CN105947042A - Electric balance vehicle and control method - Google Patents
Electric balance vehicle and control method Download PDFInfo
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- CN105947042A CN105947042A CN201610340844.XA CN201610340844A CN105947042A CN 105947042 A CN105947042 A CN 105947042A CN 201610340844 A CN201610340844 A CN 201610340844A CN 105947042 A CN105947042 A CN 105947042A
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- electrodynamic balance
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000001133 acceleration Effects 0.000 claims abstract description 28
- 230000005520 electrodynamics Effects 0.000 claims description 134
- 238000005259 measurement Methods 0.000 claims description 26
- 230000004927 fusion Effects 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 5
- 230000002146 bilateral effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000007667 floating Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 description 1
- 230000005779 cell damage Effects 0.000 description 1
- 208000037887 cell injury Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000002650 habitual effect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
Classifications
-
- 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
- B62K2202/00—Motorised scooters
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- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention provides a control method for an electric balance vehicle. The method includes the following steps that initialization is conducted, wherein the pressure applied to the electric balance vehicle by a user is obtained, when the pressure is larger than a set threshold value, a control system is initialized, and a vehicle frame of the electric balance vehicle is kept horizontally; operation information is obtained, wherein the distribution of the pressure applied by the user on the electric balance vehicle, the pitch angle of the vehicle frame of the electric balance vehicle and the running speed and the acceleration of the electric balance vehicle are obtained; and action control is conducted, wherein in combination of the distribution of the pressure applied by the user on the electric balance vehicle, the pitch angle of the vehicle frame of the electric balance vehicle and the running speed and the acceleration of the electric balance vehicle, the turning control component and the speed control component are obtained, and the action of the electric balance vehicle is controlled. The number of the vehicle frame of the electric balance vehicle based on the control method for the electric balance vehicle is one, the structure is simple, and reliability is high.
Description
Technical field
The present invention relates to electrodynamic balance car field, particularly to a kind of veneer electrodynamic balance car and control method.
Background technology
Electrodynamic balance car, can move ahead rapidly in open area as a kind of short distance walking-replacing tool, can dodge flexibly under complicated landform, and the profile of fashion is Consumer's Experience with gorgeous color enhancement, meets youngster at present and pursues and extremely dazzle handsome trend；Environmental protection simultaneously, facilitate easy to learn, all-ages, increasingly favored by people.
Electrodynamic balance car is had to generally include left vehicle frame and right vehicle frame at present, two vehicle frames can individually rotate, speed is controlled by the degree of tilt of detection biped pedal, control to turn to by the differential seat angle of two pedals, bicyclist stands and vehicle frame connecting portion can be made to bear the biggest pressure on two vehicle frames, it is difficult to ensure the axiality of link position, have impact on motility and the drive safety of electrodynamic balance car, and structure is complicated, poor reliability.
Summary of the invention
For defect of the prior art, the present invention provides a kind of electrodynamic balance car and control method, and the vehicle frame of described electrodynamic balance car is one, and simple in construction, reliability are high.
First aspect, the control method of a kind of electrodynamic balance car that the present invention provides, comprise the following steps:
Initialization step: obtain the user pressure to described electrodynamic balance car, when described pressure is more than the threshold value set, initializes control system, makes the vehicle frame holding level of described electrodynamic balance car；
Operation information acquisition step: obtain described user pressure distribution on described electrodynamic balance car, the angle of pitch of described electrodynamic balance vehicle carriage and the speed of service of described electrodynamic balance car and acceleration；
Action control step: combine described user pressure distribution on described electrodynamic balance car, the angle of pitch of described electrodynamic balance vehicle carriage and the speed of service of described electrodynamic balance car and acceleration, obtain Servo Control component and rate control component, control the action of described electrodynamic balance car.
Further, the acquisition step of described Servo Control component is as follows:
The user Center of Pressure to described electrodynamic balance car is obtained according to described user pressure distribution on described electrodynamic balance car；
Described Center of Pressure is compared with the center preset, it is thus achieved that Center of Pressure side-play amount；
In conjunction with described Center of Pressure side-play amount, the angle of pitch of described electrodynamic balance vehicle carriage and the speed of service of described electrodynamic balance car and acceleration, it is thus achieved that Servo Control component.
