CN108712922A - Electric roller blades - Google Patents

Abstract

The present invention provides the anterior-posterior balances that a kind of electric roller blades with balance control system, the balance control system are suitable for that skidding shoe platform is kept to surround wheel arrangement.Wheel arrangement defines the pivotal point of platform.Electronic device is suitable for driving wheel device, so as to the anterior-posterior balance for allowing balance control system that platform is kept to surround wheel arrangement.

Description

Electric roller blades

Invention field

The present invention relates to electronic field of footwear, more particularly to the electric roller blades field worn suitable for user.

Background of invention

The concept of electric roller blades is well known in the prior art.Specifically, it is known that passing through such as hand-held input The control device of interface etc provides the roller skate with the controllable motor of speed.It is suitable for driving in general, this roller skate has The internal combustion engine or motor of multiple wheels of dynamic electric roller blades, wherein engine or motor can be controlled by user.

The concept of skidding system with main roller skate and secondary roller skate is known.In this arrangement, main roller skate Movement can be controlled by user, wherein being delivered to secondary roller skate with the relevant information of the movement.The information is slided by accessory whorl Shoes use, reciprocally to move in response.In typical example, main roller skate is located in secondary roller skate by rider Front, to balance and control skidding system.

Summary of the invention

The present invention is defined by the claims.

According to an aspect of the invention, there is provided a kind of electric roller blades for single foot, the electric roller blades include： Platform, the platform are suitable for supporting single foot of user；Coupling arrangement, the coupling arrangement are suitable for the foot of user being connected to flat Platform；Single wheel arrangement, the single wheel arrangement include at least one wheel, wherein each at least one wheel arrangement is at making Wheel arrangement forms single pivotal point, and platform can along the longitudinal direction be tilted around pivotal point；Electronic device, the electronic device Suitable for driving at least one wheel；And balance control system, the balance control system are suitable for keeping platform around wheel arrangement Anterior-posterior balance.

The balance control system of electric roller blades keeps the platform of roller skate for example relative to the balance on ground.Namely It says, when platform experience surrounds wheel arrangement along the inclination of the trial in front or rear direction (for example, in response to the change of user's weight Change), balance control system can be attempted to solve platform by accelerating at least one wheel of wheel arrangement forward or backward It is uneven.Therefore, the balance control system that one embodiment uses can be arranged the operation by controlling associated motor To keep anterior-posterior balance.

Embodiment thus provides a kind of electric roller blades, surrounds wheel arrangement self-balancing along the longitudinal direction.It is specific and Speech, wheel arrangement define that single pivotal point, the platform of roller skate can along the longitudinal direction be rotated around the pivotal point.Electric Motor Wheel Sliding shoes surround this pivotal point self-balancing.Self-balancing ability can manipulate the roller skate of their standings by user/rider The anterior-posterior balance of platform promotes user/rider in a controlled manner.Embodiment for user/rider it is possible thereby to carry For significant degree of freedom or operability.

Single pivotal point is provided and provides improved controlled level for user, is provided more for their movement Feedback.Particularly, platform can provide intuitively to come with enjoyable way for user around the inclination of single pivotal point Control their movement.Especially it is possible to recognize, user may make platform uneven, electronic easily to control The movement of roller skate and speed.

The embodiment proposed is related to a kind of electric roller skating system including electric roller blades as a pair.It can manage Solution, an electric roller blades of this electric roller skating system can be substantially independent of another electric roller blades so that electronic The inclination of the trial of the platform of roller skate need not cause to move or tilt accordingly in another roller skate.That is, Two roller skates can self-balancing independently of one another.

Terms used herein " at least one wheel " refer to any wheel contacted during use with floor or ground Or element.For example, wheel may include pneumatic tire, without wheel hub wheel or even idler wheel.It is suitable as the other of wheel Suitable rotary structure is well-known to those skilled in the art.

In some embodiments, electronic device includes the first motor and the second motor, and the first motor is suitable for driving At least one wheel of driving wheel sub-device, the second motor are suitable at least one wheel of driving wheel device.

There is provided multiple motor in this way allows at least a degree of redundancy, because the failure of single electric motor will Further using for skidding can not necessarily be interfered.The use of more than one motor additionally provides the movement about wheel arrangement The precision (because two motor need not be used or be controlled in an identical manner simultaneously) of bigger, and additionally provide motor The increased efficiency that power uses, because the amount of torque needed for each at least two motor reduces.In addition, standard Changing motor can be used for effectively driving corresponding roller skate, rather than complicated (bespoke) or customization customized (custom) motor.This can for example minimize the complexity or cost of electric roller blades.

In at least one further embodiment：First motor is suitable for the first wheel of driving wheel device；And Second motor is suitable for the Second wheel of driving wheel device, wherein the first motor and the first wheel are independently of the second motor And Second wheel.

In other words, the wheel of wheel arrangement can control independently of one another so that how balance control system is controlling Wheel arrangement is to consider that the uneven aspect of skidding shoe platform has improved selection.In other examples, wheel can be independent Control, to consider control, steering, the power of battery, energy regenerating or the directional stability of roller skate.

In some further embodiments, during cornering operation：First motor drives the first round with First Speed Son；And the second motor drives Second wheel with different second speeds.Optionally, during cornering operation, the first wheel Direction of rotation can be opposite with the direction of rotation of Second wheel.

Optionally, the first and second motor of electric roller blades are suitable for driving at least one wheel using band or chain.

Preferably, the corresponding rotation output of the first and second motor has than being driven by corresponding first and second motor The small diameter of the input interface of dynamic wheel.

In at least one embodiment, electric roller blades further include battery unit mounted thereto, and the battery unit is suitable In at least to electronic device offer electric power.

Battery unit can be connected to the upper surface of platform or the lower surface of platform.In other embodiments, battery unit It is embedded in platform.

In some embodiments, user can attempt platform tilting to the other side from side, turn to indicate to execute The intention of curved operation.Electric roller blades can detect this intention that tilts using sensor device, and be based on tilting It is intended to generate the signal that instruction executes cornering operation intention.In such embodiments, electronic in response to the intention to tilt Roller skate can execute cornering operation.In other words, user can tilt to side, this can by sensor device (including Such as pressure sensor or platform inclination detecting system) sensing.Electric roller blades may then based on the signal sensed production Raw instruction executes the signal of the intention of cornering operation.

Optionally, electric roller blades are suitable for generating at least current or history control parameter the control letter of instruction roller skate Number.This control signal can be generated for example by control sensor.

Control signal can indicate at least one of following item：The speed of roller skate；The remaining battery power of roller skate； To the distance of another roller skate；The instruction of the balance of the platform of roller skate；Orientation (such as x, y and z of roller skate of roller skate At least one of position)；The instruction that the expection of roller skate uses, the wind speed in roller skate；The acceleration of roller skate；By skidding The torque that the electronic device of shoes is applied；With the present output power of electronic device.

