course changing control instruction is generated according to the angular movement data.
The similar above-mentioned steering spindle of course changing control instruction is generated according to angular movement data.
S1203, described two ground connection are controlled such that two earth elements according to course changing control instruction
It is formed to control the speed discrepancy turned between element.
Spring is configured in an other embodiment, at left and right sides of the pedal so that the pedal can tilt,
The rotation direction sensor is photoelectric sensor, and the photoelectric sensor is used to sense foot posture of the driver on the pedal
So that the optoelectronic induction data that the pedal generates when can tilt；
Accordingly, included according to steering sensed data generation course changing control instruction：It is generated according to the optoelectronic induction data
Course changing control instructs.
In the following embodiments of the utility model, in the application scenarios for using two wheel skidding devices, forward method
Including:First, foot's posture difference according to the driver that each rotation direction sensor senses on the correspondence pedal
Generation first turns to sensed data, the second steering sensed data；Secondly, turn to sensed data generation first according to first and turn to control
System, which instructs and turns to sensed data according to second, generates the instruction of the second course changing control；Finally, according to first course changing control
Instruction, second course changing control instruction are to its respective corresponding two earth elements progress action control, so that every two
It is formed to control the poor First Speed turned to, second speed difference and two wheel skidding devices between a earth element
It is formed to control the third speed turned to poor between entirety.
Below to be illustrated exemplified by the rotation direction sensor of same type is configured in two wheel skidding devices, still, at other
In application scenarios, the rotation direction sensor or different type of two wheel skidding device configurations no longer illustrate in detail.
Figure 13 is rotating direction control method flow diagram in the utility model embodiment 13；As shown in figure 13, including：
In the present embodiment, illustrated exemplified by configuring two pressure sensors on each wheel skidding device, specifically, course changing control side
Method includes：
S1301, foot posture difference of the driver on the correspondence pedal is sensed according to each two pressure sensor
Generate first pressure sensed data, second pressure sensed data；
S1302, sensed data generation the first course changing control instruction is turned to according to first：Number is sensed according to the first pressure
According to generation the first course changing control instruction；
S1303, included according to second steering sensed data generation the second course changing control instruction：According to the second pressure sense
Data is answered to generate the instruction of the second course changing control.
As previously described, because there are two pressure sensor, then a pressure sensor generations one for each wheel skidding device configuration
A sensed data is then turning to sensed data generation the first course changing control instruction according to first, should according to two the first steering feelings
The difference of data generates the instruction of the first course changing control, similarly, is turned to according to the difference generation second of two second steering sensed datas
Control instruction.
S1304, according to first course changing control instruction, second course changing control instruction to its each corresponding to two
A earth element carries out action control, with respectively so that being formed to control turn to first between earth element described in each two
It is formed to control the third speed turned to poor between speed difference, second speed difference and two wheel skidding device entirety.
In the present embodiment, since each wheel skidding device includes at least two wheels, when turning to, each wheel skidding device itself
It needs to rotate, in addition, to be relatively rotated between two wheel rotary devices.Therefore, in order to realize two each rotations of wheel skidding device
Dynamic, there are speed discrepancy i.e. the first speed discrepancy, the second speed discrepancies between two wheels of each wheel skidding device；Two wheel skidding devices it
Between relatively rotated, then there are the 3rd speed discrepancies between two wheel skidding device entirety.
For example when one implements, if turned left, from left to right, the rotating speed of wheel is incremented by, if turned right, from
Left-to-right, the rotating speed of wheel successively decreases, so as to form above-mentioned first speed discrepancy, the second speed discrepancy, the 3rd speed discrepancy.
First speed discrepancy described in the present embodiment, the formation basic theory of the second speed discrepancy cause similar to above-mentioned single wheel skidding device
Speed discrepancy.
Alternately, in an other embodiment, the rotation direction sensor is steering spindle, and the steering spindle is driven for sensing
Foot posture of the person of sailing on the pedal with generate the first steering induced moment and/or second turn to induced moment；Accordingly,
Sensed data, which is turned to, according to first generates the instruction of the first course changing control：Induced moment generation first is turned to according to described first to turn to
Control instruction；And/or included according to second steering sensed data generation the second course changing control instruction：It is turned to according to described second
Induced moment generates the instruction of the second course changing control.The steering spindle is configured to vertical with the wheel skidding device direct of travel.
Alternately, in another embodiment, the rotation direction sensor is gyroscope, and the gyroscope drives for sensing
Foot posture of the person on the pedal is to generate the first angular movement sensed data and/or the second angular movement sensed data；It is corresponding
Ground turns to sensed data according to first and generates the instruction of the first course changing control：According to the first angular movement sensed data generation the
One course changing control instructs；And/or included according to second steering sensed data generation the second course changing control instruction：According to described
Two angular movement sensed datas generate the instruction of the second course changing control.
According to foot's posture life of the driver that the rotation direction sensor senses horizontal rubbing of carry out on the pedal
Into the instruction of the first course changing control and/or the instruction of the second course changing control.
