CN111098971B

CN111098971B - Electric driving device and control method thereof

Info

Publication number: CN111098971B
Application number: CN201811274584.6A
Authority: CN
Inventors: 袁玉斌; 伊布拉辛; 邓申; 韦永存; 陈中元
Original assignee: Ninebot Beijing Technology Co Ltd
Current assignee: Ninebot Beijing Technology Co Ltd
Priority date: 2018-10-29
Filing date: 2018-10-29
Publication date: 2025-01-10
Anticipated expiration: 2038-10-29
Also published as: CN111098971A

Abstract

The present invention provides an electric travel device and a control method thereof, which relates to the field of travel devices. The electric travel device includes a pedal, a wheel body, an angle measurement unit and a controller; there are at least two wheel bodies, wherein the first wheel body is supported and connected to the front plate body of the pedal, and the second wheel body is supported and connected to the rear plate body of the pedal; the wheel axle of the first wheel body and the wheel axle of the second wheel body jointly form a virtual plane; the main body of the pedal can be tilted relative to the virtual plane under the action of gravity and form an inclination angle with the virtual plane; the controller is used to control the rotation of the first wheel body and/or the second wheel body according to the inclination angle obtained by the angle measurement unit. Through the present invention, the problem of low response frequency and slow response of the electric skateboard to the change of the center of gravity of the human body existing in the prior art is alleviated.

Description

Electric driving equipment and control method thereof

Technical Field

The invention relates to the technical field of running equipment, in particular to electric running equipment and a control method thereof.

Background

The skateboard is a product form of the skates, is a simple sport machine of the skates, and is popular among the public, especially children. Because the skateboard can realize the function of fast running, more and more office workers select to use the skateboard to replace hiking in order to save time.

In recent years, the traditional skateboards are evolved, a new category of electric skateboards is created, at present, some electric skateboards adopt a body feeling operation mode, and the electric skateboards with partial body feeling operation modes have the problems of low response frequency and slow response to the change of the gravity center of a human body.

Disclosure of Invention

The invention aims to provide electric running equipment and a control method thereof, and the electric running equipment and the control method thereof are used for solving the problems of low response frequency and slow response of an electric skateboard to the change of the gravity center of a human body in the prior art.

In order to achieve the above purpose, the present invention provides the following technical solutions:

The first aspect of the invention provides electric running equipment which comprises a pedal, at least two wheels, a first wheel body, a second wheel body, a main board body and a controller, wherein the first wheel body is supported and connected with a front plate body of the pedal, the second wheel body is supported and connected with a rear plate body of the pedal, a virtual plane is formed by an axle of the first wheel body and an axle of the second wheel body together, the main board body of the pedal can incline relative to the virtual plane under the action of gravity of a user and forms an inclination angle with the virtual plane, and the controller is used for controlling the first wheel body and/or the second wheel body to rotate according to the inclination angle obtained by the angle measuring unit.

Further, the front secondary board body, the main board body and the rear secondary board body are integrally arranged, transition areas are arranged between the front secondary board body and the main board body and between the rear secondary board body and the main board body, and the transition areas are made of elastic materials with set bending degrees.

Further, the front secondary plate body, the main plate body and the rear secondary plate body are arranged in a split mode through hinges.

Further, the front secondary board body and the main board body and the rear secondary board body and the main board body are connected through elastic elements with set bending degrees.

Further, the elastic element is a torsion spring or a tension spring.

Further, the main board body is higher than the virtual plane or the main board body is equal to the virtual plane in height.

Further, the wheel shafts of each wheel body are equal in height.

The angle measuring unit comprises a first IMU arranged on the former plate body and a second IMU arranged on the latter plate body, wherein the first IMU is used for measuring a first pitch angle of the former plate body in an inertial system and sending the first pitch angle to the controller, the second IMU is used for measuring a second pitch angle of the latter plate body in the inertial system and sending the second pitch angle to the controller, and the controller is used for receiving the first pitch angle and the second pitch angle, calculating the sum of angles of the first pitch angle and the second pitch angle and taking the sum of angles as the inclination angle between the main plate body and the virtual plane.

Further, the first IMU is further used for measuring a first pitch angle speed of the first pitch angle and sending the first pitch angle speed to the controller, the second IMU is further used for measuring a second pitch angle speed of the second pitch angle and sending the second pitch angle speed to the controller, and the controller is further used for summing the first pitch angle speed and the second pitch angle speed to obtain an angular speed of the dip angle and controlling the first wheel body and/or the second wheel body to rotate according to the dip angle and the angular speed of the dip angle.

The angle measuring unit comprises a first angle sensor arranged on the front plate body and a second angle sensor arranged on the rear plate body, wherein the first angle sensor is used for detecting a first included angle of the main plate body relative to the front plate body and sending the first included angle to the controller, the second angle sensor is used for detecting a second included angle of the main plate body relative to the rear plate body and sending the second included angle to the controller, and the controller is used for receiving the first included angle and the second included angle, calculating an angle difference between the first included angle and the second included angle and taking the angle difference as an inclination angle between the main plate body and the virtual plane.

Further, the front-time plate body, the main plate body and the rear-time plate body are integrally arranged, the front-time plate body, the main plate body and the rear-time plate body form a bearing plane of the pedal together, and pressure springs are arranged between the first wheel body and the front-time plate body of the pedal, and between the second wheel body and the rear-time plate body of the pedal.

The angle measuring unit comprises a first angle sensor arranged on the main board body, a second angle sensor arranged on the main board body, a first pressure spring arranged on the main board body, a second pressure spring arranged on the main board body, a third angle sensor arranged on the main board body, a controller arranged on the main board body, a first pressure spring arranged on the main board body, a first angle sensor arranged on the main board body, a second pressure spring arranged on the main board body, a third angle sensor arranged on the main board body, and a controller, wherein the controller is used for receiving the third angle, calculating the difference between the third angle and 90 degrees, and the difference is used as the inclination angle between the main board body and the virtual plane.

Furthermore, the main board body is provided with a gyroscope for measuring the angular velocity of the dip angle between the main board body and the virtual plane of the pedal, and the controller is also used for controlling the first wheel body and/or the second wheel body to rotate according to the dip angle and the angular velocity of the dip angle.

Further, the electric running equipment is an electric scooter or an electric skateboard shoe.

The second aspect of the invention provides a control method of an electric driving device, wherein the electric driving device is the electric driving device, and the method comprises the steps that a controller of the electric driving device obtains an inclination angle between a main board body of a pedal of the electric driving device and a virtual plane through an angle measuring unit; the controller controls the first wheel body and/or the second wheel body to rotate according to the inclination angle.

