CN106933235B - 平衡车启动后的自我平衡方法 - Google Patents
平衡车启动后的自我平衡方法 Download PDFInfo
- Publication number
- CN106933235B CN106933235B CN201611087724.XA CN201611087724A CN106933235B CN 106933235 B CN106933235 B CN 106933235B CN 201611087724 A CN201611087724 A CN 201611087724A CN 106933235 B CN106933235 B CN 106933235B
- Authority
- CN
- China
- Prior art keywords
- pedals
- self
- balance
- balance car
- wheels
- 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.)
- Ceased
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 1
- 230000013632 homeostatic process Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- 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
- B62K2204/00—Adaptations for driving cycles by electric motor
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
Description
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611087724.XA CN106933235B (zh) | 2016-12-01 | 2016-12-01 | 平衡车启动后的自我平衡方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611087724.XA CN106933235B (zh) | 2016-12-01 | 2016-12-01 | 平衡车启动后的自我平衡方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106933235A CN106933235A (zh) | 2017-07-07 |
CN106933235B true CN106933235B (zh) | 2021-02-26 |
Family
ID=59443981
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201611087724.XA Ceased CN106933235B (zh) | 2016-12-01 | 2016-12-01 | 平衡车启动后的自我平衡方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106933235B (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109908571A (zh) * | 2018-12-04 | 2019-06-21 | 深圳乐行运动科技有限公司 | 一种悬浮鞋控制的方法、悬浮鞋及电动平衡车 |
CN111762276A (zh) * | 2019-03-14 | 2020-10-13 | 苏州创势智能科技有限公司 | 防过度自平衡的方法、终端、介质、及移动平衡装置 |
CN112394655B (zh) * | 2019-08-01 | 2022-12-13 | 纳恩博(北京)科技有限公司 | 平衡车及控制其的方法和存储介质 |
CN112061296B (zh) * | 2020-08-07 | 2022-07-12 | 浙江阿尔郎科技有限公司 | 一种平衡车控制方法 |
CN113147974A (zh) * | 2021-04-26 | 2021-07-23 | 国华(广州)投资发展有限公司 | 双轮车的控制方法、装置、存储介质及电子装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2409905A1 (en) * | 2010-07-23 | 2012-01-25 | Christian Verduron | Powered unicycle |
CN104118507A (zh) * | 2014-07-25 | 2014-10-29 | 祝珍海 | 一种分体转动式自平衡两轮车 |
CN104922893A (zh) * | 2014-06-13 | 2015-09-23 | 杭州骑客智能科技有限公司 | 一种改良电动平衡车 |
CN205469471U (zh) * | 2016-01-25 | 2016-08-17 | 刘海波 | 一种平衡车 |
CN105966509A (zh) * | 2016-05-23 | 2016-09-28 | 合肥工业大学智能制造技术研究院 | 一种无光电开关的两轮平衡电动扭扭车的启停方法 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014182527A1 (en) * | 2013-05-06 | 2014-11-13 | Future Motion, Inc. | Self-stabilizing skateboard |
CN103529850B (zh) * | 2013-10-28 | 2016-11-16 | 华南理工大学广州学院 | 两轮自平衡车控制方法 |
CN103558778B (zh) * | 2013-11-01 | 2016-08-17 | 深圳乐行天下科技有限公司 | 一种两轮平衡车的状态检测方法和*** |
CN203780695U (zh) * | 2014-03-20 | 2014-08-20 | 浙江野鹰电动车业有限公司 | 一种能显示车底盘水平状态的智能平衡车 |
CN104401322A (zh) * | 2014-09-26 | 2015-03-11 | 纳恩博(天津)科技有限公司 | 检测车体平衡的方法及动平衡车 |
