CN101203414B - 自平衡车辆 - Google Patents
自平衡车辆 Download PDFInfo
- Publication number
- CN101203414B CN101203414B CN200680020531.0A CN200680020531A CN101203414B CN 101203414 B CN101203414 B CN 101203414B CN 200680020531 A CN200680020531 A CN 200680020531A CN 101203414 B CN101203414 B CN 101203414B
- Authority
- CN
- China
- Prior art keywords
- sensor
- vehicle
- wheel
- frame section
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
- B62D9/02—Steering deflectable wheels not otherwise provided for combined with means for inwardly inclining vehicle body on bends
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/027—Motorcycles with three wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/10—Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/12—Cycles; Motorcycles
- B60G2300/122—Trikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/45—Rolling frame vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
Description
Claims (21)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NL1029153 | 2005-05-31 | ||
NL1029153 | 2005-05-31 | ||
PCT/NL2006/050129 WO2006130007A2 (en) | 2005-05-31 | 2006-05-31 | Self-balancing vehicle |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101203414A CN101203414A (zh) | 2008-06-18 |
CN101203414B true CN101203414B (zh) | 2014-12-17 |
Family
ID=37482078
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN200680020531.0A Active CN101203414B (zh) | 2005-05-31 | 2006-05-31 | 自平衡车辆 |
Country Status (7)
Country | Link |
---|---|
US (1) | US8249775B2 (zh) |
EP (1) | EP1885593B1 (zh) |
JP (1) | JP5166251B2 (zh) |
CN (1) | CN101203414B (zh) |
AU (1) | AU2006253151A1 (zh) |
CA (1) | CA2610615C (zh) |
WO (1) | WO2006130007A2 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107531305A (zh) * | 2015-05-27 | 2018-01-02 | 株式会社爱考斯研究 | 车辆 |
Families Citing this family (93)
Publication number | Priority date | Publication date | Assignee | Title |
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US8762003B2 (en) * | 2005-07-06 | 2014-06-24 | Bombardier Recreational Products Inc. | Leaning vehicle with tilting front wheels and suspension therefor |
US7648148B1 (en) | 2005-07-06 | 2010-01-19 | Bombardier Recreational Products Inc. | Leaning vehicle with tilting front wheels and suspension therefor |
WO2007041095A2 (en) * | 2005-09-30 | 2007-04-12 | Harley-Davidson Motor Company Group, Inc. | Leaning suspension mechanics |
TWI342839B (en) | 2007-08-28 | 2011-06-01 | Anti-tilt apparatus and frame structure of tilt vehicle using the same | |
FR2921628B1 (fr) * | 2007-10-02 | 2017-02-10 | Guillaume Demolliens | Engin equipe d'un essieu a geometrie variable |
FR2931395B1 (fr) | 2008-05-21 | 2015-05-29 | Olivier Antenat | Dispositif de suspension d'un mobile |
FR2933951B1 (fr) * | 2008-07-21 | 2010-09-24 | Veleance | Mecanisme de controle d'inclinaison |
FR2933950B1 (fr) * | 2008-07-21 | 2011-02-11 | Veleance | Dispositif mecanique de controle d'inclinaison |
US8251375B2 (en) * | 2008-07-31 | 2012-08-28 | Yamaha Hatsudoki Kabushiki Kaisha | Body leaning control system, and a saddle riding type vehicle having the same |
TWI354633B (en) * | 2008-08-05 | 2011-12-21 | Univ Nat Taiwan Science Tech | Motor vehicle and tilting mechanism thereof |
JP5237783B2 (ja) * | 2008-12-19 | 2013-07-17 | ヤマハ発動機株式会社 | 鞍乗型車両 |
JP5285421B2 (ja) * | 2008-12-26 | 2013-09-11 | ヤマハ発動機株式会社 | 鞍乗型車両 |