Electric roller blades may include the communication device suitable for transmission, transmission or emissioning controling signal.The communication device can Selection of land is further adapted for receiving the control signal that another electric roller blades are sent out.

In other such embodiment, electric roller blades are suitable for further comprising processing unit, and the processing unit is suitable In：Obtain the control signal received；Balanced signal is obtained from balance control system；And at least based on the control letter received Number and balanced signal control motor unit drive at least one wheel；Before and after wherein balance control system is suitable for based on platform Equilibrium level generates balanced signal.

Electric roller blades can also include packing up holder suitable for operable under at least stowed configuration and expanded position, Wherein when in deployed configuration, holder can be packed up not close to platform.

Embodiment can provide a kind of power driven system, which includes two electric roller blades as briefly described above.It is special Not, the first electric roller blades and the second electric roller blades can be provided.Power driven system is considered electric roller skating system.

Therefore, embodiment can provide a kind of electric roller skating system, the operability with height and agility.Each Roller skate can be independent, to allow user easily and rapidly to turn with minimum turning circle.Due to every The balance control system of a roller skate can be independent of one another, so the general power of electric roller skating system consumption can be reduced.Skidding System advantageouslys allow for each roller skate to operate independently of one another, to allow the user of roller skate to have the degree of freedom of bigger, example Such as in exhibition skill or stunt.It is difficult or not that the use of described separable roller skate can for example allow user to pass through Flat landform, barrier or even step.

There can be a kind of skidding system, wherein the electronic device of the first roller skate includes：First motor is suitable for driving Move the first wheel associated with the wheel arrangement of the first roller skate；Second motor is suitable for driving and the first roller skate The associated Second wheel of wheel arrangement, the first motor and the first wheel are independently of the second motor and Second wheel.At this In kind skidding system, the electronic device of the second roller skate may include：Third motor is suitable for driving and the second roller skate The associated third round of wheel arrangement；4th motor is suitable for driving associated with the wheel arrangement of the second roller skate Fourth wheel, wherein during cornering operation, the first motor with First Speed drive the first wheel, the second motor with Second speed drives Second wheel, third motor to drive third round and the 4th motor with four-speed with third speed Degree driving fourth wheel, wherein the first, second, third and fourth speed is different from each other.

In conceivable embodiment, each roller skate is suitable for coming each other for example, by combining the data from two units Study, to determine how the whole control for improving skidding system.

Brief description

Carry out detailed description of the present invention example now with reference to attached drawing, in the accompanying drawings：

Figure 1A depicts the schematic diagram of electric roller skating system according to first embodiment；

Figure 1B shows the side view of the first roller skate of electric roller skating system according to first embodiment.

Fig. 2 depicts the schematic diagram of electric roller skating system according to second embodiment；

Fig. 3 depicts the schematic diagram of electric roller skating system according to third embodiment；

Fig. 4 A show the schematic diagram of the electric roller skating system according to fourth embodiment；

Fig. 4 B show the side view of the first roller skate of the electric roller skating system according to fourth embodiment；With

Fig. 5 A-5C show the electric roller blades according to one embodiment.

The detailed description of embodiment

The present invention provides a kind of electric roller blades with balance control system, which is suitable for keeping taking turns Sliding shoe platform surrounds the anterior-posterior balance of wheel arrangement.Wheel arrangement defines the pivotal point of platform.Electronic device is suitable for driving Wheel arrangement, so as to the anterior-posterior balance for allowing balance control system that platform is kept to surround wheel arrangement.

By the implementation of the electric roller blades described in the context of the electric roller skating system formed by a pair of of electric roller blades Example.It is evident that identical inventive principle and concept can be applied to single roller skate so that single roller skate can be independently of Another roller skate provides.

Figure 1A and 1B schematically depicts electric roller skating system 1 according to first embodiment.Figure 1A shows skidding system The bottom view of system, and Figure 1B depicts the side view of the single motor roller skate of electric roller skating system.Electric roller skating system includes First electric roller blades 100 and the second electric roller blades 190.Therefore, Figure 1A and 1B also shows the electricity according to one embodiment Dynamic roller skate.

Each electric roller blades include the platform 105 for being suitable for supporting the respective foot of user.

Platform 105 can surround single wheel arrangement 130 and tilt, which includes being located on axis 140 herein Single wheel 135.Specifically, it (is axis here that wheel arrangement 130, which defines that platform can surround its inclined single pivotal point, 140) (when wheel arrangement when being contacted with ground).Wheel arrangement can limit single or unique rotation axis, and platform 105 can enclose It is tilted along the longitudinal direction around the rotation axis.That is, wheel arrangement is it is possible thereby to limit a single point or axis (i.e. single pivot Turning point or single pivot axis), platform can surround the point or axis tilts forward and backward.Particularly, this single pivot Point or pivot axis are single or unique pivotal point/axis of electric roller blades.Therefore, when wheel arrangement when being contacted with ground, Electric roller blades can not be associated with any other pivotal point or pivot axis, and platform can surround the pivotal point or pivotal axis It rotates along the longitudinal direction.

Single wheel arrangement 130 may include all wheels for being connected to platform 105 so that single wheel arrangement is electronic Unique or individual wheel arrangement of roller skate 100.At least when electric roller blades 100 move, single wheel arrangement 130 can be with Platform 105 is completely independent connected to ground, so that platform and user to be completely supported at thereon.Thus platform 105 may be used To surround 130 free inclination of single wheel arrangement.

In embodiment, the platform of the first electric roller blades 100 and the second electric roller blades 190 is substantially the same so that His left foot or right crus of diaphragm can be placed on the platform of any roller skate by user.In other embodiments, the first and second wheel The platform of sliding shoes is different so that left foot or right crus of diaphragm can only be placed in specific roller skate by user.For example, roller skate is flat Platform can be adjusted so that left foot can be only cosily placed in first roller skate by user, and right crus of diaphragm is placed on second In roller skate.In other words, the platform of each corresponding roller skate, which can be shaped as feet different from user's, is associated (example Such as, left foot and right crus of diaphragm version).In at least one conceivable embodiment, platform can be partially flexible, so as to for example with The castor exterior feature of user is consistent.It is appreciated that corresponding platform is suitable for only supporting the single foot of user so that using In, two feet are not positioned on any one platform.

Wheel can be by being linked together one or more tires and/or wheel hub (hub) of (such as passing through differential mechanism) It is formed.For example, embodiment may include the wheel without wheel hub of the wheel rim (rim) with no wheel hub, plurality of individual wheel Tire is on the wheel rim of no wheel hub.Alternatively, embodiment may include (each to have accordingly by the wheel rim of multiple no wheel hubs Tire mounted thereto) wheel without wheel hub that is formed, the wheel rim of plurality of no wheel hub joined by differential axle bearing apparatus It is connected together.For example, embodiment may include the wheel for having single wheel rim and wheel hub, plurality of individual tire is mounted on On the wheel rim.Another embodiment may include by multiple wheel hubs and wheel rim (each to have corresponding tire mounted thereto) The wheel of formation, plurality of wheel hub and wheel rim are linked together by differential axle bearing apparatus.