Further, the acquisition step of described Servo Control component is as follows:
In initialization step, always according to described user pressure distribution on described electrodynamic balance car, it is thus achieved that the described user the first Center of Pressure to described electrodynamic balance car；
In action control step, according to described user pressure distribution on described electrodynamic balance car, it is thus achieved that the described user the second Center of Pressure to described electrodynamic balance car；
Described second Center of Pressure is compared with described first Center of Pressure, it is thus achieved that the side-play amount of Center of Pressure；
In conjunction with described Center of Pressure side-play amount, the angle of pitch of described electrodynamic balance vehicle carriage and the speed of service of described electrodynamic balance car and acceleration, it is thus achieved that described Servo Control component.
Further, described Servo Control component is for controlling turn direction and the radius of turn of described electrodynamic balance car.
Further, described rate control component, it is used for controlling traffic direction and operation acceleration before and after described electrodynamic balance car.
The control method of electrodynamic balance car of the present invention, use vehicle body attitude and pressure distribution fused controlling, the angle of pitch of comprehensive described vehicle frame, user Center of Pressure, the speed of service of described balance car and acceleration calculation Servo Control component on described balance car and rate control component, and then control the motion of described electrodynamic balance car.
The electrodynamic balance car control method of the present invention, it is only necessary to a set of inertial measurement cluster and two or more pressure transducer, can obtain all control parameters, and the electrodynamic balance car being suitable for can use unitized frame, and simple in construction, reliability are high.
Electrodynamic balance car control method based on the present invention, user naturally tilts to complete left and right turn by body bilateral and operates, by the way of this operational approach is than producing course changing control instruction by the twisting of biped pedal, more conforms to kinesiology's principle.
Second aspect, a kind of electrodynamic balance car that the present invention provides, including wheel and vehicle frame, described vehicle frame is provided with motor, pedal, velocity measuring unit, Inertial Measurement Unit, pressure distribution measurement unit, control component fusion calculation unit and motion control unit that wheel is connected with wheel；
Wherein, described velocity measuring unit is for measuring the speed of service of described electrodynamic balance car；Described Inertial Measurement Unit is used for the angle of pitch measuring the acceleration of described electrodynamic balance car and vehicle frame at fore-and-aft direction, and described pressure distribution measurement unit is for measuring user pressure distribution on described electrodynamic balance car；
Described control component fusion calculation unit electrically connects with described velocity measuring unit, described Inertial Measurement Unit and described pressure distribution measurement unit respectively, for combining the speed of service of described electrodynamic balance car, acceleration and the angle of pitch of described vehicle frame, obtain Servo Control component and the rate control component of described electrodynamic balance car；
Described motion control unit electrically connects with described control component fusion calculation unit and motor respectively, for controlling the rotation of described wheel according to described Servo Control component and described rate control component by motor.
Further, described pressure distribution measurement unit includes: two or more is arranged on the pressure transducer between described vehicle frame and described pedal and calculation of pressure distribution unit.
Described calculation of pressure distribution unit electrically connects with described pressure transducer, for the force value obtained according to described pressure transducer, calculates and export user Center of Pressure on described electrodynamic balance car.
Described control component fusion calculation unit electrically connects with described calculation of pressure distribution unit, receives the Center of Pressure of described calculation of pressure distribution unit output.
Further, described Inertial Measurement Unit includes gyroscope and acceleration transducer.
Further, described velocity measuring unit is the encoder being arranged on motor.
Further, described wheel is two, is separately positioned on the both sides of described vehicle frame.
The electrodynamic balance car of the present invention, uses vehicle body attitude and pressure distribution fused controlling, by the movement of the pitch angle control fore-and-aft direction of detection vehicle frame, controls to turn to by detection user pressure distribution on described electrodynamic balance car.Only needing a set of inertial measurement cluster and two or more pressure transducers, and described electrodynamic balance car can use unitized frame, simple in construction, reliability are high.
The electrodynamic balance car of the present invention, user tilts to change pressure distribution by body bilateral naturally, can complete left and right turn operation, by the way of this operational approach is than producing course changing control instruction by the twisting of biped pedal, more conform to kinesiology's principle.
Accompanying drawing explanation
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, the accompanying drawing used required in detailed description of the invention or description of the prior art will be briefly described below.In all of the figs, similar element or part are typically by the reference mark being similar to.In accompanying drawing, each element or part might not be drawn according to actual ratio.
