CN105346643B - electric balance car - Google Patents

Abstract

The invention provides an electrodynamic balance car, which comprises a car body, a plurality of wheels, a photoelectric sensor, four elastic supporting elements and a control mechanism, wherein the car body is provided with a plurality of wheels; the vehicle body comprises a flat pedal plate and a supporting framework arranged at the lower part of the pedal plate, two ends of four elastic supporting elements are respectively connected with the pedal plate and the supporting framework and are arranged in a rectangular shape, and the photoelectric sensor is positioned below the pedal plate and is used for sensing the rotation angle of the pedal plate relative to the movement plane; the wheels are connected with the supporting framework, the wheels are arranged in a triangular or polygonal shape, the bottom surfaces of the wheels are positioned in the same plane, and the plane where the bottom surfaces of the wheels are positioned is parallel to the pedal plate; the control mechanism is connected with the photoelectric sensor and controls the wheels to move according to the rotation angle of the pedal relative movement plane sensed by the photoelectric sensor.

Description

electric balance car

technical field

The invention belongs to the technical field of machinery and relates to an electric balance car.

Background technique

Two-wheeled scooters are built on a fundamental principle known as "dynamic stability," the self-balancing ability of the vehicle itself. The built-in precision solid-state gyroscope is used to judge the posture state of the car body, and the precise and high-speed central microprocessor calculates the appropriate command, and then drives the motor to achieve the balance effect.

Suppose we take the vertical axis of the overall center of gravity of the driver standing on the car and the vehicle as the reference line. When this axis tilts forward, the built-in electric motor in the body will generate forward force, on the one hand, it will balance the torque of people and the car falling forward, and on the other hand, it will generate the acceleration that makes the vehicle move forward. On the contrary, when the gyroscope finds When the driver's center of gravity tilts backward, it will also generate a backward force to achieve a balance effect. Therefore, as long as the driver changes the angle of his body to lean forward or backward, he will move forward or backward according to the direction of inclination, and the speed is proportional to the degree of inclination of the driver's body. In principle, as long as the power is turned on correctly and enough power can be maintained, the people in the car don't have to worry about the possibility of falling, which is very different from vehicles such as scooters that generally need to be balanced by the driver himself.

But the existing two-wheeled scooter changes the direction of travel mainly by twisting the handle. It can be seen that setting the handle on the two-wheeled scooter leads to its complicated structure and increased cost.

For this reason, people have designed the two-wheeled scooter without handle, and this scooter mainly is made up of two relative movable supports, and a corresponding wheel is connected on each support. Although this scooter omits the handle, due to the small size of the bracket, the balance is not easy to grasp when using this scooter.

Its publication number CN203958471U of Chinese patent provides " a kind of split rotating self-balancing two-wheeled vehicle ", and it comprises car body main frame, and car body main frame both sides is provided with wheels, and car body main frame is provided with motor and controllable The gyroscope of the speed of the motor, the main frame of the vehicle body includes two split frames separated from each other, a connecting shaft is arranged in the middle of the two split frames, and the two split frames take the connecting shaft as the rotation center Rotation, each split frame is equipped with a gyroscope and a motor separately. The split frame includes an upper cover pedal and a lower shell. The gyroscope is fixed at the bottom of the upper cover pedal. The gyroscope is connected to the circuit board, and the circuit board is connected to the motor. , the motor drives the wheels.

The two-wheeled vehicle in the above-mentioned patent can realize the functions of acceleration, deceleration and turning with the feet, and has a simple structure. However, it is mainly composed of two relatively movable supports, and its balance is not easy to control during use. And, because it takes up space, it is not very convenient to carry.

Contents of the invention

The present invention proposes an electric balance car in order to overcome the prior art.