Each electric roller blades include the electronic device with the first motor 110 and the second motor 120.Certainly, In some embodiments, electronic device can only include single electric motor.Electronic device is suitable for driving wheel device 130, Especially rotate single wheel 135.

The first and second motor in electronic device are suitable for the single wheel of driving wheel device, to control wheel The speed of device.

In at least one embodiment, the first motor 110 includes with the output of First Speed rotation (that is, rotation output) Driver 111.Output driver is connected to wheel for example, by differential mechanism, band, chain, gear (gear) or inserted tooth (cog) mechanism The engaging mechanism 137 of device 135.In other words, output driver is connected to the input unit of wheel arrangement, to be filled to wheel The wheel set provides input rotary force.It is rotated with the output driving of the first motor, wheel is consequently adapted to rotate.

Motor can be allowed to be revolved with its most effective or best speed using band, chain or gear mechanism in this way Turn, while the wheel of wheel arrangement need not be rotated with the identical speed.For example, this can allow to improve skidding system Efficiency and reduce power and/or increase driving wheel device torque.

Similarly, the second motor 120 can also include the corresponding output driver rotated with second speed.Second is electronic The output driving of machine may be also connected to the identical or different engaging mechanism of wheel arrangement, to control the rotation of wheel.

Briefly, for a further understanding of the wheel of electric roller blades can be the pneumatic tire of 75 millimeters of diameter.For Reach the maximum speed (in the preferred embodiment of skidding system) of about 21kmh or 13.5mph, this tire only need with About 1500RPM (revolutions per minute) rotates.The motor that can the be used usually best rotation with about 3000-6000RPM Turn.Therefore the ratio of gear or band is 2：1 or 4：(or higher) is required with appropriate speed rotation institute in order to ensure wheel between 1 's.

Balance control system 140 is provided to each corresponding roller skate 100,190 to control the corresponding of the roller skate Electronic device, i.e. the first motor 110 and the second motor 120, thus to control the rotation of the single wheel 135 of wheel arrangement Turn.The anterior-posterior balance that balance control system is suitable for that platform is kept to surround the single pivotal point limited by wheel arrangement.

For example, the balance control system 140 of each electric roller blades may include gyroscope, accelerometer, force vector Quantity sensor, sonar or ultrasonic sensor or other close to sensing system (not shown), the system sensing platform is around wheel Sub-device tilts forward and back, and optionally with respect to ground inclination, and adjusts accordingly electronic device to keep platform Anterior-posterior balance.Platform can keep basic horizontal relative to ground.

In this way, electronic to a kind of control of user's offer by changing the pressure of each region for being applied to platform The mode of acceleration and the deceleration of roller skate.It also enables each electric roller blades to be surrounded in anterior-posterior plane relative to platform Its balance of the rotation self-control of wheel arrangement.

For example additional power can be considered in balance control system, rather than just gravity.For example, when determining the front and back of platform When balance, balance control is it is contemplated that current frictional force or centrifugal force.In some embodiments, balance control system can be attempted By resultant force vector generally toward the center (for example, by driving wheel device posteriorly or anteriorly mobile platform) of wheel arrangement, Platform is balanced relative to wheel arrangement.Therefore, the resultant force vector being applied on platform can be brought to single pivot The position of point.Particularly, the strong combined vectors that balance control system is suitable for being applied in roller skate are maintained at wheel The center of device.It is, for example, possible to use accelerometer, gyroscope, pressure sensor, proximity sensor etc. detect this power. Should be appreciated that some such force detection systems, such as and accelerometer, may be to be not added with differentiation when determining the power applied (for example, it detects gravity and centripetal force in an identical manner).Before this can allow such as balance control system holding platform After balance, even if it is non-horizontal, tilt or even in vertical surface (such as " wall of death ") be also so.

In other words, each roller skate is suitable for attempting to keep by monitoring the platform around the anterior-posterior balance of wheel arrangement The platform of the basic horizontal (relative to ground) of electric roller blades.Each roller skate is individually suitable for the side relative to roller skate It makes a response to the imbalance along direction forward or backward.Ground need not be considered merely as being conventional flat floor, But it can be for example, by slope (slope), slope (ramp), ring, sphere etc..Electric roller skating system is relative to planetary surface The orientation of (such as earth) may be unessential for anterior-posterior balance system, that is to say, that balance control system can be with Suitable for considering gravity.For example, user may want to power driven system of riding in " wall of death ", should " wall of death " tool There is power driven system to be intended to the substantially vertical plate ridden, and balance control system can be attempted to keep basic relative to vertical wall Horizontal platform (wherein user is kept on the wall by frictional force and centrifugal force).It is obvious that in some embodiments, if Uneven surface where electric roller skating system, then electric roller skating system can attempt keep platform relative to wheel arrangement position The anterior-posterior balance of ground region on it.In other or further embodiment, when keeping the anterior-posterior balance of platform, phase Answer the balance control system of roller skate that the absolute orientation of electric roller skating system may be used (i.e. relative to the orientation of planet).

Certainly, " wall of death " scene is an original example of many possible complex surfaces, and electric roller blades It can be configured to operate the complex surface.Other surfaces include such as skidding park surface, sphere or other coarse or wavy Surface.

In some embodiments, roller skate may be adapted to predict or detect upcoming surface (for example, using camera or Laser radar system or algorithm based on Current surface), and before determining how control roller skate based on upcoming surface After balance.

From the explanation of front, it will become apparent that, the foot that balance control system is adapted to user is applied to All fair platforms of trying hard to keep on platform surround the anterior-posterior balance of wheel arrangement.These power may include gravity (due to the use of person's Weight), the combination of power etc. that applies of centripetal force, user.Particularly, combination force vector can be kept substantially towards pivotal point Or the position of wheel arrangement.

In addition to this, it is to be understood that platform can surround wheel arrangement and relative to ground inclination, so as at least edge Front-rear direction causes platform uneven.Balance control system can then attempt to for example, by accelerating wheel arrangement forward or backward At least one wheel solve the imbalance of platform.It will therefore be apparent that the user of electric roller blades can pass through adjusting Platform attempts inclined amount, to control the degree that balance control system attempts holding platform anterior-posterior balance, to control Electric Motor Wheel The speed of sliding shoes.

It is obvious that balance control system 140 is suitable for, by controlling electronic device, (the first motor 110 and second is electronic Machine 120) come keep electric roller blades 100 platform 105 surround wheel arrangement (i.e. single pivotal point) anterior-posterior balance, to control The driving of ratch 135, speed or even direction.

Electric roller blades 100 include being suitable for the coupling arrangement 180 of the foot engagement of user to platform.For example, this Kind coupling arrangement may include band, as shown, buckle, frenulum etc..It should be appreciated that use throughout the specification to foot Reference is intended to be interpreted to instigate the foot of user, ankle, toe, shank, footwear (such as user wear footwear) or may be attached The article being connected on user's foot.