The control method schematic diagram of the electrodynamic balance car that Fig. 1 provides for one embodiment of the invention；
Fig. 2 obtains the block diagram of Servo Control component for the electrodynamic balance car that one embodiment of the invention provides；
Fig. 3 obtains the block diagram of Servo Control component for the electrodynamic balance car that one embodiment of the invention provides；
The structural representation of the electrodynamic balance car that Fig. 4 provides for one embodiment of the invention；
The explosive view of the electrodynamic balance car that Fig. 5 provides for one embodiment of the invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment of technical solution of the present invention is described in detail.Following example are only used for clearly illustrating technical scheme, are therefore only used as example, and can not limit the scope of the invention with this.
It should be noted that except as otherwise noted, technical term used in this application or scientific terminology should be the ordinary meaning that those skilled in the art of the invention are understood.
With reference to Fig. 1, the control method of the electrodynamic balance car that one embodiment of the invention provides, comprise the following steps:
Initialization step S1: obtain the user pressure to described electrodynamic balance car, when described pressure is more than the threshold value set, initializes control system, makes the vehicle frame holding level of described electrodynamic balance car；
Operation information acquisition step S2: obtain described user pressure distribution on described electrodynamic balance car, the angle of pitch of described electrodynamic balance vehicle carriage and the speed of service of described electrodynamic balance car and acceleration；
Action control step S3: combine described user pressure distribution on described electrodynamic balance car, the angle of pitch of described electrodynamic balance vehicle carriage and the speed of service of described electrodynamic balance car and acceleration, obtain Servo Control component and rate control component, control the action of described electrodynamic balance car.
The control method of the electrodynamic balance car of the present embodiment, use vehicle body attitude and pressure distribution fused controlling, the comprehensive angle of pitch of vehicle frame, user Center of Pressure, the speed of service of electrodynamic balance car and the acceleration on described balance car calculates Servo Control component and rate control component, and then controls the motion of electrodynamic balance car.Using the control method of this electrodynamic balance car, it is only necessary to a set of inertial measurement cluster and two or more pressure transducer, can obtain all control parameters, and the electrodynamic balance car being suitable for can use unitized frame, simple in construction, reliability are high.
Simultaneously, the control method of electrodynamic balance car based on the present invention, user naturally tilts to complete left and right turn by body bilateral and operates, and by the way of this operational approach is than producing course changing control instruction by the twisting of biped pedal, more conforms to kinesiology's principle.
With reference to Fig. 2, in a detailed description of the invention, the acquisition step of described Servo Control component is as follows:
S41: obtain the user Center of Pressure to described electrodynamic balance car according to described user pressure distribution on described electrodynamic balance car；
S42: described Center of Pressure is compared with the center preset, it is thus achieved that Center of Pressure side-play amount；
S43: combine described Center of Pressure side-play amount, the angle of pitch of described electrodynamic balance vehicle carriage and the speed of service of described electrodynamic balance car and acceleration, it is thus achieved that Servo Control component.
Having preset the Center of Pressure of electrodynamic balance car in the present embodiment, by being compared with preset pressure center the Center of Pressure of user, it is thus achieved that Center of Pressure side-play amount, step is simple.
With reference to Fig. 3, in another embodiment, the acquisition step of described Servo Control component is as follows:
S41: in initialization step, always according to described user pressure distribution on described electrodynamic balance car, it is thus achieved that the described user the first Center of Pressure to described electrodynamic balance car；
S42: in action control step, according to described user pressure distribution on described electrodynamic balance car, it is thus achieved that the described user the second Center of Pressure to described electrodynamic balance car；
S43: described second Center of Pressure is compared with described first Center of Pressure, it is thus achieved that the side-play amount of Center of Pressure；
S44: combine described Center of Pressure side-play amount, the angle of pitch of described electrodynamic balance vehicle carriage and the speed of service of described electrodynamic balance car and acceleration, it is thus achieved that described Servo Control component.
In the present embodiment, in initialization step, pressure distribution according to user obtains the first Center of Pressure, in action control step, obtain the second Center of Pressure, compared with the first Center of Pressure by the second Center of Pressure, obtain Center of Pressure side-play amount, be not required to user and must stand in the fixed position on electrodynamic balance car, and the first Center of Pressure is recalculated in initialization, avoiding the operational error that user occurs due to standing place skew, reliability is high.
In being embodied as, described Servo Control component can control turn direction and the radius of turn of described electrodynamic balance car simultaneously.Described rate control component, controls traffic direction and operation acceleration before and after described electrodynamic balance car.