US8836515B2 (en) * | 2009-03-26 | 2014-09-16 | Denver Health and Hospital Authority | Flexible head of bed elevation device and alarm |
JP5365313B2 (ja) * | 2009-04-02 | 2013-12-11 | 日産自動車株式会社 | 車両状態制御装置及びその方法 |
US8123240B2 (en) | 2009-07-10 | 2012-02-28 | Bombardier Recreational Products Inc. | Control system for leaning vehicle |
JP5458723B2 (ja) * | 2009-07-27 | 2014-04-02 | 株式会社エクォス・リサーチ | 車両 |
JP5458722B2 (ja) * | 2009-07-27 | 2014-04-02 | 株式会社エクォス・リサーチ | 車両 |
FR2949421B1 (fr) * | 2009-08-28 | 2011-09-30 | Gilbert Edmond Louis Fauvel | Dispositif de controle de trajectoire pour vehicule etroit a motorisation electrique et inclinaison asservie |
WO2011029795A1 (en) * | 2009-09-08 | 2011-03-17 | Ino8 Pty Ltd | Tilt control for tilting vehicles |
JP5279675B2 (ja) * | 2009-09-30 | 2013-09-04 | 本田技研工業株式会社 | 自動二輪車 |
BR112012011903A2 (pt) * | 2009-11-18 | 2019-09-24 | Actua S R L | veículo inclinável e seu sistema de controle |
GB2476807B (en) * | 2010-01-08 | 2012-10-31 | David Andrew Gale | A vehicle |
JP5848266B2 (ja) * | 2010-02-26 | 2016-01-27 | セグウェイ・インコーポレイテッド | 車両を制御するための装置及び方法 |
FR2957049B1 (fr) * | 2010-03-02 | 2013-01-04 | Synergethic | Nouveau vehicule electrique comportant au moins trois roues |
JP2011178328A (ja) * | 2010-03-03 | 2011-09-15 | Equos Research Co Ltd | 車両、及び車両制御プログラム |
JP5440299B2 (ja) * | 2010-03-19 | 2014-03-12 | 株式会社エクォス・リサーチ | 車両 |
JP5381857B2 (ja) * | 2010-03-26 | 2014-01-08 | 株式会社エクォス・リサーチ | 車両 |
JP2011201505A (ja) * | 2010-03-26 | 2011-10-13 | Equos Research Co Ltd | 車両 |
FR2961783B1 (fr) | 2010-06-23 | 2012-08-03 | Veleance | Dispositif de controle de l'inclinaison d'un cadre monte sur un train de roulement inclinable |
JP5521994B2 (ja) * | 2010-06-25 | 2014-06-18 | 株式会社エクォス・リサーチ | 車両 |
JP5521865B2 (ja) * | 2010-08-02 | 2014-06-18 | 株式会社エクォス・リサーチ | 車両 |
US9216763B2 (en) * | 2010-09-01 | 2015-12-22 | Timothy Huntzinger | Personal mobility device |
JP5505319B2 (ja) * | 2011-01-18 | 2014-05-28 | 株式会社エクォス・リサーチ | 車両 |
JP2012153349A (ja) * | 2011-01-28 | 2012-08-16 | Equos Research Co Ltd | 車両 |
JP5413377B2 (ja) * | 2011-01-28 | 2014-02-12 | 株式会社エクォス・リサーチ | 車両 |
JP2012162141A (ja) * | 2011-02-04 | 2012-08-30 | Equos Research Co Ltd | 車両 |
GB2492757B (en) * | 2011-07-07 | 2015-12-23 | David Andrew Gale | A vehicle |
US8607913B2 (en) * | 2011-10-20 | 2013-12-17 | Ben Daniels | Motorized three-wheeled vehicle rear steering mechanism |
US8849556B2 (en) * | 2011-10-28 | 2014-09-30 | Papé Machinery | Automatic leveling control |
JP6122576B2 (ja) | 2011-11-11 | 2017-04-26 | 現代自動車株式会社Hyundai Motor Company | 三輪車の後輪サスペンション |
US8641064B2 (en) | 2011-12-29 | 2014-02-04 | Garbis Krajekian | Tilting vehicle with a non-tilting automobile-like body |
US8820460B2 (en) | 2012-03-27 | 2014-09-02 | Razor Usa Llc | Powered personal mobility vehicle with rotating wheels |
CN102582684A (zh) * | 2012-04-01 | 2012-07-18 | 中联重科股份有限公司 | 工程车辆及其安全转向预警装置、方法 |
CN107042740A (zh) * | 2012-07-10 | 2017-08-15 | 高达国际有限公司 | 用于三轮车辆的转向和控制*** |
FR2995255B1 (fr) * | 2012-09-07 | 2014-09-19 | Lmed | Systeme de liaison au sol pour vehicule inclinable, tel qu’un tricycle |
DE102012019010A1 (de) * | 2012-09-27 | 2014-03-27 | Hochschule RheinMain | Fahrzeug mit Neigetechnikfahrwerk |
DE102014201127B4 (de) | 2013-03-07 | 2022-02-03 | Ford Global Technologies, Llc | Seitlich neigbares, mehrspuriges Fahrzeug |
DE102014201668B4 (de) | 2013-03-07 | 2021-09-02 | Ford Global Technologies, Llc | Seitlich neigbares, mehrspuriges Fahrzeug |