In order to achieve the above object, the present invention provides an electric balance car, which includes a vehicle body, a plurality of wheels, photoelectric sensors, four elastic support elements and a control mechanism; The supporting frame at the lower part of the pedal, the two ends of the four elastic supporting elements are respectively connected with the pedal and the supporting frame and arranged in a rectangle, the photoelectric sensor is located under the pedal and used For sensing the rotation angle of the pedal relative to the motion plane; the plurality of wheels are connected to the support frame, the plurality of wheels are arranged in a triangle or polygon, and the bottom surfaces of the plurality of wheels are located In the same plane, the plane where the bottom surfaces of the plurality of wheels are located is parallel to the pedal; the control mechanism is connected to the photoelectric sensor, and the control mechanism is based on The angle of rotation relative to the plane of motion controls the movement of the plurality of wheels.

Further, the multiple wheels include two drive wheels symmetrically arranged at the front end or the rear end of the vehicle body, the control mechanism includes a controller and a drive motor connected to the controller, the control mechanism includes a drive motor and a The drive motor is connected to a controller for controlling the driving force output by the drive motor, the photoelectric sensor is connected to the controller, the drive motor is used to drive the two drive wheels to rotate, and the controller The position of the user's center of gravity is determined according to the rotation angle of the pedal relative to the motion plane sensed by the photoelectric sensor, and the driving motor outputs a corresponding driving force to the two sides according to the position of the user's center of gravity. drive wheels to drive the two drive wheels to rotate.

Further, the number of the driving motors is two, and the two driving motors respectively drive the rotation of the two driving wheels. After the controller determines the position of the center of gravity of the user, the controller controls the two The driving motor outputs corresponding driving force to the two driving wheels to drive the two driving wheels to rotate.

Further, the number of the driving motor is one, and the control mechanism also includes a differential, the driving motor is connected to the two driving wheels through the differential, and the differential is used according to the The position of the center of gravity of the drive motor distributes the drive force output by the drive motor to the two drive wheels to drive the two drive wheels to rotate.

Further, the number of the multiple wheels is four, the multiple wheels include two steering wheels, the two steering wheels and the two driving wheels are arranged in a rectangle, and the two steering wheels Set opposite to the two drive wheels.

Further, the number of the multiple wheels is three, and the multiple wheels also include a steering wheel, the steering wheel and the two driving wheels are arranged in a triangle, and when the two driving wheels are arranged When at the rear end of the vehicle body, the steering wheels are arranged in the middle of the front end of the vehicle body; when the two driving wheels are arranged at the front end of the vehicle body, the steering wheels are arranged at the rear end of the vehicle body middle part.

Further, the number of the plurality of wheels is four and arranged in a rectangle, the four wheels are universal wheels, the number of the driving motors is four, and each driving motor drives a wheel to rotate, so The control mechanism includes a drive motor and a controller connected to the drive motor and used to control the drive force output by the drive motor. The number of the drive motors is four, and each drive motor drives one of the wheels to rotate. The photoelectric sensor is connected to the controller, the driving motor is used to drive the two driving wheels to rotate, and the controller judges according to the rotation angle of the pedal relative to the motion plane sensed by the photoelectric sensor The position of the center of gravity of the user and according to the position of the center of gravity of the user control the four driving motors to output corresponding driving force to drive the corresponding wheels to rotate.

Further, further, an induction switch is provided on the pedal, the induction switch is connected between the control mechanism and the power supply device, and the induction switch is used to control the Power on and off of the control mechanism described above.

Further, the upper part of the support frame has a recessed installation cavity, the pedal covers the installation cavity, and the four elastic elements are located in the installation cavity and are respectively connected to the bottom wall of the installation cavity and the bottom of the pedal. The photoelectric sensor is installed on the bottom wall of the installation cavity.

Further, the vehicle body also includes a connecting column, the connecting column is arranged between the footboard and the support frame and is located in the installation cavity, the bottom surface of the footboard is provided with an upper positioning groove, The bottom wall of the installation cavity is provided with a lower positioning groove, and the upper part and the lower part of the circumferential surface of the connecting column are respectively positioned in the upper positioning groove and the lower positioning groove.

Due to the application of the above-mentioned technical solution, the present invention has the following advantages:

Because the car body of the main component is flat, the electric balance car of the present invention has a compact structure and is easy to carry and store. At the same time, since the electric balance car has three or four wheels, it has a higher balance than other two-wheeled scooters, and it is easier for the user to control the balance when standing on the electric balance car.

