WO2019019211A1 - 轮滑装置 - Google Patents

轮滑装置 Download PDF

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Publication number
WO2019019211A1
WO2019019211A1 PCT/CN2017/095726 CN2017095726W WO2019019211A1 WO 2019019211 A1 WO2019019211 A1 WO 2019019211A1 CN 2017095726 W CN2017095726 W CN 2017095726W WO 2019019211 A1 WO2019019211 A1 WO 2019019211A1
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WO
WIPO (PCT)
Prior art keywords
pedal
grounding
driving
roller
controller
Prior art date
Application number
PCT/CN2017/095726
Other languages
English (en)
French (fr)
Inventor
陈中元
伊布拉欣
嵇鑫健
涂斌
Original Assignee
纳恩博（北京）科技有限公司
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by 纳恩博（北京）科技有限公司 filed Critical 纳恩博（北京）科技有限公司
Publication of WO2019019211A1 publication Critical patent/WO2019019211A1/zh

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/04—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/0093—Mechanisms transforming leaning into steering through an inclined geometrical axis, e.g. truck
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/01—Skateboards
    • A63C17/011—Skateboards with steering mechanisms
    • A63C17/012—Skateboards with steering mechanisms with a truck, i.e. with steering mechanism comprising an inclined geometrical axis to convert lateral tilting of the board in steering of the wheel axis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/01—Skateboards
    • A63C17/014—Wheel arrangements
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/22—Wheels for roller skates
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/26—Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices

Definitions

  • the embodiments of the present application relate to the technical field of roller skating or traveling tools, and in particular, to a roller skating device.
  • roller skates can be mainly divided into speed type and control type.
  • the structure of these two types of roller shoes is basically the same, including the shoe body and the wheel frame mounted on the sole and several rollers.
  • the difference is that the number, size and arrangement of the rollers may vary depending on the purpose of use. In the process of use, it is driven by the operator's manpower, such as sliding through the pedaling action, so that there are certain limitations. It is easy to cause fatigue when used for a long time.
  • standing on the roller skates should be maintained. Balanced, the operator's requirements are higher, which ultimately leads to a poor user experience for the roller skates.
  • one of the technical problems solved by the embodiments of the present application is to provide a skating device for overcoming or relieving the above technical deficiencies in the prior art.
  • An embodiment of the present application provides a roller skating device including: a pedal, a grounding element, a first sensor, a driving component, and a first controller, the pedal being coupled to the first sensor and the grounding component, the grounding component Coupled to the driving component, the first controller is coupled to the first sensor and the driving component;
  • the pedal is adapted to be used for single point standing and for tilting forward or backward when standing at a single point;
  • the grounding element is for operating under the driving of the driving element
  • the first sensor is configured to sense a posture of a driver on the pedal
  • the driving element is configured to control the ground element action and maintain the position according to the posture generation An output signal in which the overall skating device is in an equilibrium state;
  • the first controller is for controlling an output signal of the driving element.
  • the pedal is coupled to the first sensor and the grounding component, the grounding component is coupled to the driving component, and the first controller is coupled to The first sensor and the drive element; wherein: the pedal is adapted for single point standing and for tilting forward or backward when standing at a single point; the grounding element is for the drive Acting under the driving of the component; the first sensor is for sensing the attitude of the driver on the pedal; the driving component is configured to generate an output signal for controlling the action of the grounding element and maintaining the overall state of the rollerating device in a balanced state
  • the first controller is configured to control the generation of the output signal according to the posture, thereby avoiding the human body to achieve physical fatigue caused by the sliding, and in addition, in the process of sliding, since the device itself can maintain the balance state, the operation
  • the user's operational skills are lower, which improves the user experience, in other words, provides a better skating device with a better user experience.
  • FIG. 1 is a schematic structural view showing the structure of a roller skating device according to Embodiment 1 of the present application;
  • FIG. 2 is a schematic structural view showing the structure of a roller skating device according to Embodiment 2 of the present application;
  • 3a and 3b are schematic diagrams and a second schematic structural diagram of a structure of a roller skating device according to Embodiment 3 of the present application;
  • 3c is a schematic view of a fixed base in the third embodiment of the present application.
  • FIG. 4 is a schematic structural view of a roller skating device in Embodiment 4 of the present application.
  • FIG. 5 is a schematic structural diagram of a specific implementation of a roller skating device according to Embodiment 5 of the present application.
  • FIG. 6 is a schematic structural diagram of a specific implementation of a roller skating device according to Embodiment 6 of the present application.
  • 7a and 7b are schematic structural diagrams and 2 of the structure of the roller skating device in the seventh embodiment of the present application.
  • Embodiment 8 is a partial schematic view of a roller skating device according to Embodiment 8 of the present application.
  • FIG. 9 is a schematic diagram of the control principle of the roller skating device in the ninth embodiment of the present application.
  • the pedal is coupled to the first sensor and the grounding component, the grounding component is coupled to the driving component, and the first controller is coupled to the first sensor and The driving element; wherein: the pedal is adapted to be used for single point standing, and is for tilting forward or backward when standing at a single point; the grounding element is for operating under the driving of the driving element;
  • the first sensor is configured to sense a posture of a driver on the pedal; the driving element is configured to generate an output signal that controls the action of the grounding element and maintains the overall condition of the roller bearing device in an equilibrium state; the first control The device is configured to control the generation of the output signal according to the posture, thereby avoiding the human body to achieve physical fatigue caused by the sliding.
  • the operator's operation skill is required. Low, thereby improving the user experience, in other words, providing a better skating device with a better user experience.
  • the first sensor is specifically configured to sense a posture of a driver on the pedal and generate pitch sensing data
  • the first controller is specifically configured to determine, according to the pitch sensing data.
  • the first controller when controlling an output signal of the drive element, specifically controls an output signal of the drive element by a desired pitch angle of the pedal and the current pitch angle, such as by a desired pitch angle of the pedal And an angular difference between the current pitch angles.
  • roller skating device is exemplified in the following in the form of a specific roller shoe.
  • the roller skating shoe is not the only implementation form of the roller skating device, and the above-mentioned roller skating device can also be made suitable for roller skating on the hand.
