CN107444557A - 一种平衡车及其控制方法 - Google Patents
一种平衡车及其控制方法 Download PDFInfo
- Publication number
- CN107444557A CN107444557A CN201710206692.9A CN201710206692A CN107444557A CN 107444557 A CN107444557 A CN 107444557A CN 201710206692 A CN201710206692 A CN 201710206692A CN 107444557 A CN107444557 A CN 107444557A
- Authority
- CN
- China
- Prior art keywords
- balance car
- control
- support frame
- framework
- rod
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 14
- 238000013016 damping Methods 0.000 claims abstract description 17
- 239000000872 buffer Substances 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 9
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 4
- 229910052799 carbon Inorganic materials 0.000 claims description 4
- 239000000835 fiber Substances 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 230000005520 electrodynamics Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005303 weighing Methods 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
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/20—Cycle computers as cycle accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
- B62J50/20—Information-providing devices
- B62J50/21—Information-providing devices intended to provide information to rider or passenger
- B62J50/22—Information-providing devices intended to provide information to rider or passenger electronic, e.g. displays
-
- 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
- B62K1/00—Unicycles
-
- 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
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/02—Frames
-
- 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
- B62K15/00—Collapsible or foldable cycles
-
- 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
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/02—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips hand actuated
-
- 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
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/08—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips foot actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/80—Accessories, e.g. power sources; Arrangements thereof
- B62M6/90—Batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
- B62J25/04—Floor-type foot rests
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J43/00—Arrangements of batteries
- B62J43/20—Arrangements of batteries characterised by the mounting
- B62J43/28—Arrangements of batteries characterised by the mounting hidden within the cycle frame
-
- 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
- B62K15/00—Collapsible or foldable cycles
- B62K2015/003—Collapsible or foldable cycles having a foldable crank or pedal
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
Description
Claims (13)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710206692.9A CN107444557B (zh) | 2017-03-31 | 2017-03-31 | 一种平衡车及其控制方法 |
US15/591,183 US20180281889A1 (en) | 2017-03-31 | 2017-05-10 | Balance vehicle and a control method for the same |
US16/499,865 US11505274B2 (en) | 2017-03-31 | 2018-03-30 | Balancing vehicle and control method therefor |
PCT/CN2018/081435 WO2018177430A1 (zh) | 2017-03-31 | 2018-03-30 | 平衡车及其控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710206692.9A CN107444557B (zh) | 2017-03-31 | 2017-03-31 | 一种平衡车及其控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107444557A true CN107444557A (zh) | 2017-12-08 |
CN107444557B CN107444557B (zh) | 2021-01-26 |
Family
ID=60486916
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710206692.9A Active CN107444557B (zh) | 2017-03-31 | 2017-03-31 | 一种平衡车及其控制方法 |