The method comprises the steps that a first IMU and a second IMU are arranged on a front plate body, a controller of electric driving equipment obtains the inclination angle between a main plate body and a virtual plane of a pedal of the electric driving equipment through the angle measurement unit, the controller of the electric driving equipment obtains a first pitch angle and a second pitch angle measured by the first IMU, the first pitch angle is an inertial system pitch angle of the front plate body, the second pitch angle is an inertial system pitch angle of the rear plate body, the controller calculates the sum of the angles of the first pitch angle and the second pitch angle, and the controller takes the sum of the angles as the inclination angle between the main plate body and the virtual plane.

Further, the method further comprises the steps that the controller obtains a first pitch angle speed of a first pitch angle measured by the first IMU and a second pitch angle speed of a second pitch angle measured by the second IMU, sums the first pitch angle speed and the second pitch angle speed to obtain an angular speed of an inclination angle, and the controller controls the first wheel body and/or the second wheel body to rotate according to the inclination angle and the angular speed of the inclination angle.

The controller of the electric running device obtains the inclination angle between the main board body of the pedal of the electric running device and the virtual plane through the angle measuring unit, the controller of the electric running device obtains a first included angle detected by the first angle sensor and a second included angle detected by the second angle sensor, the first included angle is a bending angle of the main board body relative to the front board body, the second included angle is a bending angle of the main board body relative to the rear board body, the controller calculates the angle difference between the first included angle and the second included angle, and the controller takes the angle difference as the inclination angle between the main board body and the virtual plane.

The controller of the electric running equipment obtains the inclination angle between the main board body of the pedal of the electric running equipment and the virtual plane through the angle measuring unit, the controller of the electric running equipment obtains the third included angle of the former board body detected by the third angle sensor relative to the first pressure spring, the controller calculates the difference value between the third included angle and 90 degrees, and the controller takes the difference value as the inclination angle between the main board body and the virtual plane.

The method further comprises the steps that the controller obtains the angular velocity of the dip angle between the main board body and the virtual plane measured by the gyroscope, and the controller controls the first wheel body and/or the second wheel body to rotate according to the dip angle and the angular velocity of the dip angle.

Further, the controller controls the first wheel body and/or the second wheel body to rotate according to the dip angle, the controller obtains the dip angle, the angular speed of the dip angle and the rotation information of the first wheel body and/or the second wheel body, the controller determines the rotation information to be output according to the dip angle, the angular speed of the dip angle and the current rotation information, and the controller outputs the determined rotation information to the first wheel body and/or the second wheel body.

The application provides electric driving equipment and a control method thereof, wherein the electric driving equipment comprises a pedal, a wheel body, an angle measuring unit and a control unit; the main board body of the pedal can incline relative to the virtual plane and form an inclination angle with the virtual plane under the action of gravity, and the controller is used for controlling the first wheel body and/or the second wheel body to rotate according to the inclination angle acquired by the angle measuring unit. When the user uses the electric running equipment, the user stands on the main board body, and the main board body is parallel or nearly parallel to the virtual plane in a natural state. When acceleration or deceleration is required, the gravity center of the user moves forwards or backwards, the main plate generates an inclination angle relative to the virtual plane, the controller obtains the inclination angle through the angle measuring unit, and the rotation of the first wheel body and/or the second wheel body is controlled according to the inclination angle. The controller feeds back the change of the gravity center on the main board body of the electric running equipment through the angle detector, and the change sensing of the gravity center by the angle detector is realized through the detection of the angle, so that the electric running equipment is more sensitive.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of an electric power running apparatus in a normal state according to an embodiment of the present invention;

fig. 2 is a schematic structural view of an electric running apparatus according to an embodiment of the present invention in a center of gravity advancing state;

Fig. 3 is a schematic structural view of an electric running apparatus according to an embodiment of the present invention in a center of gravity rearward-moving state;

FIG. 4 is a schematic view of an electric drive apparatus according to an embodiment of the present invention in an angled configuration;

FIG. 5 is an angular schematic diagram of an integrally provided third type of electric drive apparatus according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a first type of integrally provided electric running apparatus according to an embodiment of the present invention;

Fig. 7 is a schematic structural view of a second type of integrally provided electric running apparatus according to an embodiment of the present invention;

Fig. 8 is a schematic structural view of a first type of a split-type electric running apparatus provided in an embodiment of the present invention;

fig. 9 is a schematic structural view of a second type of a separately provided electric running apparatus according to an embodiment of the present invention;

Fig. 10 is a schematic structural view of a third type of a separately provided electric running apparatus according to an embodiment of the present invention;

fig. 11 is a schematic structural view of a fourth type of form of the separately provided electric running apparatus according to the embodiment of the present invention;

Fig. 12 is a schematic structural view of a third type of integrally provided electric running apparatus according to an embodiment of the present invention.

Reference numerals:

110-a front plate body, 120-a main plate body, 130-a rear plate body, 210-a first wheel body, 220-a second wheel body, 310-a first IMU, 320-a second IMU, 410-a torsion spring, 420-a compression spring, 440-a hinge, 500-a virtual plane, 610-a first angle sensor, 620-a second angle sensor, 630-a third angle sensor, a 1-an inclination angle, a 2-a first pitch angle, a 3-a second pitch angle, b 2-a first included angle, b 3-a second included angle and b 4-a third included angle.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.

The front side of the charging frame is provided with a charging head, and the rear side is opposite to the front side.

In recent years, the traditional scooter evolves to form a new class of electric scooter, compared with the traditional scooter, the electric scooter is provided with a driving motor, a battery and a power control system in structure, at present, some electric scooters control scooter to move through a remote controller, and some electric scooters support a body feeling operation mode. The motion of the scooter is generally controlled by a pressure sensing mode. Under the general condition, the hub supporting shaft of the scooter is provided with two pressure sensors, and whether the scooter advances or retreats is determined according to the pressure distributed at the two ends of the scooter detected by the pressure sensors. Through remote controller control and pressure sensor induction control, can alleviate the equilibrium problem of ordinary novice in the slide in-process of riding to a certain extent. However, since the pressure sensing method is limited by the body characteristics and the response frequency of the pressure sensor body, the motion sensing slide plate cannot be controlled at a very high frequency, which may result in poor user experience.