  • the grounding element is illustratively a wheel that is rolled under the drive of the drive element.
  • the rotational speed of the wheels is controlled to generate a rotational speed difference for controlling the steering.
  • the grounding element may also be a flat-like structural member that slides under the driving of the driving element.
  • the first sensor may specifically be a gyroscope, but is not limited to a gyroscope as long as the driver's attitude on the pedal can be sensed and pitch sensing data is generated. In the following embodiments, the first sensor is not illustrated.
  • the driving component is specifically a motor, but is not limited to a motor. As long as the grounding component can be driven to perform a specific application scenario.
  • the output signal of the drive element is the output torque of the drive element.
  • Embodiment 1 (a single grounding element):
  • FIG. 1 is a schematic structural diagram of a structure of a roller skating device according to Embodiment 1 of the present application; as shown in FIG. 1 , when the roller skating device is implemented in the specific product form of the roller skate, the roller skating shoe specifically includes the pedal 101, the grounding component 102, and the motor. (not shown in FIG. 1), a first controller (not shown in FIG. 1), the pedal 101 is adapted to stand on one foot, and the number of the grounding elements 102 is specifically one, that is, the driver passes through The skates have only one point of contact with the ground. Correspondingly, the number of the drive elements is one.
  • the drive element can be directly embedded in the hub of the grounding element 102, so that the overall structure of the roller skate is relatively compact.
  • the driving element may also be disposed in the hub of the grounding element 102 without being embedded, such as by a fixing seat or the like.
  • a similar structure is directly provided at a position below the pedal 101.
  • Embodiment 2 (two grounding elements 102a and 102b disposed at close distances)
  • FIG. 2 is a schematic structural diagram of a structure of a roller skating device according to Embodiment 2 of the present application; as shown in FIG. 2, in this embodiment, different from the first embodiment, the number of the grounding components is two, respectively grounded.
  • the lateral spacing between the elements 102a, 102b, the ground elements 102a, 102b is small, thereby achieving a position to be placed near the center of the pedal 101 such that the driver forms two points of contact with the ground through the roller skates, Thereby reducing the difficulty of using the roller skates.
  • the drive shaft (not shown in FIG. 2) of the driving element (not shown in FIG. 2) is disposed laterally, that is, perpendicular to the direction in which the roller shoes travel, and the two ends of the drive shaft are respectively disposed.
  • the grounding element 102a in which the driving element is embedded acts as a driving wheel during the traveling of the roller skate
  • the grounding element 102b in which the driving element is not embedded as a driven wheel, the driven wheel is in the driving wheel Driven under the rotation.
  • a motor may be separately disposed on the grounding elements 102a, 102b, so that the action of each grounding element can be separately controlled.
  • Embodiment 3 (two grounding elements 102a and 102b disposed at a long distance)
  • 3a and 3b are schematic diagrams and schematic diagrams showing a schematic structure of a structure of a roller skating device according to Embodiment 3 of the present application; as shown in FIG. 3a and FIG. 3b, in this embodiment, a grounding component is different from the above embodiment.
  • 102a, 102b are respectively disposed at positions close to the left and right side edges of the pedal 101, that is, the lateral distances between the two contact points formed on the ground are large, thereby further reducing the difficulty of using the roller shoes.
  • the grounding elements 102a, 102b share a motor, specifically, the driving shaft of the driving element is disposed laterally, that is, perpendicular to the direction in which the roller shoes travel, and the grounding member 102a is respectively disposed at two ends of the driving shaft.
  • the driving component is embedded in a hub of one of the grounding elements 102a, and is directly connected to the grounding component 102a through a transmission shaft, and is coupled to the grounding component 102b in which the driving component is not embedded.
  • the grounding element 102a in which the driving element is embedded acts as a driving wheel during the traveling of the roller skate, and the driving component is not embedded therein.
  • the grounding element 102b acts as a driven wheel that rotates under the driving of the driving wheel.
  • the number of the driving elements is two, and the grounding elements 102a, 102b are respectively configured with one of the driving elements, thereby achieving separate control of the rotational speed of the grounding elements 102a, 102b during normal travel.
  • the grounding elements 102a, 102b have the same rotational speed.
  • the axis of the grounding element is located below the pedal 101, and the grounding element as a whole is also located below the pedal 101.
  • a fixed base 100a As shown in FIG. 3b, further comprising: a fixed base 100a, the grounding elements 102a, 102b are coupled to the fixed base 100a, and the fixed base 100a is fixed to a lower surface of the pedal 101.
  • the grounding member 102a, 102b may be integrated with the fixed base 100a, and the fixed base 100a may be fixed to the lower surface of the pedal 101.
  • the fixed base 100a is fixed to the lower surface of the pedal in the horizontal direction.
  • the fixed base may also be fixed to the lower surface of the pedal in a vertical direction, and the fixed base is provided with a hole structure, and the drive shaft of the motor passes through the hole structure while One or a group of the grounding units are respectively coupled to both ends of the transmission shaft, so that the grounding element is integrally disposed under the pedal.
  • FIG. 3c is a schematic view of an alternative base in the third embodiment of the present application; as shown in Figure 3c, the ground points 102a, 102b are coupled to the lower surface of the pedal by a quick release structure 100b.
  • Embodiment 4 (two grounding elements 102a and 102b disposed at a long distance)
  • the axial center of the grounding elements 102a, 102b is located below the pedal 101. But partially protrudes upward from the pedal 101.
  • the pedal 101 in the above-described third embodiment is entirely moved downward, and a schematic structural view of the roller skating device in the fourth embodiment shown in FIG. 4 is obtained.
  • the number of the driving elements is two, and the grounding elements 102a, 102b are respectively configured with one of the driving elements, thereby achieving separate control of the rotational speed of the grounding elements 102a, 102b during normal travel.
  • the grounding elements 102a, 102b have the same rotational speed.
  • a roller skate as a roller skating device includes a grounding member 102, and the grounding member 102 is located at a center of the pedal 101, and A motor is disposed in the hub of the grounding element 102.
  • the drive shaft 103 of the motor is disposed in the hub, and the drive shaft 103 is disposed at the intermediate portion with a first bearing structure 104.