When user is tilted to the right, center of gravity moves to right, and electrodynamic balance car bends to right；When user is tilted to the left, center of gravity moves to left, and electrodynamic balance car is turned to the left.When electrodynamic balance vehicle carriage leans forward, control electrodynamic balance car and move forward；During the layback of electrodynamic balance vehicle carriage, control electrodynamic balance car and be moved rearwards by.Habitual action when carrying out flipper turn with user in living is consistent, more conforms to kinesiology's principle, easy and simple to handle.
With reference to Fig. 4 and Fig. 5, the electrodynamic balance car that one embodiment of the invention provides, including: vehicle frame 100 and the left wheel 201 being arranged on vehicle frame 100, right wheel 202, the left motor 601 being connected with left and right wheel 202 respectively, right motor 602, pedal 300, velocity measuring unit, Inertial Measurement Unit 403, pressure distribution measurement unit, control component fusion calculation unit 501 and motion control unit 502.Here, it should be appreciated that it is two that protection scope of the present invention is not limited to the quantity of wheel 200, it is also possible to it is one or more than three.
Wherein, described velocity measuring unit is for measuring the speed of service of described electrodynamic balance car；Described Inertial Measurement Unit 403 is used for the angle of pitch measuring the acceleration of described electrodynamic balance car and vehicle frame 100 at fore-and-aft direction, and described pressure distribution measurement unit is for measuring user pressure distribution on described electrodynamic balance car.
Described control component fusion calculation unit 501 electrically connects with described velocity measuring unit, described Inertial Measurement Unit 403 and described pressure distribution measurement unit respectively, for combining the speed of service of described electrodynamic balance car, acceleration and the angle of pitch of described vehicle frame 100, obtain Servo Control component and the rate control component of described electrodynamic balance car.
Described motion control unit 502 electrically connects with described control component fusion calculation unit 501 and motor respectively, for controlling the rotation of described wheel according to described Servo Control component and described rate control component by motor.
Described pressure distribution measurement unit includes: two or more is arranged on the pressure transducer 401 between described vehicle frame 100 and described pedal 300 and calculation of pressure distribution unit 402；
Described calculation of pressure distribution unit 402 electrically connects with described pressure transducer 401, for the force value obtained according to described pressure transducer 401, calculates and export user Center of Pressure on described electrodynamic balance car；
Described control component fusion calculation unit 501 electrically connects with described calculation of pressure distribution unit 402, receives the Center of Pressure of described calculation of pressure distribution unit 402 output；
Described motion control unit 502 electrically connects with described control component fusion calculation unit 501 and motor respectively, for controlling the rotation of described wheel according to described Servo Control component and described rate control component by motor.
Described Inertial Measurement Unit 403 includes gyroscope and acceleration transducer.
Described velocity measuring unit is the encoder being arranged on described motor.
The motor of above-mentioned electrodynamic balance car includes left motor 601 and right motor 602, it is fixed on vehicle frame 100 by motor rack, it is connected with motion control unit 502 signal of telecommunication respectively, motion control unit 502 Servo Control component and rate control component, controls vehicle wheel rotation by motor.
This electrodynamic balance car is additionally provided with lithium battery 801, is fixed on vehicle frame 100 by battery carrier 802, can prevent battery from coming off or colliding, cause cell damage.
Internal in order to prevent dust etc. from entering vehicle frame 100, described electrodynamic balance car also includes that lower cover 901, described lower cover 901 cover the lower section at described vehicle frame 100.
The electrodynamic balance car of the present embodiment, uses vehicle body attitude and pressure distribution fused controlling, by the movement of the pitch angle control fore-and-aft direction of detection vehicle frame 100, controls to turn to by detection user pressure distribution on described electrodynamic balance car.Only needing a set of inertial measurement cluster and two or more pressure transducers 401, and described electrodynamic balance car can use unitized frame 100, simple in construction, reliability are high.
The electrodynamic balance car of the present invention, user tilts to change pressure distribution by body bilateral naturally, can complete left and right turn operation, by the way of this operational approach is than producing course changing control instruction by biped pedal 300 twisting, more conform to kinesiology's principle.
As the further improvement of above-described embodiment, described pedal 300 includes left floating pedal position and right floating pedal position, has three pressure transducers 401 to be located between each described floating pedal position and described vehicle frame 100 respectively.
In the description of the present invention, illustrate a large amount of detail.It is to be appreciated, however, that embodiments of the invention can be put into practice in the case of not having these details.In some instances, it is not shown specifically known method, structure and technology, in order to do not obscure the understanding of this description.