The inventor has studied an electric driving apparatus and a control method thereof to alleviate the above problems, and the controller obtains the inclination angle of the main plate body 120 of the pedal and the virtual plane 500 through the angle measuring unit, and detects the change of the inclination angle along with the movement of the center of gravity, thereby alleviating the problems of low response frequency and slow response of the electric scooter to the change of the center of gravity of the human body in the prior art.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an electric driving apparatus in a normal state according to an embodiment of the present invention. The electric driving device comprises at least two pedals, a wheel body, an angle measuring unit and a controller, wherein the number of the wheels is at least two, the first wheel body 210 is supported and connected with a front plate body 110 of the pedals, the second wheel body 220 is supported and connected with a rear plate body 130 of the pedals, an axle of the first wheel body 210 and an axle of the second wheel body 220 jointly form a virtual plane 500, the main plate body 120 of the pedals can incline relative to the virtual plane 500 under the action of gravity and forms an inclination angle with the virtual plane, and the controller controls rotation of the first wheel body 210 and/or the second wheel body 220 according to the inclination angle obtained by the angle measuring unit.

When the user uses the electric power running apparatus, the user stands on the main board body 120, and the main board body 120 is parallel or nearly parallel to the virtual plane 500 in a natural state. When acceleration or deceleration is required, the center of gravity of the user moves forward or backward, the main plate body 120 generates an inclination angle a1 with respect to the virtual plane 500, and the controller acquires the inclination angle a1 according to the angle measurement unit and controls the first wheel body 210 and/or the second wheel body 220 to rotate according to the inclination angle a 1. The controller of the present embodiment obtains the change of the center of gravity on the main board body 120 of the electric running apparatus through the angle detection unit, which is more sensitive.

In the present embodiment, the electric running apparatus is an electric scooter or an electric skateboard shoe, and is not limited to these two implementation forms. Generally, the electric vehicle may have a standing position of the operator, and the operator may generate an inclination angle between the main board body 120 and the virtual plane 500 by moving the center of gravity.

The main board 120 is used for carrying an operator, so that the main board 120 needs to have a certain rigidity, and the front board 110 and the rear board 130 are respectively disposed between the main board 120 and each wheel body, so that the main board 120 can generate an inclination angle relative to the virtual plane under the condition that the center of gravity of the operator moves.

Fig. 1 is a schematic structural view of an electric driving apparatus in a normal state according to an embodiment of the present invention, fig. 2 is a schematic structural view of an electric driving apparatus in a center of gravity shifting state according to an embodiment of the present invention, and fig. 3 is a schematic structural view of an electric driving apparatus in a center of gravity shifting state according to an embodiment of the present invention. Referring to fig. 1, when the electric driving apparatus is in a normal state, the main board 120 is parallel or nearly parallel to the virtual plane 500, and the front board 110 and the rear board 130 are symmetrically or nearly symmetrically arranged, so that the electric driving apparatus can be in a stationary state without operation instructions. When an operator stands on the main board 120 and the center of gravity moves forward, referring to fig. 2, the front end of the main board 120 is depressed, the front board 110 rotates clockwise around a certain point of the operator, the rear board 130 also rotates clockwise around a certain point of the operator, an inclination angle is formed between the main board 120 and the virtual plane, and at this time, the electric driving device accelerates, and when the operator stands on the main board 120 and the center of gravity moves backward, referring to fig. 3, the rear end of the main board 120 is depressed, the rear board 130 rotates counterclockwise around a certain point of the operator, the front board 110 also rotates counterclockwise around a certain point of the operator, and an inclination angle is formed between the main board 120 and the virtual plane, and at this time, the electric driving device decelerates or moves backward. Thus, the control of the electric running equipment by the human body feeling is realized.

The wheel shafts of the plurality of wheel bodies can be the same or different in height, so long as the same virtual plane can be formed together. For example, the wheel shafts of the wheel bodies are different in height, and a virtual plane formed by the wheel shafts of the wheel bodies is an inclined plane with a certain included angle with a horizontal plane. In order to increase the stability of the electric running equipment, the wheel shafts of the plurality of wheel bodies are on the same plane, specifically, the wheel shafts of the plurality of wheel bodies are equal in height, and a virtual plane formed by the wheel shafts of the plurality of wheel bodies is a horizontal plane. In order to increase the flexibility of the electric running equipment, the number of the wheel bodies is two or two groups, and the wheel shafts of the two groups or the two groups are on the same plane. In the present embodiment, the number of wheels is two, namely the first wheel 210 and the second wheel 220. The first wheel 210 and the second wheel 220 may be 180 degree universal wheels.

In this embodiment, the electric driving apparatus further includes a motor (not shown) in driving connection with the first wheel 210 and/or the second wheel 220, and the controller controls the rotation of the first wheel 210 and/or the second wheel 220 by controlling the motor. Specifically, the motor and the wheel body are connected in a plurality of modes, for example, the first wheel body 210 and the second wheel body 220 share the same motor, the motor is arranged on the second wheel body 220, the first wheel body 210 and the second wheel body 220 are driven by a driving member, for example, the first wheel body 210 and the second wheel body 220 are respectively connected with respective motors, and the first wheel body 210 and the second wheel body 220 are not connected, so that the restraint to the first wheel body 210 and the second wheel body 220 is reduced, the distance between the first wheel body 210 and the second wheel body 220 can be adjusted, and the two motors respectively control the first wheel body 210 and the second wheel body 220, so that the control instructions can be richer.

In addition, the motor is used for providing power for the first wheel body and the second wheel body. The first wheel 210 and/or the second wheel 220 are provided with a power input mechanism, and a power output end of the motor is connected with the power input mechanism of the first wheel 210 and/or the second wheel 220. The motor can be an inner rotor motor or an outer rotor motor. The following description will take an example in which the motor is connected to only the first wheel 210. When the motor is an inner rotor motor, one end of the rotating shaft of the motor is connected with the power input mechanism of the first wheel body 210 as an output end. The power input mechanism of the first wheel 210 may be an axle connected to the first wheel 210. When the motor is an external rotor motor, the external rotor of the motor may be connected to the power input mechanism of the first wheel 210 as an output end. The power input mechanism may be a hub coupled to the rotor. In particular, the motor herein may be an in-wheel motor. The hub of the first wheel body 210 is directly disposed on the rotor of the in-wheel motor.

In order to facilitate portability of the electric power running apparatus and to improve the application range of the electric power running apparatus, the inventors have devised some variations of the electric power running apparatus.