Alternately, in a further embodiment, spring is configured with so that institute at left and right sides of the pedal of the wheel skidding device
Stating pedal can tilt, and the rotation direction sensor is photoelectric sensor, and the photoelectric sensor is used to sense driver in institute
Foot's posture on pedal is stated so that the pedal can tilt to generate the first optoelectronic induction data and/or the second light inductance
Answer data；Accordingly, turn to sensed data according to first and generate the instruction of the first course changing control：According to the first optoelectronic induction number
According to generation the first course changing control instruction；And/or included according to second steering sensed data generation the second course changing control instruction：Root
The instruction of the second course changing control is generated according to the second optoelectronic induction data.
On the basis of above-described embodiment, further include：The manned sensor sensing configured at least one wheel skidding device
Whether single-point standing has driver on the wheel skidding device；If so, the rotation direction sensor sensing driver is stepping on described in correspondence
Foot's posture on plate is to generate the first steering sensed data and/or second turn to sensed data.
It above-mentioned including in the wheel skidding device embodiment of two earth elements, is turned to realize, wheel skidding device can be with
Including rotation direction sensor and the 3rd controller, the rotation direction sensor is used to sense step appearance of the driver on the pedal
State generation turns to sensed data, and the 3rd controller is configured to：According to the steering sensed data generation course changing control instruction
To be controlled the action of two earth elements the speed difference turned to is controlled to generate.
It should be noted that if not increasing by the 3rd controller individually, then the 3rd controller is except that can be multiplexed above-mentioned first
Controller, alternatively, can be with second controller, if alternatively, individually increasing by the 3rd controller, the 3rd controller can be multiplexed with
State the first controller or second controller.
In the above-described embodiments, motor is specially wheel hub motor, still, in other embodiments, motor or height
Speed motor.
It should be noted that if each wheel skidding device includes a wheel, if the wheel skidding device is configured with steering and passes
Sensor is then referred to above-mentioned forward method and carries out rotating speed by speed difference, can not also punish rotation direction sensor and work,
It drives to form speed difference so as to fulfill steering dependent on manpower.
In addition, it is necessary to illustrate, in two rotating direction control methods of above application, can also only be filled to one of skidding
Configuration rotation direction sensor is put, course changing control is realized referring again to the embodiment of above-mentioned formation speed difference.These extension embodiments for
For those of ordinary skill in the art, it can be realized under the above-mentioned detailed inspiration for recording embodiment.
In the disclosure, statement is " including (include) " or " may include (may include) " refers to corresponding function, behaviour
The presence of work or element, without limiting one or more additional functions, operation or element.In the disclosure, such as " including
(include) " and/or the term of " having (have) " can be regarded as representing some characteristics, number, step, operation, composition member
Part, element or its combination, and be not to be construed as excluding one or more of the other characteristic, number, step, operation, constituent element, member
Part or its combination there is a possibility that or it is additional.
In the disclosure, state " A or B ", " at least one in A or/and B " or " one or more of A or/and B "
It may include all possible combination of Listed Items.For example, statement " A or B ", " at least one in A and B " or " in A or B
It is at least one " it may include：(1) at least one A, (2) at least one B or (3) at least one A and at least one B.
Statement " first ", " second ", " first " or " described used in the various embodiments of the disclosure
Two " can modify various parts and unrelated with order and/or importance, but these statements do not limit corresponding component.It is presented above
It is only used for the purpose for distinguishing element and other elements.For example, the first user equipment and second user equipment represent different
User equipment, although being both user equipment.For example, on the premise of without departing substantially from the scope of the present disclosure, first element can claim
Make second element, similarly, second element can be referred to as first element.
When an element (for example, first element) referred to as " (operationally or can with another element (for example, second element)
Communicatedly) connection " or " (operationally or communicably) being attached to " another element (for example, second element) or " being connected to " are another
During one element (for example, second element), it is thus understood that an element is connected directly to another element or an element
Another element is indirectly connected to via another element (for example, third element).On the contrary, it is appreciated that when element (for example,
First element) it referred to as " is directly connected to " or during " directly connection " to another element (second element), then without element (for example, the
Three elements) it is inserted between the two.
Statement " being configured to " can alternatively be used with following statement as used in this article：" being suitable for " " has ...
Ability ", " being designed as ", " being suitable for ", " being fabricated to " or " can ".Term " being configured to " can need not mean on hardware " special
It is designed as ".Alternately, in some cases, statement " equipment being configured to ... " can mean the equipment and miscellaneous equipment or portion
Part is together " can ... ".It is used only for performing phase for example, phrase " being suitable for the processor that (or being configured to) performs A, B and C " is gratifying
The application specific processor (for example, embeded processor) that should operate may be implemented within one or more of storage device
Software program performs the general processor (for example, central processing unit (CPU) or application processor (AP)) of corresponding operating.
