SELF-BALANCING ELECTRIC VEHICLE WITH STRAIN-BASED CONTROLS

摘要

A self-balancing electric vehicle may include an elongate platform having a first foot placement section and a second foot placement section rigidly coupled to each other, a first and second wheel being respectively coupled to opposite ends of the platform. Rider presence and turning intentions may be determined based on strain induced in the platform by the rider. The strain may be detected by one or more strain gauge systems. One of the strain gauge systems may be configured for use in a steering control circuit, and may include a strain gauge sensor mounted diagonally with respect to a long axis of the platform, such that the strain gauge detects only twist-induced strain.

主权项

1. A self-balancing electric vehicle, comprising:
a platform defining a long axis, a first foot placement section, and a second foot placement section substantially rigidly coupled to the first foot placement section; a first wheel disposed adjacent to a first lateral end of the platform and a second wheel disposed adjacent to a second lateral end of the platform, wherein the first and second wheels share a common axis of rotation parallel to the long axis of the platform; a balance position sensor attached to the platform and configured to sense inclination of the platform; a first strain gauge attached to the platform and configured to sense twisting strain in the platform induced by imbalanced forces exerted upon the first and second foot placement sections; a first drive motor configured to drive the first wheel, and a second drive motor configured to drive the second wheel, wherein the drive motors are configured to drive the wheels toward self-balancing the platform in response to inclination of the platform sensed by the balance position sensor, and to drive the wheels differentially to cause the vehicle to turn in response to twisting strain sensed by the first strain gauge.