Electric running apparatus integrally provided

Example 1

Fig. 6 is a schematic structural diagram of a first type of integrally-arranged electric driving apparatus according to an embodiment of the present invention, and fig. 6 shows a structure in which a main board 120 can be bent relative to a front board 110 and a rear board 130 under the action of external gravity. The front sub-plate body 110, the main plate body 120 and the rear sub-plate body 130 are integrally arranged, transition areas are respectively arranged between the front sub-plate body 110 and the main plate body 120 and between the rear sub-plate body 130 and the main plate body 120, and the transition areas are made of elastic materials with set bending degrees. The set bending degree may be interpreted as that the main plate body 120 has elasticity against bending with respect to the front and rear sub plate bodies 110 and 130, and the main plate body 120 has bending ability with respect to the front and rear sub plate bodies 110 and 130. The degree of bending may be within a range in which the main board 120 is not in contact with the ground. In order to realize repeated use of the electric driving apparatus, the main board 120 can be restored to the original position after the gravity disappears after the main board 120 is inclined, and the transition region needs to have a certain elasticity, so that the main board 120 can be restored to the original position relative to the previous board 110 and the next board 130.

Wherein, the material of the transition zone can be rubber, resin, etc.

With continued reference to fig. 6, the electric driving apparatus in fig. 6 is similar to an isosceles trapezoid, and the horizontal distance between the first wheel 210 and the main board 120 is greater than the length of the main board 120. When the main board 120 tilts forward, the front end of the main board 120 presses downward to give the force of the forward movement to the previous board 110, and at this time, the bending angle of the previous board 110 relative to the main board 120 is increased, the horizontal distance between the first wheel 210 and the main board 120 is prolonged, and the height of the main board 120 is reduced. The advantage of this arrangement includes that the height of the main board 120 is reduced, the gravity center of the operator and the electric driving device can be lowered, the lower the gravity center is, the operator and the electric driving device can move forward more stably, the safety performance is improved, the horizontal distance between the first wheel 210 and the main board 120 is further increased, the ground area of the electric driving device is increased, and the safety performance is further improved.

Fig. 7 is a schematic structural diagram of a second type of integrally-disposed electric driving apparatus according to an embodiment of the present invention, and please refer to fig. 7, in which the main board 120 is lower than the front board 110 and the rear board 130, and the main board 120 coincides with the virtual plane 500. When the center of gravity of the operator moves forward, the front end of the main plate body 120 is depressed downward, and the main plate body 120 forms an inclination angle with the virtual plane 500. The first wheel 210 moves in a direction approaching the main plate 120, the former plate 110 swings clockwise about a line at a transition region between the former plate 110 and the main plate 120, and the latter plate 130 swings clockwise about a line at a transition region between the latter plate 110 and the main plate 120. The embodiment reduces the height of the electric driving device, increases the portability of the electric driving device, has a low center of gravity of the whole electric driving device, increases the safety, and further, the distance between the front end of the main plate body 120 of the electric driving device and the first wheel body 210 is prolonged, so that the electric driving device can be buffered better even if collision occurs, and the safety is improved.

Example 2

Fig. 12 is a schematic structural view of a third type of integrally provided electric running apparatus according to the embodiment of the present invention. As shown in fig. 12, the front sub-plate 110, the main plate 120 and the rear sub-plate 130 are integrally arranged, the front sub-plate 110, the main plate 120 and the rear sub-plate 130 together form a bearing plane of the pedal, and compression springs are arranged between the first wheel body 210 and the front sub-plate 110 of the pedal, and between the second wheel body 220 and the rear sub-plate 130 of the pedal. Specifically, the above-mentioned integrated components are formed integrally and seamlessly from the same material, and the rigidity and density of the former board 110, the main board 120 and the latter board are the same. The third angle sensor 630 is provided at the front plate 110, or may be the front end of the pedal.

The third included angle b4 is a bending angle of the main board 120 relative to the previous board 110.

(II) electric running apparatus separately provided

Fig. 8 to 11 show a structure in which the front sub-plate 110, the main plate 120, and the rear sub-plate 130 are separately provided. Specifically, the front sub-plate 110, the main plate 120 and the rear sub-plate 130 are separately arranged by a hinge 410, and the front sub-plate 110 and the main plate 120 and the rear sub-plate 130 and the main plate 120 are connected by elastic elements with set bending degrees. A hinge 410 is disposed between the previous board 110 and the main board 120, a first folding end of the hinge 410 is fixedly connected with the previous board 110, a second folding end of the hinge 410 is fixedly connected with the main board 120, and when the center of gravity of an operator moves forward, the front end of the main board 120 is pressed down under the action of gravity, and the first folding end and the second folding end of the hinge 410 are further opened. Similarly, the hinge 410 between the rear panel 130 and the main panel 120 is reduced in its opening dimension. The angle bending of the former sub-plate body 110 relative to the main plate body 120 is larger than the angle bending of the latter sub-plate body 130 relative to the main plate body 120, so that the main plate body 120 tilts forward, and the electric running equipment accelerates forward running.

The above-described structure is not limited to a hinge, and may be any structure capable of realizing a connection structure in which the main plate body 120 can be bent with respect to the front and rear sub plate bodies 110 and 130.

Although the hinge described above may enable the main board 120 to bend relative to the front and rear boards 110 and 130, those skilled in the art will appreciate that the hinge typically enables the main board 120 to bend relative to the front and rear boards 110 and 130 with a relatively large instantaneous change. Because the electric driving equipment is manually controlled, if the instantaneous change of the bending angle is large, rapid acceleration or rapid braking can occur, and potential safety hazards can be brought. In order to improve the safety of the electric driving device, the controllability of manual operation is enhanced, the probability of large change of the bending angle at the moment of bending is reduced, and the front plate body 110 and the main plate body 120, and the rear plate body 130 and the main plate body 120 are connected through elastic elements with set bending degrees. When the hinge 410 between the front sub-plate 110 and the main plate 120 starts to open under gravity, the elastic element with the set bending degree connected between the front sub-plate 110 and the main plate 120 pulls the front sub-plate 110 and the main plate 120, and the elastic force counteracts a part of the instantaneous gravity, so that the opening speed of the hinge 410 is slowed down, and the safety performance is improved.

Example 1

Fig. 8 is a schematic structural view of a first type of a split electric running apparatus provided in an embodiment of the present invention, and fig. 9 is a schematic structural view of a second type of a split electric running apparatus provided in an embodiment of the present invention;

As shown in fig. 8 and 9, the elastic element is a torsion spring, wherein one branch of the torsion spring connected between the former plate 110 and the main plate 120 is fixedly connected with the former plate 110, and the other branch is fixedly connected with the main plate 120. One branch of the torsion spring connected between the rear sub-plate 130 and the main plate 120 is fixedly connected with the rear sub-plate 130, and the other branch is fixedly connected with the main plate 120. In fig. 9, the main board 120 is higher than the virtual plane 500, the front sub board 110, and the rear sub board 130 in a natural state. In fig. 9, the height of the main board 120 in the natural state is the same as the height of the virtual plane 500, that is, the main board 120 coincides with the virtual plane 500, so that the electric driving apparatus can be thinned as a whole, and the electric driving apparatus is convenient to carry, and the distance between the first wheel 210 and the second wheel 22 is lengthened, the buffering distance is greater, the bending angle of the main board 120 and the board 110 in the previous time is larger in variation range, the inclination angle is larger in variation range, and the torque of the first wheel and/or the second wheel is larger in variation range.