Country Status (3)
Country | Link |
---|---|
US (2) | US20180281889A1 (zh) |
CN (1) | CN107444557B (zh) |
WO (1) | WO2018177430A1 (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018177430A1 (zh) * | 2017-03-31 | 2018-10-04 | 百昌顺有限公司 | 平衡车及其控制方法 |
FR3076276A1 (fr) * | 2018-01-01 | 2019-07-05 | Jannick Jacques SIMERAY | Monocycle electrique optimise pour l'apprentissage, la manoeuvrabilite, le franchissement d'obstacle, la compacite et la robustesse structurelle |
CN110001836A (zh) * | 2019-04-25 | 2019-07-12 | 深圳市瑞能德电子有限公司 | 一种电动车控制方法及电动车 |
CN113443061A (zh) * | 2020-03-25 | 2021-09-28 | 现代自动车株式会社 | 个人移动工具及其控制方法 |
US11485171B2 (en) | 2017-12-12 | 2022-11-01 | Freeman It Limited | Spherical/elliptical single-wheeled vehicle |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6707402B2 (ja) * | 2016-06-09 | 2020-06-10 | 本田技研工業株式会社 | 倒立振子型車両 |
KR102058297B1 (ko) * | 2018-10-24 | 2019-12-20 | 이홍관 | 기립식 외바퀴 전동장치 |
CN109436162A (zh) * | 2018-12-09 | 2019-03-08 | 山东文登抽水蓄能有限公司 | 抽水蓄能电站巡检用智能平衡车 |
CN109606525B (zh) * | 2019-02-01 | 2024-04-12 | 富石电子(武汉)有限公司 | 一种马蹄形折叠电动滑板车及其运动控制方法 |
US10456658B1 (en) * | 2019-02-11 | 2019-10-29 | Future Motion, Inc. | Self-stabilizing skateboard |
Citations (8)
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CN100545029C (zh) * | 2007-10-29 | 2009-09-30 | 哈尔滨工业大学 | 可折叠轻质量平衡行走单轮电动车 |
US8014923B2 (en) * | 2006-11-15 | 2011-09-06 | Toyota Jidosha Kabushiki Kaisha | Travel device |
KR20140112964A (ko) * | 2013-03-15 | 2014-09-24 | 오영선 | 외발 전동주행장치의 핸들 |
CN203921066U (zh) * | 2014-06-20 | 2014-11-05 | 段丽娜 | 一种独轮自平衡车 |
CN204659898U (zh) * | 2015-05-20 | 2015-09-23 | 常州爱尔威智能科技有限公司 | 电动平衡车 |
CN204998684U (zh) * | 2015-01-31 | 2016-01-27 | 彭勇 | 一种轮外侧站立式的电动双轮平衡车 |
WO2016106372A1 (en) * | 2014-12-23 | 2016-06-30 | Razor Usa Llc | Powered unicycle with handle |
CN106275211A (zh) * | 2016-10-18 | 2017-01-04 | 西安科技大学 | 一种单轮电动滑板车及其使用方法 |
Family Cites Families (17)
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US7963352B2 (en) * | 2003-08-18 | 2011-06-21 | Engineering Recreation (2008) Limited | Powered unicycle |
US8800697B2 (en) * | 2009-09-01 | 2014-08-12 | Ryno Motors, Inc. | Electric-powered self-balancing unicycle with steering linkage between handlebars and wheel forks |
JP2011063241A (ja) * | 2009-09-18 | 2011-03-31 | Honda Motor Co Ltd | 倒立振子移動体 |
US9586471B2 (en) * | 2013-04-26 | 2017-03-07 | Carla R. Gillett | Robotic omniwheel |
US8807250B2 (en) * | 2010-03-09 | 2014-08-19 | Shane Chen | Powered single-wheeled self-balancing vehicle for standing user |
JP6184348B2 (ja) * | 2014-03-07 | 2017-08-23 | 本田技研工業株式会社 | 倒立振子型車両 |
CN203996650U (zh) * | 2014-06-18 | 2014-12-10 | 深圳市华翼世纪通信设备有限公司 | 电动独轮车触控伸缩拉杆 |
CN104859769B (zh) * | 2015-05-27 | 2017-04-05 | 济宁学院 | 可组合的独轮平衡车 |
CN105329371A (zh) * | 2015-10-28 | 2016-02-17 | 无锡康斯坦特动力科技有限公司 | 手柄控制式独轮平衡车 |
WO2017077362A1 (en) * | 2015-11-03 | 2017-05-11 | Koofy Development Limited | Self balancing single wheel board with shock absorber |
CN205292920U (zh) * | 2015-12-10 | 2016-06-08 | 深圳市先河电子有限公司 | 一种两轮智能代步车 |
CN105501378A (zh) * | 2016-01-12 | 2016-04-20 | 蒋孝富 | 一种自平衡电动车的运动控制方法 |
CN105539704A (zh) * | 2016-02-17 | 2016-05-04 | 陈云飞 | 内置姿态仪的操纵杆及具有其的电动车 |
CN205554476U (zh) * | 2016-03-24 | 2016-09-07 | 深圳车泰斗科技有限公司 | 一种带扶手的压力感知电动平衡车 |
US10315721B2 (en) * | 2016-08-01 | 2019-06-11 | HoverHandle, LLC | Self-balancing scooter differential control apparatus |
CN106240717B (zh) * | 2016-08-31 | 2022-05-20 | 杭州速控软件有限公司 | 电动平衡车的操控杆座 |
CN107444557B (zh) * | 2017-03-31 | 2021-01-26 | 深圳信隆健康产业发展股份有限公司 | 一种平衡车及其控制方法 |
-
2017
- 2017-03-31 CN CN201710206692.9A patent/CN107444557B/zh active Active