  • the bearing structure 104 is coupled to the grounding member 102 to drive the grounding member 102 to rotate.
  • a second bearing structure 105 may be respectively disposed at both ends of the transmission shaft, and the bearing structure at each end of the transmission shaft is coupled with the pedal 101, thereby integrally setting the motor and the transmission shaft under the pedal 101. position.
  • FIG. 6 is a schematic structural diagram of a specific implementation of a roller skating device according to Embodiment 6 of the present application; as shown in FIG.
  • the skating shoe as the skating device includes two grounding members, that is, grounding members 102a, 102b, which are respectively disposed at positions close to the left and right side edges of the pedal 101.
  • the grounding elements 102a, 102b are each provided with a motor.
  • the arrangement of the motor and the drive shaft can be referred to the embodiment shown in FIG.
  • the pedal 101 is not rectangular but has arcs at both ends.
  • FIG. 7a and 7b are schematic diagrams and 2 of the structure of the roller skating device in the seventh embodiment of the present application; referring to FIG. 7a and FIG. 7b, on the basis of the above embodiment of FIG. 1, a binding unit 108 is added, and the binding unit is added.
  • 108 is provided on the pedal for fixing a foot position or a foot up position of an individual using the roller skating device.
  • the restraining unit 108 is a structure having a fastening or locking buckle, and the foot position or the foot of the driver using the roller skating device is fixed by the fastening buckle or the locking buckle The upper position prevents the driver from falling off the roller skates.
  • the position of the foot is, for example, the position of the foot, and the position of the foot is, for example, an ankle or a calf.
  • the skating device further includes: a protective cover 109 for contacting the heel of the one foot standing on the pedal 101 to stabilize the one foot on the pedal during the skating process 101.
  • the specific shape of the protective cover may be curved to closely fit the heel of the foot to provide a stable support.
  • the restraint unit and the protective cover provide a firming action for the driver's foot in the rear position and the front position, thereby effectively preventing the driver from falling from the roller skate during the skating process.
  • a battery compartment 106 is further disposed, and the battery compartment 106 is provided with a battery pack 107, and the battery pack 107 is used for Drive components and other structures or circuits that require electrical power.
  • the pedal 101 has a hollow inner cavity in which the battery compartment 106 is disposed.
  • a battery pack 107 is disposed at a rear portion of a skating device as a roller skate, and specifically, for example, a battery compartment is disposed in a hollow of the protective cover 109. In the cavity, a battery pack is disposed in the battery compartment.
  • the driver sets the battery pack 107 on the body, and then passes the external power cord and the electric circuit or component in the roller skate.
  • the motor is connected.
  • FIG. 9 is a schematic diagram of a control principle of a roller skate device according to Embodiment 9 of the present application; as shown in FIG. 9, when the pedal is tilted forward or backward, the first controller is configured to use an expected pitch angle ⁇ according to the pedal.
  • An angular difference between the current pitch angle ⁇ generates a drive electrical signal to control the magnitude of the output torque of the drive element.
  • a drive electric signal is generated to control the output torque magnitude of the drive element based on the current pitch angular velocity ⁇ of the pedal and the angular difference ⁇ error between the desired pitch angle ⁇ * and the current pitch angle ⁇ .
  • the driving electrical signal is, for example, a driving voltage.
  • the first controller (also referred to as a balance controller) is, for example, a PID controller.
  • the skating device may further include a second controller (also referred to as a speed controller) for determining the expectation according to the current rotational speed V of the driving element and the set maximum rotational speed V * Pitch angle ⁇ *.
  • the second controller is also a PID controller, for example.
  • the traveling speed of the skating device is not limited to exceed the upper limit of the traveling speed.
  • the pitch angle ⁇ * is expected to be 0, and according to the angle difference ⁇ error , the first controller generates a driving electric signal according to the angle difference ⁇ error to control the output torque of the driving element and finally causes the The pedal is dynamically level.
  • the roller slide device may further comprise a second sensor for sensing the current rotational speed of the drive element.
  • the current pitch angular velocity may also be disregarded when generating the driving electrical signal.
  • the output signal of the driving component may also be in other forms, and the output torque is only illustrated in the embodiment, and the different driving components have different types of output signals.
  • the second controller may not be configured when determining the desired pitch angle, but the first controller is multiplexed.
  • a first controller can be used in accordance with the driving element and the current rotation speed V of the maximum speed V * is set to the desired pitch angle ⁇ * is determined, it may also be used according to the desired pitch angle ⁇ * and the pedal
  • the angular difference between the current pitch angles ⁇ generates a drive electrical signal to control the magnitude of the output torque of the drive element.
  • the second controller may also be multiplexed into the first controller. I.e., the second controller may be used in accordance with the driving element and the current rotation speed V of the maximum speed V * is set to the desired pitch angle ⁇ * is determined, it may also be used according to the desired pitch angle ⁇ * and the pedal The angular difference between the current pitch angles ⁇ generates a drive electrical signal to control the magnitude of the output torque of the drive element.
  • the roller skating device may further include a steering sensor and a third controller for sensing a driver's foot posture on the pedal.
  • the third controller is configured to control the actions of the two grounding elements according to the attitude to generate a speed difference for controlling the steering.
  • the steering sensor is configured to sense a driver's footstep gesture on the pedal to generate steering sensing data
  • the third controller is configured to generate a steering control command according to the steering sensing data.
  • the actions of the two grounding elements are controlled to generate a speed difference for controlling steering.
  • controlling the operation of the two grounding elements it is specifically realized by controlling the output signal of the driving elements.
  • the steering sensor is a pressure sensor
  • the pressure sensor is configured to sense a driver's foot posture on the pedal and generate pressure sensing data.
  • the third controller is further configured to generate a steering control command based on the pressure sensing data to control an action of the two grounding elements to generate a speed difference for controlling steering.
  • the steering sensor is a steering shaft
  • the steering shaft is configured to sense a driver's foot posture at the roller skating device and generate torque sensing data
  • the third controller further And configured to generate a steering control command according to the torque sensing data to control an action of the two grounding elements to generate a speed difference for controlling steering.
