CN104943786A - 两轮平衡车的自动安全保护方法 - Google Patents
两轮平衡车的自动安全保护方法 Download PDFInfo
- Publication number
- CN104943786A CN104943786A CN201510372653.7A CN201510372653A CN104943786A CN 104943786 A CN104943786 A CN 104943786A CN 201510372653 A CN201510372653 A CN 201510372653A CN 104943786 A CN104943786 A CN 104943786A
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- Prior art keywords
- balance
- real
- car body
- balance truck
- inclination angle
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000004224 protection Effects 0.000 title abstract description 7
- 230000001681 protective effect Effects 0.000 claims description 10
- 230000009979 protective mechanism Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 3
- 230000006641 stabilisation Effects 0.000 abstract description 2
- 238000011105 stabilization Methods 0.000 abstract description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K3/00—Bicycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
Description
车体11 | 第一支点12 |
第二支点13 | 支架14 |
辅助轮15 | 驱动机构16 |
车轮17 |
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510372653.7A CN104943786B (zh) | 2015-06-29 | 2015-06-29 | 两轮平衡车的自动安全保护方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510372653.7A CN104943786B (zh) | 2015-06-29 | 2015-06-29 | 两轮平衡车的自动安全保护方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104943786A true CN104943786A (zh) | 2015-09-30 |
CN104943786B CN104943786B (zh) | 2018-09-07 |
Family
ID=54158972
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510372653.7A Active CN104943786B (zh) | 2015-06-29 | 2015-06-29 | 两轮平衡车的自动安全保护方法 |
Country Status (1)
Country | Link |
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CN (1) | CN104943786B (zh) |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105404305A (zh) * | 2015-12-29 | 2016-03-16 | 小米科技有限责任公司 | 平衡车的控制方法和控制装置 |
CN105955256A (zh) * | 2016-04-28 | 2016-09-21 | 四川九鼎智远知识产权运营有限公司 | 一种侦查机器人及其控制系统 |
CN105974918A (zh) * | 2016-06-01 | 2016-09-28 | 北京小米移动软件有限公司 | 平衡车控制方法、装置及平衡车 |
CN106094844A (zh) * | 2016-05-27 | 2016-11-09 | 北京小米移动软件有限公司 | 平衡车控制方法、装置及平衡车 |
CN106314199A (zh) * | 2016-09-05 | 2017-01-11 | 北京小米移动软件有限公司 | 平衡车速度控制方法及装置 |
CN107037825A (zh) * | 2017-06-23 | 2017-08-11 | 歌尔科技有限公司 | 一种自平衡机器人 |
CN107792226A (zh) * | 2017-12-08 | 2018-03-13 | 重庆铁力士科技有限公司 | 一种具有自动支撑结构的全封闭两轮电动车 |
CN108100132A (zh) * | 2017-11-06 | 2018-06-01 | 深圳市卓越智尚科技有限公司 | 一种平衡车行车平衡方法 |
CN108216450A (zh) * | 2017-12-28 | 2018-06-29 | 大连理工大学 | 一种用于电动平衡车可伸缩的驾驶者后倾防护装置 |
CN108582074A (zh) * | 2018-05-09 | 2018-09-28 | 深圳新物种科技有限公司 | 机器人、机器人控制方法及装置 |
CN108860417A (zh) * | 2018-05-21 | 2018-11-23 | 周伟 | 平衡车控制方法、装置、平衡车和存储介质 |
CN112874679A (zh) * | 2021-04-21 | 2021-06-01 | 芜湖乐创电子科技有限公司 | 一种自动驾驶两轮自平衡车及其控制方法 |
CN115352564A (zh) * | 2022-09-02 | 2022-11-18 | 深圳市慧星辰科技有限公司 | 智能平衡滑板车的控制装置和方法 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111891275A (zh) * | 2020-07-21 | 2020-11-06 | 深圳乐行天下科技有限公司 | 平衡车安全控制方法和装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101269683A (zh) * | 2008-01-15 | 2008-09-24 | 李锦上 | 基于姿态控制的平衡式独轮小车 |
CN203032844U (zh) * | 2012-12-18 | 2013-07-03 | 武济群 | 自动平衡车辅助轮结构及具有该结构的自动平衡车 |
CN103529850A (zh) * | 2013-10-28 | 2014-01-22 | 华南理工大学广州学院 | 两轮自平衡车控制方法 |
CN104477052A (zh) * | 2014-12-05 | 2015-04-01 | 浙江大学 | 一种自平衡载人电动独轮车的控制方法 |
-
2015
- 2015-06-29 CN CN201510372653.7A patent/CN104943786B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101269683A (zh) * | 2008-01-15 | 2008-09-24 | 李锦上 | 基于姿态控制的平衡式独轮小车 |
CN203032844U (zh) * | 2012-12-18 | 2013-07-03 | 武济群 | 自动平衡车辅助轮结构及具有该结构的自动平衡车 |
CN103529850A (zh) * | 2013-10-28 | 2014-01-22 | 华南理工大学广州学院 | 两轮自平衡车控制方法 |