In the description of this specification, specific features, structure, material or feature can be to combine in one or more embodiments in office or example in an appropriate manner.Additionally, in the case of the most conflicting, the feature of the different embodiments described in this specification or example and different embodiment or example can be combined and combine by those skilled in the art.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；Although the present invention being described in detail with reference to foregoing embodiments, it will be understood by those within the art that: the technical scheme described in foregoing embodiments still can be modified by it, or the most some or all of technical characteristic is carried out equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme, it all should be contained in the middle of the claim of the present invention and the scope of description.
Claims (10)
1. the control method of an electrodynamic balance car, it is characterised in that comprise the following steps:
Initialization step: obtain the user pressure to described electrodynamic balance car, when described pressure is more than setting
Threshold value time, control system is initialized, makes the vehicle frame holding level of described electrodynamic balance car；
Operation information acquisition step: obtain described user pressure distribution on described electrodynamic balance car, institute
State the angle of pitch of electrodynamic balance vehicle carriage and the speed of service of described electrodynamic balance car and acceleration；
Action control step: combine described user pressure distribution on described electrodynamic balance car, described electricity
The angle of pitch of dynamic balancing vehicle carriage and the speed of service of described electrodynamic balance car and acceleration, it is thus achieved that turn
Control component and rate control component, control the action of described electrodynamic balance car.
The control method of electrodynamic balance car the most according to claim 1, it is characterised in that described turn
The acquisition step of curved control component is as follows:
User is obtained to described electronic according to described user pressure distribution on described electrodynamic balance car
The Center of Pressure of balance car；
Described Center of Pressure is compared with the center preset, it is thus achieved that Center of Pressure side-play amount；
In conjunction with described Center of Pressure side-play amount, the angle of pitch of described electrodynamic balance vehicle carriage and described electronic
The speed of service of balance car and acceleration, it is thus achieved that Servo Control component.
The control method of electrodynamic balance car the most according to claim 2, it is characterised in that described turn
The acquisition step of curved control component is as follows:
In initialization step, always according to described user pressure distribution on described electrodynamic balance car, obtain
Obtained the described user the first Center of Pressure to described electrodynamic balance car；
In action control step, according to described user pressure distribution on described electrodynamic balance car, obtain
Obtain the described user the second Center of Pressure to described electrodynamic balance car；
Described second Center of Pressure is compared with described first Center of Pressure, it is thus achieved that the skew of Center of Pressure
Amount；
In conjunction with described Center of Pressure side-play amount, the angle of pitch of described electrodynamic balance vehicle carriage and described electronic
The speed of service of balance car and acceleration, it is thus achieved that described Servo Control component.
The control method of electrodynamic balance car the most according to claim 1, it is characterised in that described turn
Curved control component is for controlling turn direction and the radius of turn of described electrodynamic balance car.
The control method of electrodynamic balance car the most according to claim 1, it is characterised in that described speed
Degree controls component, is used for controlling traffic direction and operation acceleration before and after described electrodynamic balance car.
6. an electrodynamic balance car, including wheel and vehicle frame, it is characterised in that be provided with on described vehicle frame
Motor that wheel is connected with wheel, pedal, velocity measuring unit, Inertial Measurement Unit, pressure distribution are surveyed
Amount unit, control component fusion calculation unit and motion control unit；
Wherein, described velocity measuring unit is for measuring the speed of service of described electrodynamic balance car；Described inertia
Measuring unit is used for the angle of pitch measuring the acceleration of described electrodynamic balance car and vehicle frame at fore-and-aft direction, described
Pressure distribution measurement unit is for measuring user pressure distribution on described electrodynamic balance car；
Described control component fusion calculation unit respectively with described velocity measuring unit, described Inertial Measurement Unit
Electrically connect with described pressure distribution measurement unit, for combining the speed of service of described electrodynamic balance car, acceleration
Degree and the angle of pitch of described vehicle frame, the Servo Control component and the speed controlling that obtain described electrodynamic balance car are divided
Amount；
Described motion control unit electrically connects with described control component fusion calculation unit and motor respectively, is used for
The rotation of described wheel is controlled by motor according to described Servo Control component and described rate control component.