  • the steering sensor is: a gyroscope, the gyroscope is configured to sense a driver's foot posture in the skating device and generate angular motion sensing data; the third control The controller is further configured to generate a steering control command based on the angular motion sensing data to control an action of the two grounding elements to generate a speed difference for controlling steering.
  • the first controller is multiplexed into a third controller.
  • the third controller may multiplex the first controller or the second controller, or if the third controller is separately added, The third controller may be multiplexed into the first controller or the second controller described above.
  • the motor is specifically a hub motor, but in other embodiments, the motor may also be a high speed motor.
  • the expression “include” or “may include” refers to the existence of the corresponding function, operation or element, and does not limit one or more additional functions, operations or elements.
  • terms such as “include” and / or “have” are understood to mean certain features, numbers, steps, operations, components, elements or combinations thereof, and are not to be construed as being excluded. The existence or additional possibility of one or more other characteristics, numbers, steps, operations, constituent elements, elements or combinations thereof.
  • the expression “A or B”, “at least one of A or / and B” or “one or more of A or / and B” may include all possible combinations of the listed items.
  • the expression “A or B”, “at least one of A and B” or “at least one of A or B” may include: (1) at least one A, (2) at least one B, or (3) at least One A and at least one B.
  • first, second, the first or “the second” as used in the various embodiments of the present disclosure may modify various components regardless of order and/or importance. , but these statements do not limit the corresponding components. The above statements are only used for the purpose of distinguishing components from other components.
  • the first user device and the second user device represent different user devices, although both are user devices.
  • a first element could be termed a second element, and a second element could be termed a first element, without departing from the scope of the disclosure.
  • an element eg., a first element
  • another element e.g., a second element
  • An element e.g., a second element or “connected to” another element (e.g., a second element) is understood to mean that the one element is directly connected to the other element or the one element is via the other element (e.g., The third component is indirectly connected to the other component. Rather, it will be understood that when an element (e.g., a first element) is referred to as “directly connected” or “directly connected” to another element (the second element), then no element (e.g., the third element) is inserted in either Between the people.