Coupling arrangement may be adapted to automatically switch between at least one linked model and a non-coupled pattern, couple In pattern, the foot of user is connected to support element so that foot is restricted from support element removal, hinders, prevents or even It is impossible, in non-coupled pattern, allows or foot may be removed from support element.

Particularly, coupling arrangement may be adapted in response to by using what detecting system (not shown) generated to use signal, until It is few to switch between linked model and non-coupled pattern.Making for wheeled transport equipment at least can be indicated or be associated with using signal With.For example, the use of signal may include instruction or the Electric Motor Wheel for starting or terminating the intention using wheeled transport equipment The parameter (for example, speed, acceleration, travel distance, time etc. since energization) of sliding shoes.

Coupling arrangement is it is possible thereby to including for example automatic band, magnetic arrangement or the other regracting connectors of retracting.

In another example, coupling arrangement may be adapted in response to user's input signal (such as from sports equipment) extremely It is few to switch between linked model and non-coupled pattern.

Therefore, coupling arrangement may be adapted in the case where no user is manually entered in linked model and non-coupled mould Switch between formula, so that the foot of user is releasedly fixed to platform.Certainly, in other embodiments, coupling arrangement can It is suitable for receiving being manually entered from user, correspondingly to couple and to detach, such as user unlocks buckle or release Band.

Embodiment allows electric roller skating system to have there are two individually controllable roller skate, can with provide height to user Operability and agility.The independence of each roller skate can allow user easily and rapidly to be held with minimum turning circle Row turning.Skidding system advantageouslys allow for each roller skate to operate independently of one another, to allow the user of roller skate to have more Big degree of freedom.User can be for example allowed to pass through in difficult landform, landform using separable roller skate in this way Barrier or step.

As described above, the multiple motor for providing the rotation for controlling wheel arrangement provide the increasing of power distribution efficiency Be subject to and control wheel arrangement movement efficiency raising.

Each electric roller blades further include battery unit 170, which is suitable at least providing to electronic device Electric power, and optionally also electric power is provided to balance control system.

In the present embodiment, wheel arrangement (that is, single wheel) is positioned directly in below platform, i.e., below sole.At it In his embodiment, single wheel can be positioned at the side (for example, being connected to the left or right side of platform) of platform.At other In embodiment, wheel alignment is in the notch of platform so that terrace part covers the side of wheel.The foot of user can be by putting down Platform is supported on any position relative to wheel arrangement, for example, the foot of user can be positioned at the left side of platform, and take turns Sub-device is located in the right side of platform.To those skilled in the art, foot of the wheel arrangement relative to platform and user Other positions will be apparent.

It will be clear that platform is suitable for rotating around wheel arrangement, revolved especially around the pivotal point limited by wheel arrangement Turn.

Currently, the first and second motor of electronic device are respectively positioned at the front-end and back-end of electric roller blades (i.e. It is located in the front-end and back-end of roller skate so that the toe-cap of a motor towards electric roller blades positions, and another is electronic The heel of machine towards roller skate positions).Since the distribution of weight of electronic device passes through electric roller blades, this allows electric roller skating The self-balancing of shoes is more prone to.

Conceivably, electronic device can be positioned towards the same end of electrical equipment.For example, this can be used for balancing determining Battery unit of the position in electric roller blades opposite end.

In embodiment, electronic device is mounted on the lower surface of platform.In other embodiments, electronic device holds It is contained in platform or above platform.

Fig. 2 schematically depicts electric roller skating system 2 according to the second embodiment of the present invention.Electric roller skating system packet Include the first electric roller blades 200 and the second electric roller blades 290.

In embodiment in front, each electric roller blades include the corresponding platform 205 for being suitable for supporting the foot of user.

Similarly, each electric roller blades include electronic device, which, which has, is suitable for driving wheel device 230 the first motor 210 and the second motor 220.Wheel arrangement includes the first wheel 235 and Second wheel 236.The first round Son is connected or is linked together by single wheel shaft 237, axis or differential mechanism with Second wheel so that the first wheel and Second wheel It rotates together each other.That is, when the first wheel rotates, Second wheel rotation.

Here, the position restriction of single wheel shaft 237 position of pivotal point, platform 205 can surround the pivotal point before Rear direction rotates.Therefore, each wheel of wheel arrangement, which encloses the axis rotated about, can limit the position of pivotal point.Wheel by This can be positioned side by side along the axis for limiting pivotal point.

First and second motor (i.e. electronic device) are suitable for that the first and second wheels is made to rotate together.In other words, First and second motor drive the first and second wheels for example, by rotating the engaging mechanism on single wheel shaft 237 together, So that the first and second wheels are by the first and second Motor Controls.Therefore, the first and second wheels are not independent each other.

As previously mentioned, balance control system 240 is suitable for by controlling electronic device (the first motor 210 and the second electricity Motivation 220) keep the platform 205 around the anterior-posterior balance of the wheel arrangement 230 of electric roller blades 200, to control the together Driving or the rotating speed of one wheel 235 and Second wheel 236.

Multiple motor are provided in this way and advantageously allow for a degree of redundancy in electric roller skating system so that such as Fruit single electric motor failure, electric roller blades still can be run.In addition, multiple motor of each electric roller blades also provide The raising of the efficiency of increase and the control wheel arrangement movement of the efficiency of power distribution.

The setting for the multiple wheels being located in single axis provides the undesirable left and right (such as left or right) of reduction and inclines The advantages of oblique possibility so that user is less likely to fall or trip to side.

Fig. 3 schematically depicts electric roller skating system 3 according to the third embodiment of the invention.Electric roller skating system packet Include the first electric roller blades 300 and the second electric roller blades 390.

In embodiment in front, each electric roller blades include the corresponding platform 305 for being suitable for supporting the foot of user. As previously mentioned, platform can surround wheel arrangement and at least along the longitudinal direction relative to ground inclination.

Similarly, each electric roller blades include the motor dress with the first motor 310 and the second motor 320 It sets.

However, in the present embodiment, wheel arrangement 330 includes the first wheel 331 and Second wheel 332, each wheel is suitable In rotation independent of one another.So that it takes up a position, for example, each wheel can be positioned on individual wheel shaft so that the rotation of the first wheel Turn not influencing the rotation of Second wheel.

First and second wheels 331,332 are located on single axis 33X so that wheel be suitable for it is positioned side by side each other, make Them are obtained all to orient in a same direction and and come in uniline.In other words, each wheel is all along the identical (imagination ) axis positioning.This advantageouslys allow for the platform of each electric roller blades to be easy imbalance, because it will become apparent that, platform It can easily surround and be rotated by the single axis that wheel limits.

Single axis defines that the platform of electric roller blades can enclose the single pivotal point rotated about.Particularly, individually Axis is the axis that each respective wheel rotates about.

In embodiment, each wheel is no wheel shaft, but still can for example be positioned on the same axis.