Electrodynamic balance car the most according to claim 6, it is characterised in that described pressure distribution measurement
Unit includes: two or more is arranged on the pressure transducer between described vehicle frame and described pedal and pressure distribution
Computing unit；
Described calculation of pressure distribution unit electrically connects with described pressure transducer, for according to described pressure sensing
The force value that device obtains, calculates and exports user Center of Pressure on described electrodynamic balance car；
Described control component fusion calculation unit electrically connects with described calculation of pressure distribution unit, receives described pressure
The Center of Pressure of power distribution computing unit output.
Electrodynamic balance car the most according to claim 6, it is characterised in that described Inertial Measurement Unit
Including gyroscope and acceleration transducer.
Electrodynamic balance car the most according to claim 6, it is characterised in that described velocity measuring unit
For being arranged on the encoder on described motor.
Electrodynamic balance car the most according to claim 6, it is characterised in that described wheel is two,
It is separately positioned on the both sides of described vehicle frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610340844.XA CN105947042B (en) | 2016-05-19 | 2016-05-19 | Electrodynamic balance vehicle and control method |
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| CN201610340844.XA CN105947042B (en) | 2016-05-19 | 2016-05-19 | Electrodynamic balance vehicle and control method |
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| CN105947042B CN105947042B (en) | 2018-08-03 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627896A (en) * | 2017-01-04 | 2017-05-10 | 杭州骑客智能科技有限公司 | Man-machine interaction somatosensory vehicle |
| CN106976514A (en) * | 2017-04-06 | 2017-07-25 | 杭州轮语科技有限公司 | Electrodynamic balance car |
| CN107364524A (en) * | 2017-01-04 | 2017-11-21 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing car |
| CN108273258A (en) * | 2018-01-24 | 2018-07-13 | 纳恩博（北京）科技有限公司 | Electric running equipment |
| US10144478B2 (en) | 2016-11-25 | 2018-12-04 | Hangzhou Chic Intelligent Technology Co., Ltd. | Pressure control steering |
| CN109774839A (en) * | 2017-11-10 | 2019-05-21 | 北京美思安科技有限公司 | Body-sensing balance car |
| US11260905B2 (en) | 2015-10-10 | 2022-03-01 | Hangzhou Chic Intelligent Technology Co., Ltd. | Human-machine interaction vehicle |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104773238B (en) * | 2014-01-10 | 2017-05-24 | 东莞易步机器人有限公司 | intelligent balance car |
| CN204423150U (en) * | 2015-02-05 | 2015-06-24 | 重庆交通大学 | Based on the two-wheeled control system of balance car of image |
| CN204440053U (en) * | 2015-02-05 | 2015-07-01 | 重庆交通大学 | Two-wheeled control system of balance car |
| CN105398522A (en) * | 2015-11-04 | 2016-03-16 | 深圳市迪比科电子科技有限公司 | Method and system for controlling multi-pressure identifying electric balancing car |
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2016
- 2016-05-19 CN CN201610340844.XA patent/CN105947042B/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11260905B2 (en) | 2015-10-10 | 2022-03-01 | Hangzhou Chic Intelligent Technology Co., Ltd. | Human-machine interaction vehicle |
| US10144478B2 (en) | 2016-11-25 | 2018-12-04 | Hangzhou Chic Intelligent Technology Co., Ltd. | Pressure control steering |
| CN106627896A (en) * | 2017-01-04 | 2017-05-10 | 杭州骑客智能科技有限公司 | Man-machine interaction somatosensory vehicle |
| CN107364524A (en) * | 2017-01-04 | 2017-11-21 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing car |
| CN106627896B (en) * | 2017-01-04 | 2022-09-06 | 浙江骑客机器人科技有限公司 | Human-computer interaction somatosensory vehicle |
| CN106976514A (en) * | 2017-04-06 | 2017-07-25 | 杭州轮语科技有限公司 | Electrodynamic balance car |
| CN109774839A (en) * | 2017-11-10 | 2019-05-21 | 北京美思安科技有限公司 | Body-sensing balance car |
| CN108273258A (en) * | 2018-01-24 | 2018-07-13 | 纳恩博（北京）科技有限公司 | Electric running equipment |
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| Publication number | Publication date |
|---|---|
| CN105947042B (en) | 2018-08-03 |
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Effective date of registration: 20190418 Address after: 100044 Beijing Xicheng District Exhibition Hall Road No. 1 Beijing Institute of Architectural Engineering Patentee after: Liu Xinran Address before: Room 502T, Fifth Floor, No. 36 Chuangxingzhong Road, Haidian District, Beijing 100085 Patentee before: Beijing Jingyi Zhituo Science & Technology Co., Ltd. |