  • a device for may mean that the device is “capable of” with other devices or components.
  • a processor suitable for (or for) executing A, B, and C may mean a dedicated processor (eg, an embedded processor) for performing only the corresponding operations or may be stored in the storage device by execution.
  • a general purpose processor eg, a central processing unit (CPU) or an application processor (AP) in which one or more software programs perform corresponding operations.
  • the device embodiments described above are merely illustrative, wherein the modules described as separate components may or may not be physically separate, and the components displayed as modules may or may not be physical modules, ie may be located A place, or it can be distributed to multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without deliberate labor.

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Abstract

一种轮滑装置，其包括：踏板(101)、接地元件(102)、第一传感器、驱动元件、第一控制器，所述踏板(101)耦合于所述第一传感器和所述接地元件(102)，所述接地元件(102)耦接于所述驱动元件，所述第一控制器耦接于所述第一传感器和所述驱动元件；其中：所述踏板(101)适用于单点站立，且用于在单点站立时可向前或者向后倾斜；所述接地元件(102)用于在所述驱动元件的驱动下动作；所述第一传感器用于感应驾驶者在所述踏板(101)上的姿态；所述驱动元件用于生成控制所述接地元件动作(102)以及维持所述轮滑装置整体处于平衡状态的输出信号；所述第一控制器用于根据所述姿态控制所述输出信号的生成，从而提供了一种用户体验更好的轮滑装置。

Description

轮滑装置
本申请要求在2017年7月27日提交中国专利局、申请号为201710626491.4、发明名称为“轮滑装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及轮滑或者代步工具技术领域，尤其涉及一种轮滑装置。
背景技术
轮滑鞋作为一种娱乐工具或者代步工具，主要可分为速度型、操控型，但是，这两类轮滑鞋的结构形式基本一致，包括鞋体和安装在鞋底的轮架以及若干个滚轮，所不同的是根据使用目的的不同，滚轮的数量、大小和排布会有一定的差异。使用过程中，均是靠操作者的人力驱动比如通过蹬踏动作实现滑行，从而存在一定的局限性长时间使用还是容易造成身体疲劳，另外，在滑行的过程中，站在轮滑鞋上要保持平衡，对操作者的要求较高，从而最终导致轮滑鞋的用户体验较差。
发明内容
有鉴于此，本申请实施例所解决的技术问题之一在于提供一种轮滑装置，用以克服或者缓解现有技术中上述技术缺陷。
本申请实施例提供一种轮滑装置，其包括：踏板、接地元件、第一传感器、驱动元件、第一控制器，所述踏板耦合于所述第一传感器和所述接地元件，所述接地元件耦接于所述驱动元件，所述第一控制器耦接于所述第一传感器和所述驱动元件；其中:
所述踏板用于适用于单点站立，且用于在单点站立时可向前或者向后倾斜；
所述接地元件用于在所述驱动元件的驱动下动作；
所述第一传感器用于感应驾驶者在所述踏板上的姿态；
所述驱动元件用于根据所述姿态生成控制所述接地元件动作以及维持所 述轮滑装置整体处于平衡状态的输出信号；
所述第一控制器用于控制所述驱动元件的输出信号。
由以上技术方案可见，本申请实施例中，由于所述踏板耦合于所述第一传感器和所述接地元件，所述接地元件耦接于所述驱动元件，所述第一控制器耦接于所述第一传感器和所述驱动元件；其中:所述踏板用于适用于单点站立，且用于在单点站立时可向前或者向后倾斜；所述接地元件用于在所述驱动元件的驱动下动作；所述第一传感器用于感应驾驶者在所述踏板上的姿态；所述驱动元件用于生成控制所述接地元件动作以及维持所述轮滑装置整体处于平衡状态的输出信号；所述第一控制器用于根据所述姿态控制所述输出信号的生成，从而避免了人力驱动实现滑行导致的身体疲劳，另外，在滑行的过程中，由于装置本身可以维持平衡状态，对操作者的操作技巧要求较低，从而提高了用户体验，换言之，整体上提供了一种用户体验更好的轮滑装置。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请实施例中记载的一些实施例，对于本领域普通技术人员来讲，还可以根据这些附图获得其他的附图。
图1为本申请实施例一中轮滑装置的结构简要结构示意图；
图2为本申请实施例二中轮滑装置的结构简要结构示意图；
图3a、图3b为本申请实施例三中轮滑装置的结构简要结构示意图之一和之二；
图3c为可替代本申请实施例三中固定基座的示意图；
图4为本申请实施例四中的轮滑装置简要结构示意图；
图5为本申请实施例五中轮滑装置的具体实现结构示意图；
图6为本申请实施例六中轮滑装置的具体实现结构示意图；
图7a、图7b为本申请实施例七中轮滑装置的结构示意图之一和之二；
图8为本申请实施例八中轮滑装置的局部示意图；
图9为本申请实施例九中轮滑装置的控制原理示意图。
具体实施方式
当然，实施本申请实施例的任一技术方案必不一定需要同时达到以上的所有优点。
为了使本领域的人员更好地理解本申请实施例中的技术方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请实施例一部分实施例，而不是全部的实施例。基于本申请实施例中的实施例，本领域普通技术人员所获得的所 有其他实施例，都应当属于本申请实施例保护的范围。
下面结合本申请实施例附图进一步说明本申请实施例具体实现。