The apparatus embodiments described above are merely exemplary, wherein the module illustrated as separating component can
To be or may not be physically separate, the component shown as module may or may not be physics mould
Block, you can be located at a place or can also be distributed on multiple network modules.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Claims (18)
1. a kind of wheel skidding device, which is characterized in that including：Pedal, the rotation direction sensor coupled with the pedal, driving element,
At least two earth elements, the first controller, the pedal is suitable for driver, and single-point is stood on it, the rotation direction sensor
For sensing foot posture of the driver on the pedal；First controller is used for according to foot's posture to the driving
The output signal of element forms to control the speed difference turned between being controlled such that described two earth elements.
2. wheel skidding device according to claim 1, which is characterized in that the rotation direction sensor is pressure sensor, described
Pressure sensor is used to sense foot posture of the driver in the wheel skidding device.
3. wheel skidding device according to claim 2, which is characterized in that the wheel skidding device is configured at least two pressure biography
Sensor.
4. wheel skidding device according to claim 1, which is characterized in that the rotation direction sensor be steering spindle, the steering
Axis is used to sense foot posture of the driver on the pedal.
5. wheel skidding device according to claim 4, which is characterized in that the steering spindle is configured to and the wheel skidding device row
It is vertical into direction.
6. wheel skidding device according to claim 1, which is characterized in that the rotation direction sensor be gyroscope, the gyro
Instrument is used to sense foot posture of the driver on the pedal.
7. wheel skidding device according to claim 1, which is characterized in that be configured with spring at left and right sides of the pedal so that
The pedal can tilt, and the rotation direction sensor is photoelectric sensor, and the photoelectric sensor exists for sensing driver
Foot's posture on the pedal.
8. wheel skidding device according to claim 1, which is characterized in that further include：Manned sensor, the manned sensor
For sensing, whether single-point standing has driver on the pedal.
9. according to claim 1-8 any one of them wheel skidding devices, which is characterized in that foot's posture exists including driver
Horizontal rubbing is carried out on the pedal.
10. a kind of skidding system, which is characterized in that including at least two wheel skidding devices, each wheel skidding device include pedal,
Rotation direction sensor, driving element, at least two earth elements and the first controller coupled with the pedal, the pedal
Suitable for driver, single-point is stood on it, and the rotation direction sensor is used to sense foot appearance of the driver on the pedal
State；Each first controller is used for according to step posture of the driver on its corresponding described pedal to corresponding driving
The output signal of element is controlled so that is formed between its corresponding two described earth element for the single skidding dress
It puts the speed difference of steering and is used for the speed difference that two wheel skidding devices integrally turn to so that being formed between two wheel skidding devices.
11. skidding system according to claim 10, which is characterized in that the rotation direction sensor be pressure sensor, institute
Pressure sensor is stated for sensing foot posture of the driver on the correspondence pedal.
12. skidding system according to claim 11, which is characterized in that the wheel skidding device is configured at least two pressure
Sensor.
13. skidding system according to claim 10, which is characterized in that the rotation direction sensor be steering spindle, described turn
It is used to sense foot posture of the driver on the pedal to axis.
14. skidding system according to claim 13, which is characterized in that the steering spindle is configured to and the wheel skidding device
Direct of travel is vertical.
15. skidding system according to claim 10, which is characterized in that the rotation direction sensor be gyroscope, the top
Spiral shell instrument is used to sense foot posture of the driver on the pedal.
16. according to claim 10-15 any one of them skidding systems, which is characterized in that the rotation direction sensor is used to feel
Answer foot's posture of driver's horizontal rubbing of carry out on the pedal.
17. skidding system according to claim 10, which is characterized in that configuration at left and right sides of the pedal of the wheel skidding device
There is spring so that the pedal can tilt, the rotation direction sensor is photoelectric sensor, and the photoelectric sensor is used for
Sense foot posture of the driver on the pedal.
18. skidding system according to claim 10, which is characterized in that further include：Manned sensor, the manned sensing
For sensing, whether single-point standing has driver to device on the wheel skidding device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720928837.1U CN207445544U (en) | 2017-07-27 | 2017-07-27 | Wheel skidding device, skidding system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720928837.1U CN207445544U (en) | 2017-07-27 | 2017-07-27 | Wheel skidding device, skidding system |
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| CN207445544U true CN207445544U (en) | 2018-06-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107261473A (en) * | 2017-07-27 | 2017-10-20 | 纳恩博（北京）科技有限公司 | Wheel skidding device, skidding system and rotating direction control method |
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2017
- 2017-07-27 CN CN201720928837.1U patent/CN207445544U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107261473A (en) * | 2017-07-27 | 2017-10-20 | 纳恩博（北京）科技有限公司 | Wheel skidding device, skidding system and rotating direction control method |
| CN107261473B (en) * | 2017-07-27 | 2023-10-27 | 纳恩博（北京）科技有限公司 | Roller skate device, roller skate system and steering control method |
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