Description of drawings

Fig. 1 is a schematic structural view of an electric balancing vehicle according to a first embodiment of the present invention.

Fig. 2 is a schematic cross-sectional view of the electric balancing vehicle shown in Fig. 1 .

Fig. 3 is a side view of the electric balancing vehicle shown in Fig. 1 .

Fig. 4 is a bottom view of the electric balancing vehicle shown in Fig. 1 .

Fig. 5 is a bottom view of an electric balancing vehicle according to another embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

Referring to Figures 1-4, an electric balance car provided by an embodiment of the present invention includes a vehicle body 1, a plurality of wheels 2, a photoelectric sensor 106, four elastic supporting elements 107 and a control mechanism.

The vehicle body 1 includes a plate-shaped footboard 11 and a support frame 13 arranged at the bottom of the footboard 11, and the two ends of the four elastic support elements 107 are connected to the footboard 11 and the footboard 11 respectively. The supporting frames 13 are connected and arranged in a rectangular shape, and the photoelectric sensor 106 is located under the pedal 11 and used for sensing the rotation angle of the pedal 11 relative to the motion plane.

The plurality of wheels 2 are connected to the support frame 13, the plurality of wheels 2 are arranged in a triangular or polygonal arrangement, and the bottom surfaces of the plurality of wheels 2 are located in the same plane. The plane where the bottom surface is located is parallel to the pedal 11 .

The control mechanism is connected with the photoelectric sensor 106, and the control mechanism controls the movement of the plurality of wheels 2 according to the rotation angle of the pedal 11 relative to the motion plane sensed by the photoelectric sensor 106.

The working principle of the present invention is as follows: when the user stands on the pedal 11, the elastic support element 107 will be compressed, and when the user's center of gravity deviates, the pedal 11 will tilt, and the photoelectric sensor 106 can sense the foot The inclination angle of the pedal 11 , that is, the inclination angle of the pedal 11 collected by the photoelectric sensor 106 , namely, the position information of the center of gravity of the user is collected. When the photoelectric sensor 106 senses that the pedal 11 is inclined to the left front or the right front, the control mechanism controls a plurality of wheels 2 to advance to the left front or the right front; When the front or the right rear is tilted, the control mechanism controls a plurality of wheels 2 to regress to the left rear or the right rear.

The upper part of the support frame 13 has a recessed installation cavity 130, the pedal 11 covers the installation cavity 130, and the four elastic elements 4 are located in the installation cavity 130 and are respectively connected to the bottom wall of the installation cavity 130 and the pedal 11 The photoelectric sensor 106 is installed on the bottom wall of the installation cavity 130 .

The vehicle body 1 also includes a connecting column 15, the connecting column 15 is arranged between the pedal 11 and the supporting frame 13 and is located in the installation cavity 130, the bottom surface of the pedal 11 is provided with The upper positioning groove 115, the bottom wall of the installation cavity 130 is provided with a lower positioning groove 135, and the upper and lower parts of the circumferential surface of the connecting column 15 are respectively positioned in the upper positioning groove 115 and the lower positioning groove 135.

In the present embodiment, the angle of inclination of the pedal 11 is between 10 degrees and 30 degrees. Controlling the angle of inclination of the pedal 11 between 10 degrees and 30 degrees can stabilize the inclination of the pedal 11. It can ensure the stability of the entire electric balance car.