As a modification of the above embodiment, the hinge can be directly removed, and the torsion spring is directly installed between the front sub-board body 110 and the main board body 120 and between the rear sub-board body 130 and the main board body 120, wherein the torsion spring has a supporting function, and two branches of the torsion spring have a certain included angle to be opened or closed under an external force, and on the other hand, the torsion spring has a certain elasticity, so that the effect of preventing the main board body 120 from being instantaneously bent between the front sub-board body 110 and the rear sub-board body 130 can be satisfied.

As a modification of the above embodiment, the torsion spring may be modified to a damping element, which can reduce the moment bending force imparted by gravity between the main plate 120 and the front and rear plate 110 and 130.

Example 2

Fig. 10 is a schematic structural view of a third type of a split electric driving apparatus according to an embodiment of the present invention, and fig. 11 is a schematic structural view of a fourth type of a split electric driving apparatus according to an embodiment of the present invention. As shown in fig. 10 and 11, the elastic element is a compression spring. As shown in fig. 10, the length of the main plate 120 in the front-rear direction is greater than the first and second wheel bodies 210 and 220, and the main plate 120 is higher than the front and rear plate 110 and 130. Benefits of such an arrangement include reduced distance between the first and second wheels 210, 220, making the electric drive apparatus lighter, easier to turn, etc. In order to further reduce the volume of the electric vehicle, grooves corresponding to the front and rear sub-boards 110 and 130 are provided on the lower surface of the main board 120, and when not in use, the front and rear sub-boards 110 and 130 may be accommodated in the corresponding grooves.

As shown in fig. 11, pi-shape is formed among the main board 120, the front board 110 and the rear board 130, the main board 120 is higher than the front board 110 and the rear board 130, and the length of the main board 120 along the front-rear direction is smaller than that of the first wheel 210 and the second wheel 220, so that the electric driving device is more stable due to large area of force. In order to reduce the volume of the electric driving apparatus when not in use, the electric driving apparatus becomes thinner, grooves corresponding to the front sub-plate 110 and the rear sub-plate 130 are respectively provided at both ends of the main plate 120, and when not in use, the front sub-plate 110 can be pulled forward to press the compression spring 420 to store the front sub-plate 110 in the corresponding groove, and the rear sub-plate 130 can be pulled backward to press the compression spring 420 to store the rear sub-plate 130 in the corresponding groove.

In summary, the height relationship between the main board 120 and the virtual plane mainly includes that the main board 120 is higher than the virtual plane or the main board 120 is equal to the virtual plane. When the main board body 120 is higher than the virtual plane, the distance between the main board body 120 and the ground is larger, and the variation range of the included angle between the main board body 120 and the virtual plane is larger, i.e. the adjustable range of the inclination angle between the main board body and the virtual plane is larger by stepping on the main board body. When the main board 120 is at the same height as the virtual plane, on one hand, the height of the electric running equipment is reduced, portability is increased, and on the other hand, the center of gravity of the electric running equipment is lowered, and safety in operation of the electric running equipment is increased.

The modified structure of the electric running apparatus has been described above, and the control principle of the electric running apparatus is described next.

The angle measuring unit may be a first IMU and a second IMU mounted on the front and rear sub-boards 110 and 130, respectively, or may be a first angle sensor and a second angle sensor mounted on the front and rear sub-boards 110 and 130, respectively. The first IMU, the second IMU, the first angle sensor and the second angle sensor correspond to different acquisition methods of the two inclination angles respectively. The first IMU and the second IMU acquire the inclination angle through acquiring the pitch angle, and the first angle sensor and the second angle sensor acquire the inclination angle through acquiring the included angle.

Referring to fig. 4, fig. 4 is a schematic diagram of an angle of the electric driving apparatus in a slope according to an embodiment of the invention, and the inclination angle a1 is an angle between an extension line of the main board 120 and an extension line of the virtual plane 500. Two ways of obtaining the tilt angle a1 are shown. One is to obtain a first pitch angle a2 of the former plate 110 in the inertial frame, obtain a second pitch angle a3 of the latter plate 130 in the inertial frame, and the controller takes the sum of the first pitch angle a2 and the second pitch angle a3 as a pitch angle a1, wherein the first pitch angle a2 is a positive angle, and the second pitch angle a3 is a negative angle.

The IMU is an inertial measurement unit, which is a device that measures three-axis attitude angles (or angular rates) and accelerations of an object. The first pitch angle a2 and the second pitch angle a3 are described above, one of which is a positive angle and one of which is a negative angle. The controller is based on the inclination angle a1 of the first wheel body and/or the second wheel body. When the main board body 120 is approximately parallel to the virtual plane 500, the tilt angles a1-0 are approximately equal to zero. When the center of gravity of the operator moves forward, the front end of the main plate 120 is pressed downward, the former plate 110 rotates clockwise along a certain point thereof, the first pitch angle a2 becomes smaller, the latter plate 130 rotates clockwise along a certain point thereof, the second pitch angle a3 becomes larger, the inclination angle a1-1 is a negative value, and smaller than the inclination angle a1-0, and the controller outputs rotation information to the first wheel body 210 and/or the second wheel body 220 to indicate an increase in torque. When the center of gravity of the operator continues to move forward, the front end of the main plate 120 continues to press downward, the former plate 110 continues to rotate clockwise along a certain point of the main plate, the first pitch angle a2 continues to decrease, the latter plate 130 continues to rotate clockwise along a certain point of the main plate, the second pitch angle a3 continues to increase, the inclination angle a1-2 becomes smaller at this time, and the controller compares the current inclination angle a1-2 with the just inclination angle a1-1, and when it is determined that the inclination angle a1-2 becomes smaller, rotation information is output to the first wheel body 210 and/or the second wheel body 220 to indicate that the torque of the first wheel body 210 and/or the second wheel body 220 continues to increase. At this time, when the center of gravity of the operator moves backward, the rear end of the main plate body 120 is pressed downward, the previous plate body 110 continues to rotate counterclockwise along a certain point thereof, the first pitch angle a2 becomes larger, the next plate body 130 continues to rotate counterclockwise along a certain point thereof, the second pitch angle a3 becomes smaller, the inclination angle a1-3 becomes larger, and the controller compares the current inclination angle a1-3 with the inclination angle a1-2 just before, and when it is judged that the inclination angle a1-3 becomes larger, torque information is output to the first wheel body 210 and/or the second wheel body 220 to indicate that the torque of the first wheel body 210 and/or the second wheel body 220 is reduced.

