CN106564546B - 全姿态电动平衡扭扭车 - Google Patents
全姿态电动平衡扭扭车 Download PDFInfo
- Publication number
- CN106564546B CN106564546B CN201510651451.6A CN201510651451A CN106564546B CN 106564546 B CN106564546 B CN 106564546B CN 201510651451 A CN201510651451 A CN 201510651451A CN 106564546 B CN106564546 B CN 106564546B
- Authority
- CN
- China
- Prior art keywords
- position sensor
- full
- pedal device
- electrodynamic balance
- attitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000005520 electrodynamics Effects 0.000 title claims abstract description 39
- 230000001939 inductive effect Effects 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims 3
- 230000036544 posture Effects 0.000 abstract description 22
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003238 somatosensory effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/02—Frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D51/00—Motor vehicles characterised by the driver not being seated
- B62D51/02—Motor vehicles characterised by the driver not being seated the driver standing in the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J99/00—Subject matter not provided for in other groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/08—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips foot actuated
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
Description
Claims (19)
Priority Applications (14)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510651451.6A CN106564546B (zh) | 2015-10-10 | 2015-10-10 | 全姿态电动平衡扭扭车 |
US15/193,856 US9656688B2 (en) | 2015-10-10 | 2016-06-27 | All-attitude human-machine interaction vehicle |
RU2018109424A RU2694356C1 (ru) | 2015-10-10 | 2016-09-20 | Транспортное средство с человеко-машинным взаимодействием, работающее в зависимости от углового положения пользователя |
KR1020187009728A KR20180049053A (ko) | 2015-10-10 | 2016-09-20 | 관련된 응용들에 상호 참조하는 전자세 인간-기계 상호 작용 차량 |
MX2018003400A MX2018003400A (es) | 2015-10-10 | 2016-09-20 | Vehiculo de interaccion hombre-maquina de toda actitud. |
EP16853071.5A EP3334646B1 (en) | 2015-10-10 | 2016-09-20 | Human-machine interaction vehicle |
JP2018516189A JP6636622B2 (ja) | 2015-10-10 | 2016-09-20 | 全姿勢のマンマシンインタラクションの電動立ち乗り車 |
KR1020197034650A KR102428624B1 (ko) | 2015-10-10 | 2016-09-20 | 관련된 응용들에 상호 참조하는 전자세 인간-기계 상호 작용 차량 |
CA3000550A CA3000550C (en) | 2015-10-10 | 2016-09-20 | All-attitude human-machine interaction vehicle |
PCT/CN2016/099422 WO2017059766A1 (en) | 2015-10-10 | 2016-09-20 | All-attitude human-machine interaction vehicle cross-reference to related applications |
US15/493,217 US10144451B2 (en) | 2015-10-10 | 2017-04-21 | All-attitude human-machine interaction vehicle |
US15/939,264 US20180214766A1 (en) | 2015-10-01 | 2018-03-28 | Human-machine interaction vehicle |
US16/172,032 US11260905B2 (en) | 2015-10-10 | 2018-10-26 | Human-machine interaction vehicle |
US17/240,939 US20210245031A1 (en) | 2015-10-01 | 2021-04-26 | Human-machine interaction vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510651451.6A CN106564546B (zh) | 2015-10-10 | 2015-10-10 | 全姿态电动平衡扭扭车 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106564546A CN106564546A (zh) | 2017-04-19 |
CN106564546B true CN106564546B (zh) | 2020-08-14 |
Family
ID=58498794
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510651451.6A Active CN106564546B (zh) | 2015-10-01 | 2015-10-10 | 全姿态电动平衡扭扭车 |
Country Status (8)
Country | Link |
---|---|
US (2) | US9656688B2 (zh) |
EP (1) | EP3334646B1 (zh) |
JP (1) | JP6636622B2 (zh) |
KR (2) | KR102428624B1 (zh) |
CN (1) | CN106564546B (zh) |
CA (1) | CA3000550C (zh) |
MX (1) | MX2018003400A (zh) |
RU (1) | RU2694356C1 (zh) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9643077B2 (en) * | 2013-10-21 | 2017-05-09 | Equalia LLC | Pitch-propelled vehicle |
US9211470B2 (en) | 2013-10-21 | 2015-12-15 | Equalia LLC. | Pitch-propelled vehicle |
US10369453B2 (en) | 2013-10-21 | 2019-08-06 | Equalia LLC | Pitch-propelled vehicle |
US10843765B2 (en) * | 2015-08-04 | 2020-11-24 | Shane Chen | Two-wheel self-balancing vehicle with platform borne sensor control |