DE102014201632B4 (de) | 2013-03-07 | 2021-09-02 | Ford Global Technologies, Llc | Seitlich neigbares, mehrspuriges Fahrzeug |
DE102014201670A1 (de) * | 2013-03-07 | 2014-09-11 | Ford Global Technologies, Llc | Seitlich neigbares, mehrspuriges Fahrzeug |
DE102014201630B4 (de) | 2013-03-07 | 2021-09-02 | Ford Global Technologies, Llc | Seitlich neigbares, mehrspuriges Fahrzeug |
GB2525670A (en) * | 2014-05-02 | 2015-11-04 | Gower College Swansea | Human-propellable vehicle |
ES2488590B1 (es) * | 2014-07-24 | 2015-06-11 | Scutum Logistics, S.L. | Sistema basculación vehículos eléctricos de tres ruedas |
DE102014217246B3 (de) | 2014-08-29 | 2015-12-24 | Ford Global Technologies, Llc | Stabilisierungsanordnung für ein Neigefahrwerk eines Fahrzeugs |
DE102014217386A1 (de) * | 2014-09-01 | 2016-03-03 | Ford Global Technologies, Llc | Verfahren zum Betrieb eines Neigefahrwerks sowie aktives Neigefahrwerk für ein schienenungebundenes Fahrzeug |
US10076939B2 (en) | 2014-11-26 | 2018-09-18 | Ford Global Technologies, Llc | Suspension systems for laterally tiltable multitrack vehicles |
CN104608840B (zh) * | 2014-12-10 | 2017-08-11 | 江苏江海机床集团有限公司 | 一种电动车的车轮离合调节方法 |
US10023019B2 (en) | 2015-02-24 | 2018-07-17 | Ford Global Technologies, Llc | Rear suspension systems with rotary devices for laterally tiltable multitrack vehicles |
US9925843B2 (en) | 2015-02-24 | 2018-03-27 | Ford Global Technologies, Llc | Rear suspension systems for laterally tiltable multitrack vehicles |
CN104742679B (zh) * | 2015-03-12 | 2017-01-25 | 北京林业大学 | 一种自平衡林用汽车底盘 |
DE102015009428A1 (de) * | 2015-07-18 | 2017-01-19 | Herwig Fischer | Scooter / Motorroller |
US10633046B2 (en) * | 2015-07-20 | 2020-04-28 | Kerv Automotive N.V. | Steering arrangement for tiltable vehicle |
JP6187919B2 (ja) * | 2015-09-28 | 2017-08-30 | 本田技研工業株式会社 | 鞍乗型車両の操舵装置 |
CN105404202B (zh) * | 2015-11-30 | 2018-12-21 | 纳恩博(北京)科技有限公司 | 一种控制方法、电子设备 |
CN107176254A (zh) * | 2016-03-11 | 2017-09-19 | 扬顶(天津)商贸有限公司 | 一种三轮以上摩托车用强制控制车架和车轮自动平衡机构 |
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IT201600097100A1 (it) * | 2016-09-28 | 2018-03-28 | Piaggio & C Spa | Assieme di sospensione per un veicolo basculante, avantreno e veicolo basculante |
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US10259454B2 (en) * | 2016-11-16 | 2019-04-16 | Nio Usa, Inc. | System for controlling a vehicle based on wheel angle tracking |
DE102017200006B4 (de) * | 2017-01-02 | 2021-08-26 | Ford Global Technologies, Llc | Neigefahrzeug |
US10723381B2 (en) * | 2017-02-05 | 2020-07-28 | Andrew Thompson | Trike vehicle with selectivity pivotable operator cabin |
CN108394479B (zh) * | 2017-02-07 | 2020-04-24 | 大行科技(深圳)有限公司 | 一种自平衡车辆装置及其相应控制方法 |
JP2020075518A (ja) | 2017-03-14 | 2020-05-21 | ヤマハ発動機株式会社 | 前二輪逆操舵リーン車両 |
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EP3628578B1 (en) * | 2017-05-19 | 2022-05-11 | Aisin Corporation | Vehicle |
US11198482B2 (en) * | 2017-06-27 | 2021-12-14 | Honda Motor Co., Ltd. | Oscillation-type vehicle |
JP2021003904A (ja) | 2017-09-04 | 2021-01-14 | ヤマハ発動機株式会社 | 傾斜車両 |
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JP2019081476A (ja) * | 2017-10-31 | 2019-05-30 | 株式会社エクォス・リサーチ | 車両 |
US10800476B1 (en) | 2017-12-17 | 2020-10-13 | John Suratana Thienphrapa | Motorized cycle |
NL1043100B1 (nl) * | 2017-12-18 | 2020-02-05 | Vossebeld Design | Driewieler |