In this embodiment, the number of the plurality of wheels 2 is four and arranged in a rectangle. In the forward direction of the electric balance vehicle, the plurality of wheels 2 include symmetrically arranged at the front end of the vehicle body 1 or The two driving wheels at the rear end and the two steering wheels opposite to the two driving wheels are symmetrically arranged at the rear end of the vehicle body 1 in this embodiment, and the steering wheels can be symmetrically arranged at the front end of the vehicle body 1, that is, in this embodiment Example adopts the mode of rear-wheel drive to drive, certainly, two drive wheels are symmetrically arranged at the front end of vehicle body 1, and two steering wheels are symmetrically arranged at the rear end of vehicle body 1, promptly can adopt the mode of front-wheel drive; In other embodiment Among them, as shown in Fig. 5, the quantity of described plurality of wheels 2 is 3, and described plurality of wheels 2 comprises the steering wheel that is positioned at the front end of vehicle body 1 and two driving wheels that are positioned at the rear end of vehicle body 1, and the steering wheel and two The driving wheels are arranged in a triangle. It can be understood that in order to ensure the balance of the electric balance car, the steering wheel is arranged at the middle of the front end of the vehicle body 1. Of course, the two driving wheels can also be arranged at the front end of the vehicle body, and the steering wheel can also be Set the middle position of the rear end of the body 1. It should be noted that, in the above embodiments, the steering wheels are universal wheels.

The control mechanism includes a driving motor and a controller connected to the driving motor and used to control the driving force output by the driving motor. The photoelectric sensor 106 is connected to the controller, and the driving motor is used to drive the two driving wheels to rotate. The controller judges the position of the center of gravity of the user according to the rotation angle of the pedal 11 relative to the motion plane sensed by the photoelectric sensor 106, and the driving motor outputs a corresponding driving force to the Two driving wheels are used to drive the two driving wheels to rotate. It can be understood that when the self-balancing car is moving straight ahead or right behind, the driving force output by the driving motor makes the two driving wheels rotate at the same speed, and when the self-balancing car needs to turn, the driving force output by the driving motor makes the two driving wheels have A certain speed difference.

Specifically, in this embodiment, the number of driving motors is two, and the two driving motors respectively drive two driving wheels to rotate. After the controller determines the position of the center of gravity of the user, the controller controls The two driving motors output corresponding driving force to the two driving wheels to drive the two driving wheels to rotate. More specifically, when the controller judges that the user's center of gravity is leaning forward according to the rotation angle of the pedal 11 sensed by the photoelectric sensor 106 relative to the motion plane, the controller controls the output of the two driving motors. The same and forward driving force is applied to the two driving wheels so that the two driving wheels move forward; when the controller judges the user's center of gravity according to the rotation angle of the pedal 11 relative to the motion plane sensed by the photoelectric sensor 106 When leaning backward, the controller controls the two driving motors to output the same and backward driving force to the two driving wheels so that the two driving wheels move backward; When the rotation angle of the plate 11 relative to the motion plane determines that the center of gravity of the user is tilted to one side, that is, the balance car needs to turn at this time, the controller controls the two driving motors to output driving forces of different sizes to the two driving wheels so that the two driving wheels There is a certain speed difference between the wheels, so that the self-balancing car can turn.

In other embodiments, the number of the driving motor is one, and the control mechanism further includes a differential, and the driving motor is connected to the two driving wheels through the differential. It can be understood that when the controller judges that the center of gravity of the user leans forward according to the rotation angle of the pedal 11 sensed by the photoelectric sensor 106 relative to the motion plane, the drive motor outputs the same and forward drive through the differential. The driving force controls the forward movement of multiple wheels 2; the controller judges the rotation angle of the pedal 11 relative to the motion plane sensed by the photoelectric sensor 106. When the user's center of gravity is tilted backward, the drive motor outputs The driving force of the same size and backward driving controls the backward movement of multiple wheels 2; the controller judges that the user's center of gravity is tilted to one side according to the rotation angle of the pedal 11 relative to the motion plane sensed by the photoelectric sensor 106 When the self-balancing car needs to turn, the driving motor outputs different driving forces to the left and right driving wheels through the differential to make the driving wheels have different speeds, so that the self-balancing car can turn.