本申请实施例中，由于所述踏板耦合于所述第一传感器和所述接地元件，所述接地元件耦接于所述驱动元件，所述第一控制器耦接于所述第一传感器和所述驱动元件；其中:所述踏板用于适用于单点站立，且用于在单点站立时可向前或者向后倾斜；所述接地元件用于在所述驱动元件的驱动下动作；所述第一传感器用于感应驾驶者在所述踏板上的姿态；所述驱动元件用于生成控制所述接地元件动作以及维持所述轮滑装置整体处于平衡状态的输出信号；所述第一控制器用于根据所述姿态控制所述输出信号的生成，从而避免了人力驱动实现滑行导致的身体疲劳，另外，在滑行的过程中，由于装置本身可以维持平衡状态，对操作者的操作技巧要求较低，从而提高了用户体验，换言之，整体上提供了一种用户体验更好的轮滑装置。
本申请实施例下述实施例中，所述第一传感器具体用于感应驾驶者在所述踏板上的姿态并生成俯仰感应数据，所述第一控制器具体用于根据所述俯仰感应数据确定所述踏板的当前俯仰角。所述第一控制器在控制所述驱动元件的输出信号时，具体通过所述踏板的期望俯仰角以及所述当前俯仰角控制所述驱动元件的输出信号，比如通过所述踏板的期望俯仰角以及所述当前俯仰角之间的角度差。
下述以具体的轮滑鞋形态实现上述轮滑装置进行示例性说明，但是，需要说明的是，轮滑鞋并不是轮滑装置的唯一实现形式，也可以将上述轮滑装置制成适用于在手上进行轮滑的产品形态，或者，适用于残疾人进行轮滑的任意产品形态。
进一步地，下述实施例中，所述接地元件示例性地为轮子，所述接地元件在所述驱动元件的驱动下进行滚动。在后续控制转向时，控制轮子的转速以生成用于控制转向的转速差。
但是，在其他实施例中，并不局限为轮子，也可以是其他任意可与地面形成实际物理接触的结构形式。比如如果应用于滑冰或者滑雪等场景，所述接地元件还可以为类似平板状的结构件，所述接地元件在所述驱动元件的驱动下进行滑动。
进一步地，下述实施例中，所述第一传感器具体可以为陀螺仪，但是，并不局限为陀螺仪，只要可以感应驾驶者在所述踏板上的姿态并生成俯仰感应数据即可。下述实施例中，未示意出第一传感器。
进一步地，下述实施例中，所述驱动元件具体为电机，但是，并不部局限为电机，只要可以驱动所述接地元件进行动作，可以实现具体的应用场景即可。当所述驱动元件为电机时，所述驱动元件的输出信号为所述驱动元件的输出扭矩。
实施例一(一个单独接地元件)：
图1为本申请实施例一中轮滑装置的结构简要结构示意图；如图1所示，在以轮滑鞋这一具体产品形态实现轮滑装置时，轮滑鞋具体包括上述踏板101、接地元件102、电机(图1中未示出)、第一控制器(图1中未示出)，所述踏板101用于适用于单脚站立，所述接地元件102的数量具体为一个，即驾驶者通过所述轮滑鞋与地面仅有一个接触点。对应地，所述驱动元件的数量为一个。
具体地，所述驱动元件可以直接内嵌在所述接地元件102的轮毂内，从而使得轮滑鞋整体结构上较为紧凑。
但是，需要说明的是，若不考虑或者不重点考虑轮滑鞋整体结构的紧凑性，所述驱动元件也可以不用内嵌的方式设置在所述接地元件102的轮毂内，比如通过固定座或者其他类似结构直接设置在踏板101的下方位置即可。
实施例二(近距离设置的两个接地元件102a和102b)
图2为本申请实施例二中轮滑装置的结构简要结构示意图；如图2所示，本实施例中，与上述实施例一不同的是，所述接地元件的数量为两个，分别为接地元件102a、102b，接地元件102a、102b之间的横向间距较小，从而实现将设置在靠近所述踏板101中心的位置处，从而使得驾驶者通过所述轮滑鞋与地面形成两个接触点，从而降低轮滑鞋使用的难度。
本实施例中，所述驱动元件(图2中未示出)的传动轴(图2中未示出)横向设置即与轮滑鞋行进的方向垂直，所述传动轴的两端分别设置所述接地元件102a和102b，所述驱动元件内嵌在所述接地元件102的轮毂内,并通过传动轴与所述接地元件102a直接连接，同时与未内嵌有所述驱动元件的接地元件102b耦接。换言之，内嵌有所述驱动元件的接地元件102a在轮滑鞋行进的过程中作为主动轮，而未内嵌有所述驱动元件的接地元件102b作为从动轮，所述从动轮在所述主动轮的带动下旋转。
需要说明的是，在其他实施例中，也可以给所述接地元件102a、102b分别配置一个电机，从而使得每个接地元件的动作可以单独进行控制。
实施例三(远距离设置的两个接地元件102a和102b)
图3a、图3b为本申请实施例三中轮滑装置的结构简要结构示意图之一和之二；如图3a、图3b所示，本实施例中，与上述实施例而不同的是，接地元件102a、102b分别设置在靠近所述踏板101左右两侧边缘的位置处，即与地面形成的两个接触点横向距离较大，从而进一步降低轮滑鞋使用的难度。
类似上述实施例二，接地元件102a、102b共用一个电机，具体将所述驱动元件的传动轴横向设置即与轮滑鞋行进的方向垂直，所述传动轴的两端分别设置所述接地元件102a、102b，所述驱动元件内嵌在其中一所述接地元件102a的轮毂内，并通过传动轴与所述接地元件102a直接连接，同时与未内嵌有所述驱动元件的接地元件102b耦接。换言之，内嵌有所述驱动元件的接地元件102a在轮滑鞋行进的过程中作为主动轮，而未内嵌有所述驱动元件的 接地元件102b作为从动轮，所述从动轮在所述主动轮的带动下旋转。
可替代地，在另外一实施例中，所述驱动元件的数量为两个，接地元件102a、102b分别配置一个所述驱动元件，从而实现接地元件102a、102b转速的单独控制，在正常行进过程中，接地元件102a、102b的转速相同。
上述实施例一至三中，所述接地元件的轴心位于所述踏板101下方位置，且所述接地元件整体也位于所述踏板101下方位置。
如图图3b所示，还包括：固定基座100a，所述接地元件102a、102b耦合在所述固定基座100a上，所述固定基座100a固定在所述踏板101的下表面。在一具体应用场景中，可以将接地元件将102a、102b与固定基座100a集成为一体，再将固定基座100a固定在踏板101的下表面。固定基座100a沿着水平方向固定在所述踏板的下表面。
在其他实施例中，所述固定基座也可以沿着竖直方向固定在所述踏板的下表面，所述固定基座上设置有孔结构，所述电机的传动轴穿过孔结构，同时，在所述传动轴的两端分别耦接一个或者一组所述接地单元，从而将接地元件整体设置在所述踏板的下方。
需要说明的是，在他实施例中，也可以用其他任意结构将所述接地元件102a、102b最终耦合到所述踏板101上。图3c为可替代本申请实施例三中固定基座的示意图；如图3c所示，通过快拆结构100b将所述接地点102a、102b耦合到踏板的下表面。
实施例四(远距离设置的两个接地元件102a和102b)
与上述实施例三不同的是，下述图4实施例中，当包括接地元件102a、102b时且相互之间的横向距离较大，接地元件102a、102b的轴心位于所述踏板101下方位置，但部分向上突出于所述踏板101。
将上述实施例三中的踏板101整体下移，得到如图4所示的实施例四中的轮滑装置简要结构示意图。
可替代地，在另外一实施例中，所述驱动元件的数量为两个，接地元件102a、102b分别配置一个所述驱动元件，从而实现接地元件102a、102b转速的单独控制，在正常行进过程中，接地元件102a、102b的转速相同。