It should be understood that single axis is intended to refer to the single axis when corresponding roller skate viewed from above so that Wherein wheel has been tilted so that the wheel shaft of wheel roller skate no longer in alignment is still considered as its wheel in same list On a axis (for example, if the first and second wheels are tilted in response to turning action).Similarly, when static, when the first He When Second wheel has wheel shaft, the wheel shaft of the first and second wheels can be substantially each other in a straight line.That is, when not having When carrying out trial sloping platform, these wheel shafts may be considered that form single virtual wheel shaft.It is to be further understood that working as wheel simultaneously When row's alignment, wheel is considered as on the same axis, adjacent to each other because corresponding roller skate on level ground only Edge moves forward or only in a rearwardly direction.

It should be appreciated that single axis is intended to extend to the other side of roller skate (that is, along larboard and the right side from the side of roller skate Side of a ship direction) so that axis is not aligned on the front-rear direction of roller skate.In other words, axis usually crosses over the width of platform, and It is not along length.

First motor is suitable for the first wheel of driving, and the second motor is suitable for driving Second wheel.In other words, often A wheel is all associated with corresponding motor so that each wheel can independently be rotated by corresponding motor.

It will therefore be apparent that in embodiment, the first and second wheels can with independent control (relative to speed, torque with And RPM etc.), there is corresponding independent suspension, and may tilt independently of one another.Similarly, this allows different wheels It rotates at different rates.

As previously mentioned, electronic device is suitable for being controlled by balance control system 340, will pass through the wheel of control wheel sub-device Son rotates to keep the anterior-posterior balance of platform.In other words, balance control system is suitable for controlling the self-movement of the first wheel With the self-movement of Second wheel, so as to the platform of balance electric roller skate.

It provides in this way and improved turning is advantageouslyed allow for by the rotatable wheel of independence of corresponding Motor Control Circle and improved control.For example, during cornering operation, the first wheel can be rotated with First Speed, and Second wheel can With with different second speed rotations.For example, if First Speed is more than second speed, electric roller blades will be along Second wheel Direction rotates.

In other words, different wheels may be adapted to rotate at different rates.Conceivably, each electric roller blades can To be considered operating in different modes, including at least one " normally travel " pattern, wherein the wheel of electric roller blades is with identical Speed rotate together, and a kind of " turning driving pattern ", the wherein wheel of electric roller blades rotate at different rates with Just electric roller blades are made to rotate.

In such embodiments, each electric roller blades can be guided through torque suspension or speed guides.

In some embodiments, the first wheel 310 is associated with the first draft hitch, Second wheel 320 and the second suspension Device is associated so that each wheel has the independent suspension system of their own.This can allow for example single wheel to cross barrier Hinder object without influencing another wheel in wheel arrangement.First and second draft hitch can respectively include spring or it is other The damping mechanism known.

In some embodiments, the platform 305 of each electric roller blades is suitable for tilting in left-right direction, that is, can be along larboard It is tilted towards the side of platform with starboard direction.It is obvious, therefore, that in such embodiments, platform can be at least four It is tilted on direction：Forwardly and rearwardly (i.e. before and after) and to side (i.e. left and right) both direction.Balance control system can be with Be adapted to determine that it is this tilt, and determine that user is intended to execute cornering operation or needs turning motion.Based on this left and right (that is, being tilted to side in response to user) is tilted, each electric roller blades can execute cornering operation, to rotate user The direction faced.Preferably, platform is adapted so that platform can free inclination (such as diagonal) in any direction.It is this Diagonal can for example indicate to travel forward and divertical motion.This sloping platform is in any embodiment described herein It is achievable.Certainly, it will be understood that, user tilts such platform and indicates the inclined intention of user.

It in other embodiments, can there are one be located in pressure sensor systems on foot platform, the pressure sensor System is adapted to determine that the banking motion of user, indicates tilting for the intention of platform.Balance control system can be similarly It generates instruction and executes the signal that cornering operation is intended to, and each electric roller blades can be based on the signal and execute cornering operation. In other words, each electric roller blades may be adapted to detect when people attempts platform tilting to the other side (still, example from side Such as, platform cannot execute this inclination), and based on the intention detected or it is expected to generate signal.The embodiment can be advantageous Ground reduces the complexity for the sensing system that tilts, while user being still allowed for indicate to execute turning by tilting It is intended to or it is expected.

In one suchembodiment, platform 305, which is mounted on, is adapted to allow for platform along the inclined bullet at least four directions On spring.This advantageouslys allow for platform to be hung relative to wheel arrangement and/or ground, comfortable to increase riding for user Property.

In such embodiments, it may be special the first and second wheels to be associated with corresponding independent draft hitch It is not advantageous so that when user rests on platform (and at least one wheel is thus caused to tilt), two wheels still may be used Holding is contacted with ground, to be held against ground driving.

Balance control system may be adapted to the rotary speed for detecting the rotary speed and Second wheel of the first wheel, so as to school Quasi- electronic device so that wheel is rotated with speed appropriate, so as to keep corresponding electric roller blades platform balance.

In the above-described embodiments, the wheel of the wheel arrangement of electric roller blades is centrally located usually relative to front-rear direction (that is, being usually located at the center of roller skate).This advantageouslys allow for the efficiency of roller skate to increase, because platform is naturally more stablely Balance so that balance control system, which has, keeps the output needed for platform in balance to reduce.Certainly, wheel arrangement can be relative to flat Platform is located in from anywhere in electric roller blades.

Fig. 4 A depict the schematic diagram of the electric roller skating system 4 according to the fourth embodiment of present inventive concept.As in front Embodiment in, electric roller skating system include the first electric roller blades 400 and the second electric roller blades 490.Fig. 4 B depict root According to the side view of the first electric roller blades 400 of fourth embodiment.

In the usual manner, each electric roller blades include the platform 405 for being suitable for supporting the foot of user.With real with third A similar mode is applied, each electric roller blades include the motor dress with the first motor 410 and the second motor 420 It sets, each motor is suitable for driving single wheel, is the first wheel 431 and Second wheel 432 of wheel arrangement 430 respectively.

As previously mentioned, electronic device is suitable for being controlled by balance control system 440, will pass through the wheel of control wheel sub-device Son rotates to keep the anterior-posterior balance of platform.In other words, balance control system is suitable for controlling the self-movement of the first wheel With the self-movement of Second wheel, so as to the platform of balance electric roller skate.

However, in the present embodiment, the first wheel 431 and Second wheel 432 are oriented not to be located in same axis.It changes Sentence is talked about, and the first wheel and Second wheel are misaligned, with placed side by side.

However, the first wheel 431 and Second wheel 432 may be considered that substantially along same axis so that they after The continuous platform that limits encloses the single pivotal point rotated about.

For example, wheel can be offset from one another, to consider the natural equilibrium of user or the natural shape of foot.So And, it will be understood that, at least due to the natural shape of foot or the balance of user, wheel arrangement continues to serve as platform can be around Its single pivotal point rotated.