- 2017-05-10 US US15/591,183 patent/US20180281889A1/en not_active Abandoned
-
2018
- 2018-03-30 US US16/499,865 patent/US11505274B2/en active Active
- 2018-03-30 WO PCT/CN2018/081435 patent/WO2018177430A1/zh active Application Filing
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
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US8014923B2 (en) * | 2006-11-15 | 2011-09-06 | Toyota Jidosha Kabushiki Kaisha | Travel device |
CN100545029C (zh) * | 2007-10-29 | 2009-09-30 | 哈尔滨工业大学 | 可折叠轻质量平衡行走单轮电动车 |
KR20140112964A (ko) * | 2013-03-15 | 2014-09-24 | 오영선 | 외발 전동주행장치의 핸들 |
CN203921066U (zh) * | 2014-06-20 | 2014-11-05 | 段丽娜 | 一种独轮自平衡车 |
WO2016106372A1 (en) * | 2014-12-23 | 2016-06-30 | Razor Usa Llc | Powered unicycle with handle |
CN204998684U (zh) * | 2015-01-31 | 2016-01-27 | 彭勇 | 一种轮外侧站立式的电动双轮平衡车 |
CN204659898U (zh) * | 2015-05-20 | 2015-09-23 | 常州爱尔威智能科技有限公司 | 电动平衡车 |
CN106275211A (zh) * | 2016-10-18 | 2017-01-04 | 西安科技大学 | 一种单轮电动滑板车及其使用方法 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018177430A1 (zh) * | 2017-03-31 | 2018-10-04 | 百昌顺有限公司 | 平衡车及其控制方法 |
US11485171B2 (en) | 2017-12-12 | 2022-11-01 | Freeman It Limited | Spherical/elliptical single-wheeled vehicle |
FR3076276A1 (fr) * | 2018-01-01 | 2019-07-05 | Jannick Jacques SIMERAY | Monocycle electrique optimise pour l'apprentissage, la manoeuvrabilite, le franchissement d'obstacle, la compacite et la robustesse structurelle |
WO2019141338A1 (en) * | 2018-01-01 | 2019-07-25 | Simeray Jannick Jacques | Electric unicycle optimized for no learning step, maneuverability, obstacle clearance, compactness, safety and structural robustness |
CN110001836A (zh) * | 2019-04-25 | 2019-07-12 | 深圳市瑞能德电子有限公司 | 一种电动车控制方法及电动车 |
CN113443061A (zh) * | 2020-03-25 | 2021-09-28 | 现代自动车株式会社 | 个人移动工具及其控制方法 |
Also Published As
Publication number | Publication date |
---|---|
US20200108885A1 (en) | 2020-04-09 |
CN107444557B (zh) | 2021-01-26 |
US11505274B2 (en) | 2022-11-22 |
US20180281889A1 (en) | 2018-10-04 |
WO2018177430A1 (zh) | 2018-10-04 |
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Effective date of registration: 20180424 Address after: Room 603, 6 / F, Nam ho ho, 148 West Wing Street, Sheung Wan, Hongkong, China. Applicant after: Bai Chang Shun Co.,Ltd. Address before: 12 floor, Global trade square 1, Kowloon, Dow Applicant before: Oliver Evans |
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Effective date of registration: 20201229 Address after: Baotou District, songan District, Shenzhen City, Guangdong Province Applicant after: HL CORP (SHENZHEN) Address before: Room 603, 6 / F, Nam ho ho, 148 West Wing Street, Sheung Wan, Hongkong, China. Applicant before: Bai Chang Shun Co.,Ltd. |
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Effective date of registration: 20210604 Address after: 518000 202, 54 Baisha Road, Xinqiao community, Xinqiao street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen haojieli Industrial Co.,Ltd. Address before: 518105, Shenzhen, Guangdong province Baoan District Songgang Street Bi Bi third industrial zone Patentee before: HL CORP (SHENZHEN) |
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Effective date of registration: 20220720 Address after: 518105, Shenzhen, Guangdong province Baoan District Songgang Street Bi Bi third industrial zone Patentee after: HL CORP (SHENZHEN) Address before: 518000 202, 54 Baisha Road, Xinqiao community, Xinqiao street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: Shenzhen haojieli Industrial Co.,Ltd. |
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