Specifically, the differential is a geared differential, comprising a casing with a cavity inside and a planetary gear, a planetary carrier, a left side gear, a right side gear, a left side shaft and a The right half shaft, the planetary gear is set in the casing, the planetary gear is connected to the planetary gear carrier, the input end of the planetary gear carrier, that is, the driving gear on the planetary gear carrier is connected to the drive shaft of the driving motor, and the left half The shaft gear and the right side shaft gear are all connected with the planetary gear, the left side shaft and the right side shaft are fixedly connected with the left side shaft gear and the right side shaft gear respectively, and the two driving wheels are connected with the left side shaft and the right side shaft. The power enters the differential through the transmission shaft, directly drives the planetary wheel carrier, and then the planetary wheel drives the left and right half shafts to drive the left and right wheels respectively. The design requirements of the differential meet: left half shaft speed + right half shaft speed = 2 planetary wheel carrier speed. When the electric balance car is going straight, the speeds of the left and right wheels and the planetary wheel carrier are in a balanced state, but when the electric balance car turns, the balance of the three is destroyed, resulting in a decrease in the speed of the inner wheel and an increase in the speed of the outer wheel.

In other embodiments, the number of the plurality of wheels 2 is four and arranged in a rectangle, the four wheels 2 are universal wheels, the number of the driving motors is four, and each driving motor drives One wheel 2 rotates, and the controller controls the four driving motors to output corresponding driving force to drive the corresponding wheel 2 to rotate according to the center of gravity position information of the standing person, so that the motion directions of the four wheels 2 synthesize the required motion trajectory. When the controller judges that the user's center of gravity is leaning forward according to the rotation angle of the pedal 11 sensed by the photoelectric sensor 106 relative to the motion plane, the controller controls the four driving motors to output corresponding driving force to the four driving wheels The four driving wheels drive the balance car to move forward; when the controller judges that the user's center of gravity is tilted backward according to the rotation angle of the pedal 11 sensed by the photoelectric sensor 106 relative to the motion plane, the controller controls the four The driving motor outputs corresponding driving force to the four driving wheels so that the four driving wheels drive the balance car to move backward; When the center of gravity is tilted to one side, that is, the self-balancing vehicle needs to turn at this time, the controller controls the four driving motors to output corresponding driving force to the four driving wheels so that the four driving wheels drive the self-balancing vehicle to turn. It should be noted that when the controller judges that the user's center of gravity shifts to the right left or right according to the rotation angle of the pedal 11 relative to the motion plane sensed by the photoelectric sensor 106, the controller can control the four The driving force output by the driving motor further controls the rotational speed and the direction of rotation of the four wheels 2 so that the self-balancing vehicle deviates to the left or right.

In other embodiments, the number of the plurality of wheels 2 is four and arranged in a rectangle, the four wheels 2 are all driving wheels, the number of the driving motors is four, and each driving motor drives one The wheels 2 rotate, and the controller controls the four drive motors to output corresponding driving force to drive the corresponding wheels 2 to rotate according to the position information of the standing person, so that the motion directions of the four wheels 2 synthesize the required motion trajectory. Specifically, when the controller judges that the center of gravity of the user leans forward according to the rotation angle of the pedal 11 sensed by the photoelectric sensor 106 relative to the motion plane, the controller controls the four driving motors to output two groups of the same size and move toward the same direction. The driving force of the front drive is sent to the two driving wheels at the front end and the two driving wheels at the rear end to make the four driving wheels move forward; When it is judged that the user's center of gravity is tilted backward, the controller controls the four drive motors to output two groups of the same size and drive backward to the two drive wheels at the rear end and the two drive wheels at the front end so that the four drive wheels Back movement; when the controller judges that the center of gravity of the user is tilted to one side according to the rotation angle of the pedal 11 sensed by the photoelectric sensor 106 relative to the motion plane, that is, the balance car needs to turn at this time, the controller controls the four The driving motor outputs driving forces of different sizes to the four driving wheels so that the four driving wheels all have a certain speed difference, so that the self-balancing vehicle can turn. It should be noted that two sets of driving forces having the same magnitude mean that the two driving forces transmitted to the two front-end driving wheels have the same magnitude, and the two driving forces transmitted to the two rear-end driving wheels have the same magnitude.