As previously mentioned, the wheel of each corresponding roller skate can be associated with corresponding suspension, it is each to allow Wheel holding is contacted with ground.When skater passes through rugged or uneven landform, this may be particularly advantageous.

In some embodiments, may be adapted to will be about each electric roller skating for each electric roller blades of electric roller skating system The information of shoes passes to another electric roller blades of electric roller skating system.The information can be each electronic for example, by being mounted on Communication device in roller skate transmits.For example, the information about electric roller blades can be by being suitable for generating corresponding electric roller skating The control sensor of current or history control parameter the instruction of shoes generates.For example, the information of transmission may include with It is at least one of lower it is associated any one or more control parameter：The speed of corresponding roller skate；Corresponding roller skate Remaining battery power (for example, in battery unit of corresponding roller skate)；To the distance (example of another roller skate of skidding system Such as by signal strength between roller skate or be directed toward the proximity sensor of another roller skate and measure)；Corresponding roller skate Platform in balance instruction；The orientation (for example, relative to gravity or ground) of corresponding roller skate；The intention of corresponding roller skate uses Instruction (for example, user whether be intended to stop, start or pause roller skate use or user whether wish to execute turning Operation etc.), the wind speed in roller skate；The acceleration of corresponding roller skate；The torque applied by the electronic device of corresponding roller skate； With the present output power of electronic device (that is, be output to wheel arrangement power how many).

In at least one embodiment, the balance control system of each roller skate is suitable for determining control electricity in which way The information about electric roller blades generated and/or reception is considered when motivation device.For example, if the first roller skate indicates The intention of turning, then the information can pass to the second roller skate so that the balance control system of the second roller skate can determine Cornering operation is executed with the second roller skate.In another example, if the first skidding indicates the battery capacity of the first roller skate Low, then the second roller skate can be adjusted the driving of electronic device to maximum permission speed.

In embodiment, electric roller skating system includes with the first motor for being suitable for driving the first wheel and suitable for driving First roller skate of the second motor of Second wheel, the first motor and the first wheel are taken turns independently of the second motor and second Son.Electric roller skating system further includes the second roller skate, has and is suitable for driving third round (associated with the second roller skate) Third motor；With the 4th motor suitable for driving fourth wheel (associated with the second roller skate).In response to by the first He The turning action (such as being tilted in response to user) of at least one of second roller skate instruction, the first motor is with the first speed Degree the first wheel of driving, the second motor drive Second wheel, third motor to drive third with third speed with second speed Wheel, the 4th motor drives fourth wheel with fourth speed, wherein the first, second, third and fourth speed is different from each other.Cause This, for example, if first wheel is leftmost wheel, and four wheels are the wheels of rightmost (relative to making User), response turns left to operate, and first wheel can rotate slower than four wheels.In one embodiment, about One and second the information of intention of roller skate can be transmitted between the first and second roller skates via corresponding communication equipment, with Just the corresponding speed of control wheel is to allow to control cornering operation.

Although the above embodiment describe that there are two the roller skates of motor and one or two wheel for tool, but will become Any number of motor and wheel are incorporated in corresponding roller skate it is evident that idea of the invention can expand to.Only For example, may include three motor and two wheels according to the electric roller blades of the electric roller skating system of one embodiment Son, wherein wheel may be adapted to rotate relative to each other individually or together.At other it is contemplated that embodiment in, Ke Yiti For three motor and three wheels, wherein each wheel is independently rotated relative to other wheels, and with it is single corresponding electric Motivation is associated.In other embodiments, three motor and three wheels can be provided, wherein the first wheel is only electric with first Motivation is associated, and wherein second and third round be associated with corresponding second and third motor, wherein the first wheel With the first motor independently of second and third motor and wheel, but wherein second and third round rotate together so that Second and third Motor Control second and third round rotation.

The electronic device of the electric roller blades of electric roller skating system may include the additional electrical suitable for driving wheel device Motivation (i.e. more than two).The increase of motor quantity can allow the bigger speed of electric roller blades, increased redundancy, right Wheel arrangement improvement control, allow improve turning circle more independent wheels (for example) and/or allow motor have wait carrying The different optimum efficiency rotating speeds supplied.

In at least one conceivable embodiment, electronic device may include multiple electricity suitable for driving wheel device Motivation, wherein electronic device can be based on electric roller blades feature (such as RPM needed for battery capacity, speed, wheel, Environment, wheel slip) switch between driving motor (motor currently driven).This can allow more effectively electronic Skidding system, wherein most suitable motor is in most suitable or reasonable time driving wheel device.In some cases, electronic The switching of machine can depend on the speed of equipment so that RPM or speed relative to wheel arrangement have closest or most effective The motor of associated RPM can be used for driving wheel device.

In some conceivable embodiments, the electronic device of each electric roller blades can only include being suitable for driving wheel The single electric motor of sub-device.This system will provide independently operable roller skate, and continue as user and provide bigger Degree of freedom.In some such embodiments, each roller skate may include more than one wheel, and each wheel is by can The differential mechanism of control connects, to control the rotation of each wheel, so as to allow to control electric roller skating system turning circle (for example, Wheel is rotated at different rates by controlling differential mechanism).This differential mechanism may include controllable transmission system, for example, with Just allow the rotating ratio for selecting more than one wheel.

It should be readily understood that in the above-described embodiments, one or more wheels of wheel arrangement can be positioned at The side of foot platform, be mounted below foot platform and embedded foot platform in etc..

The respective foot of user can be relative to before and after roller skate relative to the orientation of the respective foot platform of roller skate Any direction in direction.For example, with reference to single roller skate, user can with the front-rear direction of his foot and foot platform at One straight line is stood so that tilting forward and backward for user makes foot platform uneven along the longitudinal direction respectively.In other implementations In example, the foot of user can be positioned perpendicular to the front-rear direction of corresponding roller skate so that tilting for user can make Roller skate is uneven along the longitudinal direction.

In at least one embodiment, a pair of of electric roller blades are suitable for connecting to each other to form single device.In other words, First roller skate with physical connection or can be connected to the second roller skate.When connecting, each roller skate remains able to each other It is individually tilted.In other such embodiments, roller skate can be limited, can only to tilt together each other so that When the foot platform inclination of the first roller skate, the foot platform of the second roller skate correspondingly tilts.It will become apparent that this is to electricity Dynamic roller skate can be releasably coupled together so that they can be as independent roller skate or as single combination Equipment.

Certainly, in other embodiments, a kind of electric roller skating system can be provided, which includes that a pair is unsuitable for connecting Electric roller blades together so that electric roller blades can only physically independently of one another.

In the above-described embodiments, at least one wheel of wheel arrangement can be positioned directly in below platform, i.e., under sole Side.In other embodiments, wheel can be positioned at the side (for example, being connected to the side of platform) of platform.In other realities It applies in example, wheel alignment is in the notch of platform so that terrace part covers the side of wheel.It is conceivable to be, in the present invention One embodiment in, may be implemented for wheel any of above position (that is, below the platform of corresponding roller skate, side, Near or within).It will become apparent that at least one wheel can for example be put down with what is limited by pivotal point (i.e. wheel arrangement) The rotation axis of platform is in line.