图5为本申请实施例五中轮滑装置的具体实现结构示意图；如图5所示，作为轮滑装置的轮滑鞋包括一个接地元件102，该接地元件102位于所述踏板101中心的位置处，且该接地元件102的轮毂内设置有电机。电机的传动轴103穿设在轮毂内，同时传动轴103靠中间部位配置有第一轴承结构104，该轴承结构104与接地元件102耦接，从而驱动接地元件102旋转。
另外，在图5中，可以在传动轴的两端分别设置一个第二轴承结构105，传动轴每一端的轴承结构与踏板101耦接，从而实现将电机、传动轴整体设置在踏板101的下方位置。
图6为本申请实施例六中轮滑装置的具体实现结构示意图；如图6所示， 作为轮滑装置的轮滑鞋包括两个接地元件即接地元件102a、102b，接地元件102a、102b分别设置在靠近所述踏板101左右两侧边缘的位置处。接地元件102a、102b均配置一个电机，电机以及传动轴的设置方式可以参照上述图5所示实施例。
与上述图1-图4实施例不同的是，图5、图6实施例中，踏板101并非为长方形，而是其两端具有圆弧。
图7a、图7b为本申请实施例七中轮滑装置的结构示意图之一和之二；参见图7a、图7b，在上述图1实施例的基础上，增加了束缚单元108，所述束缚单元108设置在所述踏板上，用于固定使用所述轮滑装置的个体的脚部位置或者脚部靠上位置。可选地，所述束缚单元108为具有粘扣或者锁紧卡扣的结构，通过所述粘扣或者所述锁紧卡扣固定使用所述轮滑装置的驾驶者的脚部位置或者脚部靠上位置，防止驾驶者从轮滑鞋上跌落。脚部位置比如为脚面位置，脚部靠上位置比如为脚踝或者小腿。
进一步地，本实施例中，轮滑装置还包括：保护罩109，所述保护罩用于与站立在所述踏板101上的单脚的脚后跟接触以在轮滑过程中使单脚稳固在所述踏板101上。保护罩的具体形状可以为弧形，从而与脚后跟紧密贴合，提供稳定的支撑作用。
本实施例中，通过束缚单元和保护罩给驾驶者的脚在后方位置以及前方位置提供稳固作用，从而有效防止了驾驶者在轮滑的过程中从轮滑鞋上跌落导致的摔伤危险。
进一步地，本实施例中，可选地，在本申请的任一实施例中，还包括：电池仓106，所述电池仓106内设置有电池组107，所述电池组107用于向所述驱动元件以及其他需要用电的结构或电路供电。具体地，所述踏板101具有中空内腔，所述中空内腔中设置所述电池仓106。
图8为本申请实施例八中轮滑装置的局部示意图；本实施例中，在作为轮滑鞋的轮滑装置的后方部位设置有电池组107，具体地，比如电池仓设置在保护罩109的中空内腔中，电池组设置在该电池仓中。
需要说明的是，在另外一实施例中，与上述图8不同的是，而是通过驾驶者将电池组107背在身上，再通过外置的电源线与轮滑鞋中的用电电路或者元件如第一控制器、电机连接。
图9为本申请实施例九中轮滑装置的控制原理示意图；如图9所示，当所述踏板向前或者向后倾斜时，所述第一控制器用于根据所述踏板的期望俯仰角θ*与当前俯仰角θ之间的角度差生成驱动电信号以控制所述驱动元件的输出扭矩大小。具体地，根据所述踏板的当前俯仰角速度ω以及期望俯仰角θ*与当前俯仰角θ之间的角度差θerror生成驱动电信号以控制所述驱动元件的输出扭矩大小。本实施例中，驱动电信号比如为驱动电压。第一控制器(又 称之为平衡控制器)比如为PID控制器。
具体地，轮滑装置还可以包括第二控制器(又称之为速度控制器)，所述第二控制器用于根据所述驱动元件的当前转速V以及设定的最大转速V*确定所述期望俯仰角θ*。本实施例中，第二控制器比如也为PID控制器。
进一步地，判断所述驱动元件的当前转速V是否超过设定的最大转速V*，如果超过，表明轮滑装置即将进入超速状态，为此输出一个设定非零大小的期望俯仰角θ*，与当前俯仰角θ计算得到上述角度差θerror，第一控制器根据该角度差θerror生成驱动电信号以控制所述驱动元件的输出扭矩并最终使得所述踏板朝着相反于行进方向的方向倾斜，从而限制所述轮滑装置的行驶速度不会超过行驶速度的上限。如果未超过，则期望俯仰角θ*为0，再根据所述角度差θerror，第一控制器根据该角度差θerror生成驱动电信号以控制所述驱动元件的输出扭矩并最终使得所述踏板动态处于水平状态。
具体地，轮滑装置还可以包括第二传感器，所述第二传感器用于感应所述驱动元件的当前转速。
另外，需要说明的是，在一些具体应用场景中，在生成驱动电信号时也可以不考虑当前俯仰角速度。
另外，需要说明的是，驱动元件的输出信号也可以其他形式，输出扭矩在本实施例中只是示意，不同驱动元件具有不同类型的输出信号。
另外，需要说明的是，在一些具体应用场景中，在确定所述期望俯仰角时也可以不配置第二控制器，而是复用第一控制器。即第一控制器可以用于根据所述驱动元件的当前转速V以及设定的最大转速V*确定所述期望俯仰角θ*，还可以用于根据所述踏板的期望俯仰角θ*与所述当前俯仰角θ之间的角度差生成驱动电信号以控制所述驱动元件的输出扭矩大小。
在另外一具体应用场景中，若配置了第二控制器，所述第二控制器也可以复用为第一控制器。即第二控制器可以用于根据所述驱动元件的当前转速V以及设定的最大转速V*确定所述期望俯仰角θ*，还可以用于根据所述踏板的期望俯仰角θ*与所述当前俯仰角θ之间的角度差生成驱动电信号以控制所述驱动元件的输出扭矩大小。
在上述包括两个接地元件的轮滑装置实施例中，为了实现转向，轮滑装置还可以包括转向传感器以及第三控制器，所述转向传感器用于感应驾驶者在所述踏板上的脚步姿态，所述第三控制器用于根据所述姿态对两个所述接地元件的动作进行控制以生成用于控制转向的速度差。
具体地，比如在一应用场景中，所述转向传感器用于感应驾驶者在所述踏板上的脚步姿态生成转向感应数据，所述第三控制器用于根据所述转向感应数据生成转向控制指令以对两个所述接地元件的动作进行控制以生成用于控制转向的速度差。在对两个所述接地元件的动作进行控制时，具体通过控制驱动元件的输出信号来实现。
可选地，在一种应用场景中，所述转向传感器为压力传感器，所述压力传感器用于感应感应驾驶者在所述踏板上的脚步姿态并生成压力感应数据， 所述第三控制器进一步用于根据所述压力感应数据生成转向控制指令以对两个所述接地元件的动作进行控制以生成用于控制转向的速度差。
可选地，在另一应用场景中，所述转向传感器为转向轴，所述转向轴用于感应驾驶者在所述轮滑装置的脚部姿态并生成力矩感应数据，所述第三控制器进一步用于根据所述力矩感应数据生成转向控制指令以对两个所述接地元件的动作进行控制以生成用于控制转向的速度差。
可选地，在再一应用场景中，所述转向传感器为：陀螺仪，所述陀螺仪用于感应驾驶者在所述轮滑装置的脚部姿态并生成角运动感应数据；所述第三控制器进一步用于根据所述角运动感应数据生成转向控制指令以对两个所述接地元件的动作进行控制以生成用于控制转向的速度差。
本实施例中，第一控制器复用为第三控制器。但是，需要说明的是，若不单独增加第三控制器，则第三控制器除了可以复用上述第一控制器，或者，还可以第二控制器，或者，若单独增加第三控制器，第三控制器可以复用为上述第一控制器、或者第二控制器。
在上述实施例中，电机具体为轮毂电机，但是，在其他实施例中，电机也可以为高速电机。
在上述实施例中，还可以给轮子配置轮罩。