In other embodiments, the number of the plurality of wheels 2 is four and arranged in a rectangle, the four wheels 2 are all driving wheels, the number of the driving motor is one, and the control mechanism also includes two A differential, the drive motor is connected with the four drive wheels through two differentials, specifically, the drive motor is connected with the two front drive wheels through one of the differentials, and the drive motor is also connected through the other The differential is connected to the two drive wheels at the rear. It can be understood that when the controller judges that the user's center of gravity is leaning forward according to the rotation angle of the pedal 11 relative to the motion plane sensed by the photoelectric sensor 106, the drive motor outputs two sets of sizes through the two differentials. The same and forward driving force is applied to the front two driving wheels and the rear two driving wheels so that the multiple wheels 2 move forward; When the rotation angle of the user determines that the user's center of gravity is tilted backward, the drive motor outputs the same and backward driving force to the multiple wheels 2 through the two differentials to make the multiple wheels 2 move backward; when the controller according to the photoelectric When the rotation angle of the pedal 11 relative to the motion plane sensed by the sensor 106 determines that the user's center of gravity is tilted to one side, that is, the self-balancing vehicle needs to turn at this time, the drive motor outputs drive signals of different sizes through two differentials. The force is applied to the plurality of wheels 2 so that the plurality of wheels 2 can turn, thereby enabling the self-balancing vehicle to turn. It should be noted that two sets of driving forces having the same magnitude mean that the two driving forces transmitted to the two front-end driving wheels have the same magnitude, and the two driving forces transmitted to the two rear-end driving wheels have the same magnitude.

In this embodiment, in order to realize the automatic power-on and power-off of the self-balancing car, an induction switch 10 is provided on the pedal 11, and the induction switch 10 is connected between the control mechanism and the power supply device, and the induction switch 10 passes through Whether there is a user on the sensing vehicle to control the power-on and power-off of the control mechanism. Preferably, the inductive switch 10 is, for example, a pressure switch. When the user stands on the vehicle body 1 , the inductive switch 10 is turned on, and the power supply device inside the vehicle body 1 starts to supply power to the electrical components of the vehicle body 1 . Preferably, the power supply device is, for example, a storage battery.

In this embodiment, the front part of the footboard 11 protrudes downwards and is provided with a protective edge 112 for protecting the wheels located at the front part of the vehicle body 1 . To prolong the service life of the electric balance car.

It can be understood that, in the present invention, the electric balance car also includes electronic components such as acceleration sensors, power supply devices, gyroscopes, etc. constituting the electric balance car, and these electronic components can be installed in the installation cavity 130 .

To sum up, the electric balance vehicle of the present invention has a compact structure and is easy to carry and store because the body 1 of the main component is flat. At the same time, since the electric balance car has three or four wheels 2, it has a relatively high balance compared to other two-wheeled scooter, and it is easier for the user to control the balance when standing on the electric balance car. .

Although the present invention has been disclosed above by preferred embodiments, it is not intended to limit the present invention. Any skilled person can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the present invention The scope of protection should be subject to the scope of protection required by the claims.

Claims (9)

1. An electric balance car is characterized in that,

comprises a vehicle body (1), a plurality of wheels (2), a photoelectric sensor (106), four elastic supporting elements (107) and a control mechanism; the automobile body (1) comprises a flat-plate-shaped pedal plate (11) and a supporting framework (13) arranged at the lower part of the pedal plate (11), two ends of the four elastic supporting elements (107) are respectively connected with the pedal plate (11) and the supporting framework (13) and are arranged in a rectangular shape, and the photoelectric sensor (106) is positioned below the pedal plate (11) and is used for sensing the rotation angle of the pedal plate (11) relative to a movement plane; the wheels (2) are connected with the supporting framework (13), the wheels (2) are arranged in a polygonal mode, the bottom surfaces of the wheels (2) are located in the same plane, and the plane where the bottom surfaces of the wheels (2) are located is parallel to the foot pedal (11); the control mechanism is connected with the photoelectric sensor (106), the control mechanism controls the motion of the wheels (2) according to the rotation angle of the pedal plate (11) relative motion plane sensed by the photoelectric sensor (106), a concave mounting cavity (130) is formed in the upper portion of the supporting framework (13), the vehicle body (1) further comprises a connecting column (15), the connecting column (15) is arranged between the pedal plate (11) and the supporting framework (13) and is located in the mounting cavity (130), an upper positioning groove (115) is formed in the bottom surface of the pedal plate (11), a lower positioning groove (135) is formed in the bottom wall of the mounting cavity (130), and the upper portion and the lower portion of the circumferential surface of the connecting column (15) are respectively positioned in the upper positioning groove (115) and the lower positioning groove (135).