CN104477052A (zh) * | 2014-12-05 | 2015-04-01 | 浙江大学 | 一种自平衡载人电动独轮车的控制方法 |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105404305B (zh) * | 2015-12-29 | 2018-12-18 | 小米科技有限责任公司 | 平衡车的控制方法和控制装置 |
CN105404305A (zh) * | 2015-12-29 | 2016-03-16 | 小米科技有限责任公司 | 平衡车的控制方法和控制装置 |
CN105955256A (zh) * | 2016-04-28 | 2016-09-21 | 四川九鼎智远知识产权运营有限公司 | 一种侦查机器人及其控制系统 |
CN105955256B (zh) * | 2016-04-28 | 2019-02-26 | 石家庄求实通信设备有限公司 | 一种侦查机器人及其控制系统 |
CN106094844A (zh) * | 2016-05-27 | 2016-11-09 | 北京小米移动软件有限公司 | 平衡车控制方法、装置及平衡车 |
CN105974918A (zh) * | 2016-06-01 | 2016-09-28 | 北京小米移动软件有限公司 | 平衡车控制方法、装置及平衡车 |
CN106314199A (zh) * | 2016-09-05 | 2017-01-11 | 北京小米移动软件有限公司 | 平衡车速度控制方法及装置 |
CN106314199B (zh) * | 2016-09-05 | 2020-02-07 | 北京小米移动软件有限公司 | 平衡车速度控制方法及装置 |
CN107037825A (zh) * | 2017-06-23 | 2017-08-11 | 歌尔科技有限公司 | 一种自平衡机器人 |
CN108100132A (zh) * | 2017-11-06 | 2018-06-01 | 深圳市卓越智尚科技有限公司 | 一种平衡车行车平衡方法 |
CN107792226A (zh) * | 2017-12-08 | 2018-03-13 | 重庆铁力士科技有限公司 | 一种具有自动支撑结构的全封闭两轮电动车 |
CN107792226B (zh) * | 2017-12-08 | 2024-01-23 | 重庆铁力士科技有限公司 | 一种具有自动支撑结构的全封闭两轮电动车 |
CN108216450A (zh) * | 2017-12-28 | 2018-06-29 | 大连理工大学 | 一种用于电动平衡车可伸缩的驾驶者后倾防护装置 |
CN108582074A (zh) * | 2018-05-09 | 2018-09-28 | 深圳新物种科技有限公司 | 机器人、机器人控制方法及装置 |
CN108860417A (zh) * | 2018-05-21 | 2018-11-23 | 周伟 | 平衡车控制方法、装置、平衡车和存储介质 |
WO2019223085A1 (zh) * | 2018-05-21 | 2019-11-28 | 深圳乐行运动科技有限公司 | 平衡车溜车保护控制方法、装置、平衡车和存储介质 |
CN112874679A (zh) * | 2021-04-21 | 2021-06-01 | 芜湖乐创电子科技有限公司 | 一种自动驾驶两轮自平衡车及其控制方法 |
CN115352564A (zh) * | 2022-09-02 | 2022-11-18 | 深圳市慧星辰科技有限公司 | 智能平衡滑板车的控制装置和方法 |
CN115352564B (zh) * | 2022-09-02 | 2024-04-19 | 深圳市慧星辰科技有限公司 | 智能平衡滑板车的控制装置和方法 |
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CN104943786B (zh) | 2018-09-07 |
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Legal Events
Date | Code | Title | Description |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB02 | Change of applicant information |
Address after: 518104, Shenzhen, Guangdong, Baoan District Province, manhole Road, No. 438, block two or three Applicant after: GUANGDONG BONA ROBOT Corp.,Ltd. Address before: 518104, Shenzhen, Guangdong province Baoan District manhole town Wanfeng Wan community 132 Wan An Road, new mansion, 10 floor Applicant before: SHENZHEN BAOLE ROBOT TECHNOLOGY CO.,LTD. |
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COR | Change of bibliographic data | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP02 | Change in the address of a patent holder | ||
CP02 | Change in the address of a patent holder |
Address after: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B, c) Patentee after: GUANGDONG BONA ROBOT Corp.,Ltd. Address before: 518104, Shenzhen, Guangdong, Baoan District Province, manhole Road, No. 438, block two or three Patentee before: GUANGDONG BONA ROBOT Corp.,Ltd. |
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TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20200923 Address after: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU COAYU ROBOT Co.,Ltd. Address before: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B, c) Patentee before: GUANGDONG BONA ROBOT Corp.,Ltd. |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Automatic safety protection method of two wheel balance vehicle Effective date of registration: 20211223 Granted publication date: 20180907 Pledgee: Shanghai Pudong Development Bank Limited by Share Ltd. Guangzhou branch Pledgor: GUANGZHOU COAYU ROBOT Co.,Ltd. Registration number: Y2021440000397 |
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PP01 | Preservation of patent right | ||
PP01 | Preservation of patent right |
Effective date of registration: 20230320 Granted publication date: 20180907 |