In other cases, the first wheel can be positioned towards the forward direction of platform or the direction of front, and Second wheel can be with It is positioned towards the backward of platform or more rearwardly direction.Only for example, wheel, which can be in alignment with each other, positions or is offset from one another. This stability that can allow to increase electric roller blades improves cornering ability.

In this case, it is, for example, possible to use the first gyroscope is calculated relative to the first wheel (towards electric roller skating The forward location of shoes) along the balance of forward direction, and the balance (example relative to Second wheel along backward direction can be calculated Such as, pass through the second gyroscope).In other words, balance control system can detect before the first wheel edge of more front to side Upward trial rotation, and the trial rotation around Second wheel more backward in backward directions can also be detected.This can To allow pending balance along the longitudinal direction.

As at least with reference to shown in Fig. 5 A-5C, in one embodiment, included the Electric Motor Wheel of platform 105 and wheel arrangement 130 Sliding shoes 100, which may further include, at least one to be suitable for packing up holder 501 by what platform 105 was connected to ground.

As shown in Figure 5A, can pack up holder can at least pack up or retracted position/configuration and expanded position/configuration between Movement, pack up or retracted position/configuration in, it is not in contact with the ground to pack up holder, and as shown in figs. 5 b and 5 c, is being unfolded In position/configuration, holder can be packed up closer to ground.When in stowed configuration, when holder may be than being in deployed configuration more Close to platform.Particularly, when in display position, can pack up holder can from platform 105 extend at least with wheel arrangement 135 Identical distance.

Therefore, when in display position, can pack up holder can be restricted or prevented platform 105 around wheel arrangement 135 Tilt forward and back or tilt, however when in stowed position, can pack up holder can allow platform 105 to surround wheel arrangement 135 tilt forward and back or deflection.

Holder 501, which can be packed up, to be connected to platform by rotating element 502.Rotating element 502 can by control (such as Pass through motor), holder can be packed up to raise and reduce so that can pack up holder can relative to surface controllable position. Rotating element 502 can control the position that can pack up holder 501 relative to platform 105.Particularly, can pack up holder can be along One direction rotates to be reduced relative to platform, and is rotated along opposite second direction to be increased relative to platform.

Holder can be packed up it is possible thereby to be operated in a manner of similar to undercarriage or undercarriage wheel.

In other embodiments, it can pack up that holder can (such as worm-drive or pneumatic/hydraulic pressure cause by linear actuators Dynamic device) it is connected to platform, to be raised and reduced by linear actuators.Linear actuators is it is possible thereby to which holder can be packed up by controlling 501 position and/or movement relative to platform 105.

Electric roller blades may include multiple packing up holder.For example, electric roller blades 100 may include that first can pack up Holder 501 and second can pack up holder.

In a particular embodiment, when it is described it is at least one pack up holder and be in deployed configuration when, electric roller blades make User can be connected to ground and by that can pack up holder support.In this configuration, user can use electric roller blades with Usual manner is walked.Therefore, when in deployed configuration, electric roller blades can be similar to shoes or platform shoes, to allow to make User is walked or is run using electric roller blades.

Fig. 5 C show electric roller blades 100 along axis X₁-X₂Side view, wherein at least one can pack up at holder In deployed configuration.Holder 501, which can be packed up, can be shaped generally as the shape of a hoof or C fonts.This will be limited before and after electric roller blades It tilts and tilts, while using minimum material.This can advantageously mitigate the weight of roller skate, and for roller skate its His component provides the volume or surface area of bigger.

At least one configuration for packing up holder can be controlled for example by bracket control system (not shown).Holder control System processed may be adapted to receive user input signal (for example, coming from sports equipment) and based on user's input signal determine to A few configuration that can pack up holder.Therefore, can pack up holder can be inputted based on user and be raised and lowered.

In another example, bracket control system may be adapted to determine that user is intended to, and be intended to determine based on user At least one configuration for packing up holder.Bracket control system can be based on from being adapted to determine that the one or more of user's feature At least one signal and be suitable for dividing that a sensor (for example, proximity sensor, pressure sensor, temperature sensor etc.) receives Analysis received signal so as to determine user be intended to algorithm come determine user be intended to.It can be user that user, which is intended to, is It is no or how to intend installation, operation or dismounting electric roller blades 100 in one.For example, pressure sensor may be adapted to determine When the pressure of foot from user is removed from roller skate, this can indicate the intention of dismounting roller skate.

In yet another example, bracket control system may be adapted to control based on the feature of user or electric roller blades At least one configuration for packing up holder.For example, when speed drops to predetermined amount or less, bracket control system can be certainly Dynamic expansion is at least one to pack up holder.Other features may include：Time after electric roller blades energization；Whether two are mounted with The instruction of a roller skate；Coupling arrangement whether the instruction engaged with user；The level of skill of user；The body of user Test level etc..

At least one charge connector packed up holder and may be used as electric roller blades.That is, branch can be packed up Frame may be adapted to the charging terminal that the battery of electric roller blades is electrically connected to electric roller blades.For example, when being in the deployed When, holder can be packed up and may be adapted to couple with electric terminal, and is conductive to charge to the battery unit of electric roller blades.It can pack up Holder is it is possible thereby to include conductive material.

Preferably, wheel arrangement is positioned to the center of the power received with platform in line.This power received by platform Can be that user is applied to the strong combined vectors in roller skate by gravity, centripetal force etc..Therefore, wheel arrangement It may be adapted to provide and be applied to the power (for example, at least due to weight or quality of user) of foot platform at one with the foot of user The single pivotal point of straight line.

In at least one embodiment, wheel arrangement is adjustable relative to the position of platform so that wheel arrangement can To reposition.This can for example be executed in response to the user detected about the distribution of weight of platform automatically.Particularly, Platform is set foot on for the first time in response to user, it can be with the position of adjust automatically wheel arrangement, in view of the weight of user point Cloth and/or standing place.For example, if user stands on tiptoe, point is stood, and wheel arrangement can be positioned substantially at use Below person's toe.

In one example, in response to user's mounting platform, wheel arrangement can be positioned, to be located in single pivot It is applied at the position of turning point under the strong combined vectors on platform, such as gravity or centripetal force.Therefore, if used Person only stands in single roller skate, and the gravity of user is the unique power acted on platform, then wheel arrangement can determine Position is under the center of gravity of user or aligns.

The position of wheel arrangement can for example be adjusted by wheel arrangement positioning device.Wheel arrangement positioning device can be with It is for example suitable for moving wheel arrangement along track.The actuator of wheel arrangement positioning device, such as worm drive or pneumatic/liquid Hydraulic actuator can reposition wheel arrangement relative to foot platform.Therefore, the platform that can adjust electric roller blades is suitable for enclosing The position of the single pivotal point rotated about.