Another way is to obtain a first included angle b2 of the main board 120 relative to the previous board 110, obtain a second included angle b3 of the main board 120 relative to the next board 130, and use the difference between the first included angle b2 and the second included angle b3 as the inclination angle a1, where the first included angle b2 and the second included angle b3 are positive angles.

When the main board body 120 is approximately parallel to the virtual plane 500, the tilt angles a1-0 are approximately equal to zero. When the center of gravity of the operator moves forward, the front end of the main plate 120 is pressed downward, the former plate 110 rotates clockwise along a certain point of the main plate, the first included angle b2 becomes larger, the latter plate 130 rotates clockwise along a certain point of the main plate, the second included angle b3 becomes smaller, the inclination angle a1-1 is a positive value and is larger than the inclination angle a1-0, and the controller outputs rotation information to the first wheel 210 and/or the second wheel 220 so as to indicate that the torque of the first wheel 210 and/or the second wheel 220 is increased. When the center of gravity of the operator continues to move forward, the front end of the main plate 120 continues to press downward, the former plate 110 continues to rotate clockwise along a certain point of the main plate, the first included angle b2 continues to become larger, the latter plate 130 continues to rotate clockwise along a certain point of the main plate, the second included angle b3 continues to become smaller, the inclination angle a1-2 becomes smaller at this time, the controller compares the current inclination angle a1-2 with the just inclination angle a1-1, and when the inclination angle a1-2 is judged to become smaller, rotation information is output to the first wheel body 210 and/or the second wheel body 220 to indicate that the torque of the first wheel body 210 and/or the second wheel body 220 continues to increase. At this time, when the center of gravity of the operator moves backward, the rear end of the main plate 120 is pressed downward, the previous plate 110 continues to rotate counterclockwise along a certain point thereof, the first angle b2 becomes larger, the next plate 130 continues to rotate counterclockwise along a certain point thereof, the second angle b3 becomes larger, the inclination angle a1-3 becomes larger, the controller compares the current inclination angle a1-3 with the inclination angle a1-2 just before, and when the inclination angle a1-3 is judged to become larger, rotation information is outputted to the first wheel body 210 and/or the second wheel body 220 to indicate that the torque of the first wheel body 210 and/or the second wheel body 220 is reduced.

The angle measuring unit may also be a third angle sensor disposed on the previous board 110, as shown in fig. 5, fig. 5 is a schematic diagram of an integrally disposed third type of electric driving device angle, which is provided in an embodiment of the present invention, where a third angle b4 of the bending angle of the main board 120 on the paper surface with respect to the compression spring 420 is obtained, the difference between the third angle b4 and 90 degrees is used as an inclination angle a1 by the controller, and the controller controls the rotation of the first wheel body 210 and/or the second wheel body 220 according to the inclination angle a 1.

When the main board body 120 is approximately parallel to the virtual plane 500, the tilt angles a1-0 are approximately equal to zero. When the center of gravity of the operator moves forward, the front end of the main board 120 is pressed downward, the bearing plane rotates counterclockwise along a certain point of the bearing plane, the third included angle b4 becomes larger, the inclination angle a1-1 is a positive value and larger than the inclination angle a1-0, and the controller outputs rotation information to the first wheel 210 and/or the second wheel 220 to indicate that the torque of the first wheel 210 and/or the second wheel 220 is increased. When the center of gravity of the operator continues to move forward, the front end of the main board 120 continues to press downward, the bearing plane continues to rotate anticlockwise along a certain point of the main board, the third included angle b4 continues to become larger, the inclination angle a1-2 becomes larger, the controller compares the current inclination angle a1-2 with the just inclination angle a1-1, and when the inclination angle a1-2 is judged to become larger, rotation information is output to the first wheel body 210 and/or the second wheel body 220 so as to indicate that the torque of the first wheel body 210 and/or the second wheel body 220 continues to increase. At this time, when the center of gravity of the operator moves backward, the rear end of the main plate 120 is pressed downward, the bearing plane continues to rotate clockwise along a certain point thereof, the third included angle b4 becomes smaller, the inclination angle a1-3 becomes smaller, the controller compares the current inclination angle a1-3 with the inclination angle a1-2 just before, and when the inclination angle a1-3 is determined to become smaller, rotation information is output to the first wheel body 210 and/or the second wheel body 220 to instruct the torque of the first wheel body 210 and/or the second wheel body 220 to decrease.

Having described several ways of obtaining the inclination angle of the electric running apparatus above, the structural composition of the electric running apparatus capable of realizing the above-described several ways of obtaining the inclination angle is described next.

Example 1

The angle measurement unit comprises a first IMU310 arranged on the former plate body 110 and a second IMU320 arranged on the latter plate body 130, wherein the first IMU110 is used for measuring a first pitch angle of the former plate body 110 in an inertial system and sending the first pitch angle to the controller, the second IMU320 is used for measuring a second pitch angle of the latter plate body 130 in the inertial system and sending the second pitch angle to the controller, and the controller is used for receiving the first pitch angle and the second pitch angle, calculating an angle sum of the first pitch angle and the second pitch angle, and taking the angle sum as an inclination angle between the main plate body 120 and the virtual plane 500.

The first IMU310 is further configured to measure a first pitch rate of the first pitch angle a2 and send the first pitch rate to the controller, the second IMU320 is further configured to measure a second pitch rate of the second pitch angle a3 and send the second pitch rate to the controller, and the controller is further configured to sum the first pitch rate and the second pitch rate to obtain an angular rate of the dip angle, and to control the rotation of the first wheel 210 and/or the second wheel 220 according to the dip angle and the angular rate of the dip angle.

The controller outputs a torque increasing or decreasing command to the first wheel 210 and/or the second wheel 220 according to the magnitude of the inclination angle comparison, and the controller outputs a torque increasing or decreasing command to the first wheel 210 and/or the second wheel 220 according to the magnitude of the angular velocity comparison of the inclination angle.

When the controller knows that the angular velocity of the inclination angle is larger than the angular velocity of the inclination angle just at the moment, the controller sends rotation information to the first wheel body 210 and/or the second wheel body 220 to indicate that the torque change of the first wheel body 210 and/or the second wheel body 220 is accelerated. When the controller knows that the angular velocity of the inclination angle at this time is smaller than the angular velocity of the inclination angle just before, the controller sends rotation information to the first wheel body 210 and/or the second wheel body 220, and indicates that the torque change of the first wheel body 210 and/or the second wheel body 220 is slowed down.