2. The electrodynamic balance car of claim 1, wherein,

the control mechanism comprises a controller and a driving motor connected with the controller, the control mechanism comprises a driving motor and a controller connected with the driving motor and used for controlling driving force output by the driving motor, the photoelectric sensor (106) is connected with the controller, the driving motor is used for driving the two driving wheels to rotate, the controller judges the gravity center position of a user according to the rotation angle of the pedal (11) relative movement plane sensed by the photoelectric sensor (106), and the driving motor outputs corresponding driving force to the two driving wheels to drive the two driving wheels to rotate according to the gravity center position of the user.

3. The electrodynamic balance car of claim 2, wherein,

the number of the driving motors is two, the two driving motors respectively drive the two driving wheels to rotate, and after the controller judges the gravity center position of the user, the controller controls the two driving motors to output corresponding driving forces to the two driving wheels so as to drive the two driving wheels to rotate.

4. The electrodynamic balance car of claim 2, wherein,

the number of the driving motors is one, the control mechanism further comprises a differential mechanism, the driving motors are connected with the two driving wheels through the differential mechanism, and the differential mechanism distributes driving force output by the driving motors to the two driving wheels according to the gravity center position of a user so as to drive the two driving wheels to rotate.

5. The electrodynamic balance car of any one of claims 2 to 4, wherein,

the number of the plurality of wheels (2) is four, the plurality of wheels (2) comprises two steering wheels, the two steering wheels and the two driving wheels are arranged in a rectangular shape, and the two steering wheels and the two driving wheels are arranged oppositely.

6. The electrodynamic balance car of any one of claims 2 to 4, wherein,

the number of the plurality of wheels (2) is three, the plurality of wheels (2) further comprises a steering wheel, the steering wheel and the two driving wheels are arranged in a triangular manner, and when the two driving wheels are arranged at the rear end of the vehicle body (1), the steering wheel is arranged at the middle part of the front end of the vehicle body (1); when the two driving wheels are arranged at the front end of the vehicle body (1), the steering wheel is arranged in the middle of the rear end of the vehicle body (1).

7. The electrodynamic balance car of claim 1, wherein,

the number of the wheels (2) is four and the wheels are arranged in a rectangular mode, the four wheels (2) are universal wheels, the number of the driving motors is four, each driving motor drives one wheel (2) to rotate, the control mechanism comprises driving motors and controllers connected with the driving motors and used for controlling driving force output by the driving motors, the number of the driving motors is four, each driving motor drives one wheel (2) to rotate, the photoelectric sensor (106) is connected with the controllers, and the controllers judge the gravity center positions of users according to the rotation angles of the pedals (11) sensed by the photoelectric sensor (106) relative to a motion plane and control the four driving motors to output corresponding driving force to drive the corresponding wheels (2) to rotate according to the gravity center positions of the users.

8. The electrodynamic balance car of claim 1, characterized in that the foot pedal (11) is provided with a sensing switch (10), the sensing switch (10) is connected between the control mechanism and the power supply device, and the sensing switch (10) is used for controlling the power-on and power-off of the control mechanism by sensing whether a user is on the car.

9. The electrodynamic balance car according to claim 1, characterized in that the foot pedal (11) covers the mounting cavity (130), four elastic elements (4) are located in the mounting cavity (130) and are respectively connected to the bottom wall of the mounting cavity (130) and the bottom of the foot pedal (11), and the photoelectric sensor (106) is mounted on the bottom wall of the mounting cavity (130).

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