It the position of wheel arrangement being locked after a predetermined period of time for example after user has installed roller skate It is fixed.This anterior-posterior balance that will then allow for balance control system that platform is kept to surround wheel arrangement.

Electric roller blades may include additional wheel.For example, this additional wheel can be less than single wheel arrangement Wheel.Additional wheel can be positioned at the front end or rear end of electric roller blades, for example to forbid electric roller blades around wheel The rotation of sub-device is more than predetermined amount.It should be appreciated that at least when electric roller blades move, wheel arrangement can be by Electric Motor Wheel The platform of sliding shoes is connected to the sole component on ground.

Other modifications of the disclosed embodiments can be by those skilled in the art in putting into practice invention claimed Understood according to the research to attached drawing, disclosure and appended claims and is realized.In the claims, word " including (comprising) " be not excluded for other element or steps, and indefinite article " one (a) " or " one (an) " be not excluded for it is more It is a.The function of several described in claim may be implemented in single processor or other units.Only mutually different The combination that the fact that certain measures are described in dependent claims is not offered as these measures can not be advantageously used.Right Any reference marker in it is required that should not be construed as limited to the range.The mesh that these attached drawings are merely to illustrate that is provided , it is not necessarily drawn to scale.Term " connection " or " connection " should not be construed as meaning that directly connection or connection, and And this connection feature can be for example by connecting another element connection between them.

Claims (23)

1. a kind of electric roller blades for single foot, the electric roller blades include：

Platform, the platform are suitable for supporting single foot of user；

Coupling arrangement, the coupling arrangement are suitable for the foot of user being connected to the platform；

Single wheel arrangement, the single wheel arrangement include at least one wheel, wherein each at least one wheel arrangement at So that the wheel arrangement forms single pivotal point, the platform can along the longitudinal direction be tilted around the single pivotal point；

Electronic device, the electronic device are suitable for driving at least one wheel；With

Balance control system, the anterior-posterior balance that the balance control system is suitable for that the platform is kept to surround the wheel arrangement.

2. electric roller blades according to claim 1, wherein the electronic device includes：

First motor, first motor are suitable for driving at least one wheel of the wheel arrangement；With

Second motor, second motor are suitable for driving at least one wheel of the wheel arrangement.

3. electric roller blades according to claim 2, wherein：

The wheel arrangement includes multiple wheels；

First motor is suitable for driving the first wheel of the multiple wheel；With

Second motor is suitable for driving the Second wheel of the multiple wheel,

Wherein described first motor and first wheel are independently of second motor and the Second wheel.

4. electric roller blades according to claim 3, wherein for each electric roller blades, during cornering operation：

First motor drives first wheel with First Speed；With

Second motor drives the Second wheel with different second speeds.

5. according to the electric roller blades described in any one of claim 2-4, wherein first motor and second electricity Motivation is suitable for driving at least one wheel using band or chain.

6. electric roller blades according to claim 5, wherein first motor and second motor it is corresponding Rotation output has smaller than the input interface by corresponding first motor and the wheel of second motor drive Diameter.

7. electric roller blades according to any preceding claims further include being suitable at least stowed configuration and expanded position Under it is operable pack up holder, wherein when in the deployed configuration, the holder of packing up is not close to the platform.

Further include battery unit mounted thereto, the electricity 8. electric roller blades according to any preceding claims Pool unit is suitable at least providing electric power to corresponding electronic device.

9. electric roller blades according to claim 8, wherein the battery unit is connected to the platform.

10. electric roller blades according to any preceding claims further include sensor device, the sensor device is suitable In tilt instruction of the detection from user, and instruction is generated based on the detected instruction that tilts and executes turning behaviour Make the signal being intended to.

11. electric roller blades according to any preceding claims are further adapted for generation and at least indicate the electric roller blades Current or history control parameter control signal.

12. electric roller blades according to claim 11, wherein the control signal designation at least one of the following： The speed of the roller skate；The remaining battery power of the roller skate；To the distance of another roller skate；The institute of the roller skate State the instruction of the balance of platform；The orientation of the roller skate；The instruction that the expection of the roller skate uses, in the roller skate Wind speed；The acceleration of the roller skate；The torque applied by the electronic device of the roller skate；With the motor The present output power of device.

Further include being suitable for transmitting the control signal 13. according to the electric roller blades described in any one of claim 11 or 12 Communication device.

14. electric roller blades according to claim 13, wherein the communication device is further adapted for receiving by another Electric Motor Wheel The control signal of sliding shoes transmission.

15. electric roller blades according to claim 14 further include processing unit, the processing unit is suitable for：

Obtain the control signal received；

Balanced signal is obtained from the balance control system；With

The electronic device is at least controlled to drive the wheel based on the control signal and the balanced signal that receive Device；

The wherein described balance control system is suitable for the anterior-posterior balance level based on the platform and generates the balanced signal.

16. electric roller blades according to any preceding claims, wherein the roller skate relative to gravity orientation not Influence the operation of the balance control system.

17. electric roller blades according to any preceding claims, wherein the balance control system is suitable in the list The strong combined vectors of the roller skate are remained applied at the position of a pivotal point.

18. electric roller blades according to any preceding claims further include being suitable at least stowed configuration and expansion position Set down it is operable pack up holder, wherein when in the deployed configuration, the holder of packing up is not close to the platform.

19. electric roller blades according to any preceding claims, further include be suitable for adjusting the wheel arrangement relative to The wheel arrangement positioning system of the position of the foot platform.

20. a kind of power driven system, the power driven system include：

First electric roller blades according to any preceding claims；With

Second electric roller blades according to any preceding claims.

21. power driven system according to claim 19, wherein the electronic device of first roller skate includes：

First motor, first motor are suitable for driving the first wheel of the wheel arrangement of first roller skate；

Second motor, second motor are suitable for driving the Second wheel of the wheel arrangement of first roller skate, First motor and first wheel independently of second motor and the Second wheel,

And the electronic device of wherein described second roller skate includes：

Third motor, the third motor are suitable for driving the first wheel of the wheel arrangement of second roller skate；

4th motor, the 4th motor are suitable for driving the Second wheel of the wheel arrangement of second roller skate,

Wherein, during cornering operation, first motor drives described the first of first roller skate with First Speed Wheel, second motor drive the Second wheel of first roller skate, the third motor with second speed First wheel of second roller skate and the 4th motor is driven to drive institute with fourth speed with third speed The Second wheel of the second roller skate is stated,

The wherein described First Speed, the second speed, the third speed and the fourth speed are different from each other.

22. according to the power driven system described in any one of claim 19 or 20, wherein if first electric roller blades exist It is uneven in front direction, and second electric roller blades are uneven in rear direction, then and the power driven system generates instruction Execute the signal of the intention of cornering operation.

23. according to the power driven system described in any one of claim 19-21, wherein first roller skate and described second Roller skate is adapted to be releasably connected to together, to form individual unit.