在本公开中，表述“包括(include)”或“可包括(may include)”指代相应功能、操作或元件的存在，而不限制一个或多个附加功能、操作或元件。在本公开中，诸如“包括(include)”和/或“具有(have)”的用语可理解为表示某些特性、数字、步骤、操作、组成元件、元件或其组合，而不可理解为排除一个或多个其它特性、数字、步骤、操作、组成元件、元件或其组合的存在或附加的可能性。
在本公开中，表述“A或B”、“A或/和B中的至少一个”或者“A或/和B的一个或多个”可包括所列项目所有可能的组合。例如，表述“A或B”、“A和B中的至少一个”或者“A或B中的至少一个”可包括：(1)至少一个A，(2)至少一个B，或者(3)至少一个A和至少一个B。
在本公开的各种实施方式中所使用的表述“第一”、“第二”、“所述第一”或“所述第二”可修饰各种部件而与顺序和/或重要性无关，但是这些表述不限制相应部件。以上表述仅用于将元件与其它元件区分开的目的。例如，第一用户设备和第二用户设备表示不同的用户设备，虽然两者均是用户设备。例如，在不背离本公开的范围的前提下，第一元件可称作第二元件，类似地，第二元件可称作第一元件。
当一个元件(例如，第一元件)称为与另一元件(例如，第二元件)“(可操作地或可通信地)联接”或“(可操作地或可通信地)联接至”另一元件(例如，第二元件)或“连接至”另一元件(例如，第二元件)时，应理解为该一个元件直接连接至该另一元件或者该一个元件经由又一个元件(例如，第三元件)间接连接至该另一个元件。相反，可理解，当元件(例如，第一元件)称为“直接连接”或“直接联接”至另一元件(第二元件)时，则没有元件(例如，第三元件)***在这两者之间。
如本文中使用的表述“用于”可与以下表述可替换地使用：“适合于”、“具有...的能力”、“设计为”、“适于”、“制造为”或“能够”。用语“用于”可不必意为在硬件上“专门设计为”。可替代地，在一些情况下，表述“用于…的设备”可意为该设备与其它设备或部件一起“能够…”。例如，短语“适于(或用于)执行A、B和C的处理器”可意为仅用于执行相应操作的专用处理器(例如，嵌入式处理器)或可通过执行存储在存储设备中的一个或多个软件程序执行相应操作的通用处理器(例如，中央处理器(CPU)或应用处理器(AP))。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
最后应说明的是：以上实施例仅用以说明本申请实施例的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (21)

  1. 一种轮滑装置，其特征在于，包括：踏板、接地元件、第一传感器、驱动元件、第一控制器，所述踏板耦合于所述第一传感器和所述接地元件，所述接地元件耦接于所述驱动元件，所述第一控制器耦接于所述第一传感器和所述驱动元件；其中:
    所述踏板用于适用于单点站立，且用于在单点站立时可向前或者向后倾斜；
    所述接地元件用于在所述驱动元件的驱动下动作；
    所述第一传感器用于感应驾驶者在所述踏板上的姿态；
    所述驱动元件用于生成控制所述接地元件动作以及维持所述轮滑装置整体处于平衡状态的输出信号；
    所述第一控制器用于根据所述姿态控制所述输出信号的生成。
  2. 根据权利要求1所述的轮滑装置，其特征在于，所述接地元件的数量为一个，对应地，所述驱动元件的数量为一个。
  3. 根据权利要求1所述的轮滑装置，其特征在于，所述接地元件的数量为两个，且所述驱动元件的数量为一个，所述驱动元件与两个所述接地元件耦接。
  4. 根据权利要求1所述的轮滑装置，其特征在于，所述接地元件的数量为两个，且所述驱动元件的数量为两个，每个所述接地元件配置一个所述驱动元件。
  5. 根据权利要求3或4所述的轮滑装置，其特征在于，所述接地元件的轴心位于所述踏板下方位置且所述接地元件整***于所述踏板下方位置。
  6. 根据权利要求3或4所述的轮滑装置，其特征在于，所述接地元件的轴心位于所述踏板下方位置且所述接地元件部分向上突出于所述踏板。
  7. 根据权利要求3所述的轮滑装置，其特征在于，所述接地元件为轮子，所述驱动元件的传动轴横向设置，所述传动轴的两端分别设置一个所述轮子，所述驱动元件内嵌在其中一所述轮子的轮毂内,并通过传动轴与内嵌有所述驱动元件的轮子直接连接，同时与未内嵌有所述驱动元件的轮子耦接。
  8. 根据权利要求3或4所述的轮滑装置，其特征在于，两个所述接地元件分别设置在靠近所述踏板左右两侧边缘的位置处，或者设置在靠近所述踏板中心的位置处。
  9. 根据权利要求1所述的轮滑装置，其特征在于，还包括：电池仓，所述电池仓内设置有电池组，所述电池组用于向所述驱动元件供电。
  10. 根据权利要求9所述的轮滑装置，其特征在于，所述电池仓设置在所述踏板的下方。
  11. 根据权利要求1-10所述的轮滑装置，其特征在于，还包括：束缚单元，所述束缚单元设置在所述踏板上，用于固定使用所述轮滑装置的驾驶者的脚部位置或者脚部靠上位置。
  12. 根据权利要求11所述的轮滑装置，其特征在于，所述束缚单元为具有粘扣或者锁紧卡扣的结构，通过所述粘扣或者所述锁紧卡扣固定使用所述轮滑装置的驾驶者的脚部位置或者脚部靠上位置。
  13. 根据权利要求1所述的轮滑装置，其特征在于，还包括：保护罩，所述保护罩用于与站立在所述踏板上的单脚的脚后跟接触以在轮滑过程中使单脚稳固在所述踏板上。
  14. 根据权利要求1所述的轮滑装置，其特征在于，还包括：固定基座，所述接地元件耦合在所述固定基座上,所述固定基座固定在所述踏板的下表面。
  15. 根据权利要求1所述的轮滑装置，其特征在于，还包括：第二控制器，所述第二控制器用于根据所述驱动元件的当前转速以及设定的最大转速确定所述踏板的期望俯仰角。
  16. 根据权利要求15所述的轮滑装置，其特征在于，所述第一控制器进一步用于当所述踏板向前或者向后倾斜时，根据所述踏板的当前俯仰角速度以及所述踏板的期望俯仰角与所述当前俯仰角之间的角度差生成驱动电信号以控制所述驱动元件的输出信号。
  17. 根据权利要求15所述的轮滑装置，其特征在于，还包括：第二传感器，所述第二传感器用于感应所述驱动元件的当前转速。
  18. 根据权利要求1所述的轮滑装置，其特征在于，所述接地元件为轮子且数量为两个，所述轮滑装置还包括转向传感器以及第三控制器，所述转向传感器用于感应驾驶者在所述踏板上的脚步姿态，所述第三控制器用于根据所述脚步姿态对两个所述接地元件的动作进行控制以生成用于控制转向的速度差。
  19. 根据权利要求18所述的轮滑装置，其特征在于，所述转向传感器为压力传感器，所述压力传感器用于感应驾驶者在所述踏板上的脚步姿态。
  20. 根据权利要求18所述的轮滑装置，其特征在于，所述转向传感器为转向轴，所述转向轴用于感应驾驶者在所述轮滑装置的脚部姿态。
  21. 根据权利要求18所述的轮滑装置，其特征在于，所述转向传感器为：陀螺仪，所述陀螺仪用于感应驾驶者在所述轮滑装置的脚部姿态。
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