US11453449B2 (en) | 2018-10-04 | 2022-09-27 | Stephen Joseph Ford, JR. | Support frame assembly to enhance high-speed stability for a narrow track vehicle during turns |
NL2022120B1 (en) | 2018-12-03 | 2020-06-30 | Carver B V | Self-balancing tilting vehicle with two electric drive motors. |
JP2022522844A (ja) * | 2019-03-05 | 2022-04-20 | クーデル・ソシエテ・アノニム | 車両の姿勢を制御するシステム及び方法、並びに当該システムを備える車両 |
CN110103208B (zh) * | 2019-06-25 | 2022-06-21 | 湖北文理学院 | 一种机器人底座 |
CN114901541A (zh) * | 2019-12-09 | 2022-08-12 | 阿列克谢·阿历克山大·卡扎特斯夫 | 具有用于两个后轮的倾斜悬架的前轮驱动三轮摩托车 |
CN111196323B (zh) * | 2020-03-17 | 2021-05-07 | 新石器慧通(北京)科技有限公司 | 自动驾驶车辆及其配重调节方法 |
JP7418816B2 (ja) | 2020-05-28 | 2024-01-22 | aidea株式会社 | 懸架装置及び電動バイク |
JP7458631B2 (ja) | 2020-05-28 | 2024-04-01 | aidea株式会社 | 電動バイク |
CN112109561B (zh) * | 2020-09-10 | 2021-09-28 | 北京爱其科技有限公司 | 控制纵向两轮车平衡的方法和装置 |
US11980132B2 (en) * | 2021-08-18 | 2024-05-14 | Firefly Automatix, Inc. | Determining orientation of a mower using horizon mapping |
US11383792B1 (en) | 2021-08-27 | 2022-07-12 | John Suratana Thienphrapa | Motorized cycle |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6435522B1 (en) * | 1997-11-12 | 2002-08-20 | Brinks Westmaas B.V. | Tilting vehicle |
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EP0020835B1 (en) * | 1979-06-29 | 1985-03-13 | Edmund Francis Neville Jephcott | Ultra narrow enclosed motor vehicles |
US4660853A (en) * | 1984-02-21 | 1987-04-28 | Jephcott Edmund F N | Vehicle body tilting mechanism |
DE3816057C1 (zh) * | 1988-05-11 | 1989-04-13 | Daimler-Benz Aktiengesellschaft, 7000 Stuttgart, De | |
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JPH04183693A (ja) * | 1990-11-14 | 1992-06-30 | Honda Motor Co Ltd | 走行車両 |
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WO1995034459A1 (en) * | 1994-06-14 | 1995-12-21 | Brinks Westmaas B.V. | Self-stabilising, directionally controllable vehicle with at least three wheels |
PL177035B1 (pl) * | 1994-06-14 | 1999-09-30 | Brinks Westmaas Bv | Pojazd z co najmniej trzema kołami |
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-
2006
- 2006-05-31 JP JP2008514573A patent/JP5166251B2/ja active Active
- 2006-05-31 US US11/916,081 patent/US8249775B2/en not_active Expired - Fee Related
- 2006-05-31 WO PCT/NL2006/050129 patent/WO2006130007A2/en active Application Filing
- 2006-05-31 CA CA2610615A patent/CA2610615C/en not_active Expired - Fee Related
- 2006-05-31 AU AU2006253151A patent/AU2006253151A1/en not_active Abandoned
- 2006-05-31 EP EP06747582A patent/EP1885593B1/en active Active
- 2006-05-31 CN CN200680020531.0A patent/CN101203414B/zh active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US6435522B1 (en) * | 1997-11-12 | 2002-08-20 | Brinks Westmaas B.V. | Tilting vehicle |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107531305A (zh) * | 2015-05-27 | 2018-01-02 | 株式会社爱考斯研究 | 车辆 |
CN107531305B (zh) * | 2015-05-27 | 2020-10-20 | 株式会社爱考斯研究 | 车辆 |
Also Published As
Publication number | Publication date |
---|---|
WO2006130007A2 (en) | 2006-12-07 |
AU2006253151A1 (en) | 2006-12-07 |
CA2610615A1 (en) | 2006-12-07 |
EP1885593A2 (en) | 2008-02-13 |
US8249775B2 (en) | 2012-08-21 |
US20090312908A1 (en) | 2009-12-17 |
JP5166251B2 (ja) | 2013-03-21 |
WO2006130007A3 (en) | 2007-04-05 |
EP1885593B1 (en) | 2011-07-20 |
CN101203414A (zh) | 2008-06-18 |
JP2008545577A (ja) | 2008-12-18 |
CA2610615C (en) | 2014-02-04 |
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