Example 2

The angle measurement unit includes a first angle sensor 610 disposed on the front board 110 and a second angle sensor 620 disposed on the rear board 130, where the first angle sensor 610 is configured to detect a first angle of the main board 120 relative to the front board 110 and send the first angle to the controller, the second angle sensor 620 is configured to detect a second angle of the main board 120 relative to the rear board 130 and send the second angle to the controller, and the controller is configured to receive the first angle and the second angle, calculate an angle difference between the first angle and the second angle, and use the angle difference as an inclination angle between the main board and the virtual plane.

The first included angle and the second included angle are calculated according to absolute values.

In the embodiment in which the controller obtains the inclination angle through the angle sensor, the controller obtains only the angle of the inclination angle, and in order to further obtain the angular velocity of the inclination angle, the main board body 120 is provided with a gyroscope (not shown in the drawing) for measuring the angular velocity of the inclination angle between the main board body 120 and the virtual plane 500 of the pedal, and the controller is further configured to control the rotation of the first wheel body 210 and/or the second wheel body 220 according to the inclination angle and the angular velocity of the inclination angle.

When the controller knows through the gyroscope that the angular velocity of the inclination angle is larger than the angular velocity of the inclination angle just at the moment, the controller sends rotation information to the first wheel body 210 and/or the second wheel body 220 to instruct the first wheel body 210 and/or the second wheel body 220 to change the torque faster. When the controller knows through the gyroscope that the angular velocity of the inclination angle at this time is smaller than the angular velocity of the inclination angle just, the controller sends rotation information to the first wheel body 210 and/or the second wheel body 220, and the controller indicates that the torque change of the first wheel body 210 and/or the second wheel body 220 is slowed down.

Example III

The angle measuring unit comprises a third angle sensor 630 arranged on the former plate body, the controller of the electric running equipment obtains the inclination angle between the main plate body of the pedal of the electric running equipment and the virtual plane through the angle measuring unit, the step comprises the steps that the controller of the electric running equipment obtains a third included angle b4 of the former plate body 110 detected by the third angle sensor 630 relative to the first pressure spring, the controller calculates a difference value between the third included angle b4 and 90 degrees, and the controller takes the difference value as the inclination angle between the main plate body 120 and the virtual plane.

The structural composition of the electric running apparatus has been described above, and the control method of the electric running apparatus is described next.

The electric driving device is the electric driving device, and the method comprises the steps that a controller of the electric driving device obtains an inclination angle a1 between a main board 120 of a pedal of the electric driving device and a virtual plane 500 through an angle measuring unit, wherein the virtual plane 500 is a plane formed by an axle of a first wheel body 210 and an axle of a second wheel body 220 of the electric driving device, the first wheel body 210 is supported and connected to a front board 110 of the pedal, the second wheel body 220 is supported and connected to a rear board 130 of the pedal, and the controller controls the first wheel body and/or the second wheel body to rotate according to the inclination angle.

One of the angle measurement units measures the pitch angle of the former and latter plates 110 and 120 in the inertial frame. The angle measurement unit comprises a first IMU310 arranged on the front plate body 110 and a second IMU320 arranged on the rear plate body 120, wherein the step of obtaining the inclination angle between the main plate body 120 and the virtual plane of the pedal of the electric running device by the controller of the electric running device comprises the step of obtaining a first pitch angle a2 measured by the first IMU310 and a second pitch angle a3 measured by the second IMU320 by the controller of the electric running device, wherein the first pitch angle a2 is the inertial system pitch angle of the front plate body 110, the second pitch angle a3 is the inertial system pitch angle of the rear plate body 130, the controller calculates the sum of the angles of the first pitch angle a3 and the second pitch angle a3, and the sum of the angles is taken as the inclination angle a1 between the main plate body 120 and the virtual plane 500.

In the embodiment, the control method of the electric driving device further comprises the steps that a controller obtains a first pitch angle speed of a first pitch angle a2 measured by the first IMU310 and a second pitch angle speed of a second pitch angle a3 measured by the second IMU320, sums the first pitch angle speed and the second pitch angle speed to obtain an angular speed of an inclination angle, and the controller controls the first wheel body and/or the second wheel body to rotate according to the inclination angle and the angular speed of the inclination angle.

Another angle measuring unit measures bending angles of the front and rear sub-boards 110 and 120 with respect to the main board 120. The angle measuring unit comprises a first angle sensor 610 arranged on the front plate body 110 and a second angle sensor 620 arranged on the rear plate body 130, wherein the step of acquiring the inclination angle between the main plate body 120 and the virtual plane 500 of the pedal of the electric running device by the controller of the electric running device comprises the step of acquiring a first included angle b2 detected by the first angle sensor 610 and a second included angle b3 detected by the second angle sensor by the controller of the electric running device, wherein the first included angle b2 is the bending angle of the main plate body 120 relative to the front plate body 110, the second included angle b3 is the bending angle of the main plate body 120 relative to the rear plate body 130, the controller calculates the angle difference between the first included angle b2 and the second included angle b3, and the controller takes the angle difference as the inclination angle a1 between the main plate body and the virtual plane.

The main board 120 is provided with a gyroscope, and the control method of the electric driving device further comprises the steps that a controller obtains the angular velocity of the dip angle between the main board and the virtual plane, which is measured by the gyroscope, and the controller controls the first wheel body and/or the second wheel body to rotate according to the dip angle and the angular velocity of the dip angle.

The angle measuring unit measures the bending angle of the previous plate 110 with respect to the main plate 120. The angle measuring unit comprises a third angle sensor 630 arranged on the former plate body 110, the controller of the electric running equipment obtains the inclination angle a1 between the main plate body 120 of the pedal of the electric running equipment and the virtual plane 500 through the angle measuring unit, the step comprises the steps that the controller of the electric running equipment obtains a third included angle b4 of the former plate body 110 detected by the third angle sensor 630 relative to the first pressure spring on the paper surface, the controller calculates the difference value of the third included angle b4 and 90 degrees, and the controller takes the difference value as the inclination angle between the main plate body 120 and the virtual plane 500.

The main board body is provided with a gyroscope, the control method of the electric running equipment further comprises the steps that a controller obtains the angular velocity of the dip angle between the main board body 120 and the virtual plane 500 measured by the gyroscope, and the controller controls the first wheel body and/or the second wheel body to rotate according to the dip angle and the angular velocity of the dip angle.

Finally, a PID circulation detection process of the electric driving equipment is introduced.