CN104536450B (zh) * | 2014-12-18 | 2017-06-30 | 深圳乐行天下科技有限公司 | 一种自平衡车的快捷控制方法 |
CN205387176U (zh) * | 2016-02-05 | 2016-07-20 | 钱峰 | 一种电动平衡车 |
CN205589373U (zh) * | 2016-03-04 | 2016-09-21 | 美国锐哲有限公司 | 电动平衡车 |
CN105799826B (zh) * | 2016-03-18 | 2018-03-06 | 合肥工业大学智能制造技术研究院 | 一种自平衡独轮滑板车及其应用 |
CN105947046B (zh) * | 2016-06-12 | 2018-12-21 | 北京美思安科技有限公司 | 一种平衡车控制***和平衡车 |
CN106020198B (zh) * | 2016-07-06 | 2020-03-31 | 深圳市汲众科技开发有限公司 | 一种体感车载物的方法和体感车 |
-
2016
- 2016-12-01 CN CN201611087724.XA patent/CN106933235B/zh not_active Ceased
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2409905A1 (en) * | 2010-07-23 | 2012-01-25 | Christian Verduron | Powered unicycle |
CN104922893A (zh) * | 2014-06-13 | 2015-09-23 | 杭州骑客智能科技有限公司 | 一种改良电动平衡车 |
CN104118507A (zh) * | 2014-07-25 | 2014-10-29 | 祝珍海 | 一种分体转动式自平衡两轮车 |
CN205469471U (zh) * | 2016-01-25 | 2016-08-17 | 刘海波 | 一种平衡车 |
CN105966509A (zh) * | 2016-05-23 | 2016-09-28 | 合肥工业大学智能制造技术研究院 | 一种无光电开关的两轮平衡电动扭扭车的启停方法 |
Also Published As
Publication number | Publication date |
---|---|
CN106933235A (zh) | 2017-07-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106933235B (zh) | 平衡车启动后的自我平衡方法 | |
CN204864865U (zh) | 新型电动平衡车 | |
CN107499446B (zh) | 自行车用控制装置 | |
CN106240703B (zh) | 电动平衡扭扭车开机自平衡控制方法 | |
US11472306B1 (en) | Electric vehicle charging station | |
KR101912997B1 (ko) | 전기기계식 자이로스코프 평형 외발휠 | |
CN105109599A (zh) | 电动平衡扭扭车 | |
EP3418106B1 (en) | Electric vehicle and method for controlling electric vehicle | |
CN107281740B (zh) | 轮滑装置 | |
CN105857468A (zh) | 一种电动自平衡式双轮车 | |
JP2016150684A (ja) | 車両の電動アシスト制御システム及び車両 | |
CN107512348B (zh) | 电动平衡车 | |
WO2018070235A1 (ja) | 制御システム、サーバ、制御方法及びプログラム | |
CN101537615B (zh) | 基于红外姿态检测的两轮直立式自平衡机器人及控制方法 | |
CN113607425B (zh) | 一种用于装载vru目标物的小型智能超平承载机器人 | |
CN108582074B (zh) | 机器人、机器人控制方法及装置 | |
CN205819415U (zh) | 一种可前后错位移动的两轮电动平衡车 | |
CN106525463B (zh) | 一种平衡车测试装置 | |
TW201819878A (zh) | 平衡車啟動後的自我平衡方法 | |
US20220289040A1 (en) | Electrically assisted wheelchair, drive unit, control method and computer program | |
CN106515947B (zh) | 一种体感纵向二轮车的控制方法及控制*** | |
CN108068938B (zh) | 一种双轮车速度控制方法及*** | |
CN113650712B (zh) | 电动自行车的控制方法、装置及电动自行车 | |
US20180072161A1 (en) | Electric wheelchair, control method thereof and control system thereof | |
CN206087066U (zh) | 电动平衡扭扭车开机自平衡控制*** |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220614 Address after: No. 343, guoshanli, Hongtang Town, Tong'an District, Xiamen City, Fujian Province Patentee after: Guo Huolai Address before: California, USA Patentee before: RAZOR USA LLC |
|
CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210226 |
|
IW01 | Full invalidation of patent right | ||
IW01 | Full invalidation of patent right |
Decision date of declaring invalidation: 20220826 Decision number of declaring invalidation: 57817 Granted publication date: 20210226 |