The method comprises the steps that a controller controls a first wheel body and/or a second wheel body to rotate according to an inclination angle, wherein the controller obtains the inclination angle, the angular speed of the inclination angle and current rotation information of the first wheel body and/or the second wheel body, determines rotation information to be output according to the inclination angle, the angular speed of the inclination angle and the current rotation information, and outputs the determined rotation information to the first wheel body and/or the second wheel body.

The inclination angle of each input controller is used as a desired inclination angle to be compared with the inclination angle of the next input, and the inclination angle angular speed of each input controller is used as a desired inclination angle angular speed to be compared with the inclination angle angular speed of the next input. And the controller outputs corresponding rotation information according to the comparison result.

It should be noted that the above embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present invention.

Claims

1. An electric driving device is characterized by comprising a pedal, a wheel body, an angle measuring unit and a controller;

The wheel bodies are at least two, wherein a first wheel body is supported and connected with a front plate body of the pedal, and a second wheel body is supported and connected with a rear plate body of the pedal;

the main board body of the pedal can incline relative to the virtual plane under the action of gravity and forms an inclination angle with the virtual plane;

the controller is used for controlling the first wheel body and/or the second wheel body to rotate according to the inclination angle obtained by the angle measuring unit;

The front secondary board body, the main board body and the rear secondary board body are integrally arranged;

transition areas are arranged between the front secondary board body and the main board body and between the rear secondary board body and the main board body, and the transition areas are made of elastic materials with set bending degrees;

the angle measurement unit comprises a first IMU arranged on the former plate body and a second IMU arranged on the latter plate body;

The first IMU is used for measuring a first pitch angle of the previous plate body in an inertial system and sending the first pitch angle to the controller;

the second IMU is used for measuring a second pitch angle of the subsequent plate body in an inertial system and sending the second pitch angle to the controller;

The controller is used for receiving the first pitch angle and the second pitch angle, calculating the angle sum of the first pitch angle and the second pitch angle, and taking the angle sum as the inclination angle between the main board body and the virtual plane;

The first IMU is also used for measuring a first pitch angle speed of the first pitch angle and sending the first pitch angle speed to the controller;

The second IMU is further used for measuring a second pitch angle speed of the second pitch angle and sending the second pitch angle speed to the controller;

The controller is also used for summing the first pitch angle speed and the second pitch angle speed to obtain the angular speed of the dip angle, and controlling the first wheel body and/or the second wheel body to rotate according to the dip angle and the angular speed of the dip angle.

2. The electric running apparatus according to claim 1, wherein the front sub-plate, the main plate, and the rear sub-plate are separately provided by a hinge.

3. The electric running apparatus according to claim 2, wherein the front sub-plate body and the main plate body and the rear sub-plate body and the main plate body are connected by elastic members having a set degree of bending.

4. An electric drive apparatus as claimed in claim 3, wherein the elastic member is a torsion spring or a tension spring.

5. The electric running apparatus according to any one of claims 1 to 4, wherein the main plate body is higher than the virtual plane or the main plate body is equal in height to the virtual plane.

6. The electric drive apparatus of claim 1, wherein each of the wheels has an axle of equal height.

7. The electric running apparatus according to claim 1, wherein the angle measurement unit includes a first angle sensor provided at the preceding-stage plate body and a second angle sensor provided at the succeeding-stage plate body;

the first angle sensor is used for detecting a first included angle of the main board relative to the previous board body and sending the first included angle to the controller;

The second angle sensor is used for detecting a second included angle of the main board relative to the rear board body and sending the second included angle to the controller;

the controller is used for receiving the first included angle and the second included angle, calculating the angle difference between the first included angle and the second included angle, and taking the angle difference as the inclination angle between the main board body and the virtual plane.

8. The electric running apparatus according to claim 7, wherein the main plate body is provided with a gyroscope for measuring an angular velocity of an inclination angle between the main plate body of the pedal and the virtual plane;

the controller is also used for controlling the first wheel body and/or the second wheel body to rotate according to the inclination angle and the angular speed of the inclination angle.

9. The electric running apparatus according to claim 1, wherein the electric running apparatus is an electric scooter or an electric skateboard shoe.

10. A control method of an electric running apparatus, characterized in that the electric running apparatus is the electric running apparatus according to any one of claims 1 to 9, the method comprising:

The controller of the electric running equipment obtains the inclination angle between the main board body of the pedal of the electric running equipment and the virtual plane through an angle measuring unit, and the controller controls the first wheel body and/or the second wheel body to rotate according to the inclination angle.

11. The method of claim 10, wherein the angle measurement unit comprises a first IMU disposed on the previous plate and a second IMU disposed on the subsequent plate;

the step of obtaining the inclination angle between the main board body and the virtual plane of the pedal of the electric running equipment by the controller of the electric running equipment through the angle measuring unit comprises the following steps:

The controller of the electric running equipment acquires a first pitch angle measured by the first IMU and a second pitch angle measured by the second IMU, wherein the first pitch angle is the inertial system pitch angle of the former plate body, and the second pitch angle is the inertial system pitch angle of the latter plate body;

the controller calculates the angle sum of the first pitch angle and the second pitch angle;

and the controller takes the angle and the inclination angle between the main board body and the virtual plane as the inclination angle.

12. The method of claim 11, further comprising the controller obtaining a first pitch rate of the first pitch angle measured by a first IMU and a second pitch rate of the second pitch angle measured by a second IMU, the controller summing the first pitch rate and the second pitch rate to obtain an angular rate of the tilt angle;

the controller controls the first wheel body and/or the second wheel body to rotate according to the inclination angle and the angular speed of the inclination angle.

13. The method of claim 10, wherein the angle measurement unit includes a first angle sensor disposed at the front sub-plate and a second angle sensor disposed at the rear sub-plate;

The controller of the electric running equipment obtains a first included angle detected by the first angle sensor and a second included angle detected by the second angle sensor, wherein the first included angle is a bending angle of the main board relative to the former board, and the second included angle is a bending angle of the main board relative to the latter board;

the controller calculates the angle difference between the first included angle and the second included angle;

The controller takes the angle difference as the inclination angle between the main board body and the virtual plane.

14. The method of claim 13, wherein the motherboard body has a gyroscope disposed thereon;

The controller obtains the angular velocity of the inclination angle between the main board body and the virtual plane, which is measured by the gyroscope;

15. The method of claim 10, wherein the controller controls the first wheel and/or the second wheel to rotate according to the tilt angle, comprising:

The controller obtains the inclination angle, the angular speed of the inclination angle and the current rotation information of the first wheel body and/or the second wheel body;

The controller determines rotation information to be output according to the inclination angle, the angular speed of the inclination angle and the current rotation information;

the controller outputs the determined rotation information to the first wheel body and/or the second wheel body.