CN106564546B (zh) * | 2015-10-10 | 2020-08-14 | 杭州骑客智能科技有限公司 | 全姿态电动平衡扭扭车 |
US11260905B2 (en) | 2015-10-10 | 2022-03-01 | Hangzhou Chic Intelligent Technology Co., Ltd. | Human-machine interaction vehicle |
CN105730574B (zh) * | 2016-02-03 | 2018-08-17 | 浙江瑞萌威电子科技有限公司 | 踏板连接机构及采用该踏板连接机构的电动平衡车 |
WO2017164911A1 (en) * | 2016-03-22 | 2017-09-28 | Ford Global Technologies, Llc | Transportation device |
USD818049S1 (en) * | 2016-07-28 | 2018-05-15 | Zhejiang Raymond Way Electronic Technology Co., Ltd | Electric balance scooter |
USD839132S1 (en) * | 2016-08-03 | 2019-01-29 | Radical Transport, Llc | Wheeled vehicle |
USD816777S1 (en) * | 2016-12-16 | 2018-05-01 | Zhejiang Raymond Way Electronic Technology Co., Ltd | Electric balance scooter |
USD820157S1 (en) * | 2016-12-30 | 2018-06-12 | Hangzhou Lunyu Technology Co., Ltd. | Self-balanced vehicle |
USD808858S1 (en) * | 2017-02-24 | 2018-01-30 | Hangzhou Lunyu Technology Co., Ltd. | Self-balanced vehicle |
USD808859S1 (en) * | 2017-03-01 | 2018-01-30 | Hangzhou Lunyu Technology Co., Ltd. | Self-balanced vehicle |
CN109126103B (zh) * | 2017-06-27 | 2020-10-30 | 金宝电子工业股份有限公司 | 载人载具操控方法 |
CN107281739A (zh) * | 2017-07-27 | 2017-10-24 | 纳恩博(北京)科技有限公司 | 轮滑装置 |
IT201700114497A1 (it) * | 2017-10-11 | 2019-04-11 | Piaggio Fast Forward Inc | Veicolo a due ruote con sistema di stabilizzazione lineare |
CN108516038B (zh) * | 2018-06-21 | 2023-05-02 | 浙江阿尔郎科技有限公司 | 平衡车及其控制方法 |
US11343963B2 (en) * | 2019-05-09 | 2022-05-31 | Kubota Corporation | Stand-on lawnmower |
CN110126957A (zh) * | 2019-06-14 | 2019-08-16 | 浙江阿尔郎科技有限公司 | 新型平衡车 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005094898A (ja) * | 2003-09-17 | 2005-04-07 | National Institute Of Advanced Industrial & Technology | 平行2輪乗用台車 |
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JPS5351265Y2 (zh) * | 1975-09-01 | 1978-12-07 | ||
US5701965A (en) | 1993-02-24 | 1997-12-30 | Deka Products Limited Partnership | Human transporter |
JPH1049294A (ja) * | 1996-08-02 | 1998-02-20 | Nippon Telegr & Teleph Corp <Ntt> | 足位置追尾方法及び足位置追尾式端末装置 |
US6302230B1 (en) | 1999-06-04 | 2001-10-16 | Deka Products Limited Partnership | Personal mobility vehicles and methods |
US7210544B2 (en) | 2002-07-12 | 2007-05-01 | Deka Products Limited Partnership | Control of a transporter based on attitude |
JP5099971B2 (ja) | 2002-07-12 | 2012-12-19 | デカ・プロダクツ・リミテッド・パートナーシップ | 運搬装置のための運動制御 |
US7134990B2 (en) * | 2002-09-27 | 2006-11-14 | Henry Wischusen | Roller for balancing devices |
JP4411867B2 (ja) * | 2003-06-04 | 2010-02-10 | トヨタ自動車株式会社 | 重心移動により操舵可能な車両 |
EP1529556B1 (en) | 2003-11-04 | 2013-02-20 | Toyota Jidosha Kabushiki Kaisha | Travelling apparatus and method for controlling thereof |
JP4734666B2 (ja) * | 2005-03-16 | 2011-07-27 | 独立行政法人産業技術総合研究所 | 3輪型乗用移動台車 |
FR2895359A1 (fr) * | 2005-12-22 | 2007-06-29 | Jannick Simeray | Plateforme motorisee pour pieton |
JP2007237750A (ja) | 2006-03-03 | 2007-09-20 | Toyota Motor Corp | 倒立振子型移動体 |
RU2333862C1 (ru) * | 2007-01-17 | 2008-09-20 | Александр Исаевич Черноморский | Одноосное колесное транспортное средство |
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JP2012126224A (ja) | 2010-12-15 | 2012-07-05 | Bosch Corp | 倒立振子型移動体 |
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CN102602481A (zh) | 2012-04-18 | 2012-07-25 | 陈和 | 两轮自平衡电动车 |
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JP6032119B2 (ja) * | 2013-05-07 | 2016-11-24 | トヨタ自動車株式会社 | 倒立移動体及びその制御方法 |
CN203381739U (zh) | 2013-05-28 | 2014-01-08 | 中国科学院金属研究所 | 一种两轮自平衡电动车 |
TWM473321U (zh) * | 2013-08-06 | 2014-03-01 | Generalplus Technology Inc | 自平衡行動載具 |
US9682732B2 (en) * | 2013-09-06 | 2017-06-20 | Jason Thomas Strack | Fully self-balanced hands-free portable vehicle |
CN103600799B (zh) * | 2013-10-17 | 2015-12-23 | 上海交通大学 | 基于压力传感器的转向控制系统及其自平衡两轮车 |
CN105216933B (zh) * | 2014-06-10 | 2019-04-16 | 扬顶(天津)商贸有限公司 | 一种两轮自平衡电动车的车架总成 |
CN104014123A (zh) * | 2014-06-13 | 2014-09-03 | 杭州骑客智能科技有限公司 | 纵向双轮车体 |
CN104494750B (zh) * | 2014-12-25 | 2016-10-12 | 李陈 | 一种自平衡双轮车 |
CN106564546B (zh) * | 2015-10-10 | 2020-08-14 | 杭州骑客智能科技有限公司 | 全姿态电动平衡扭扭车 |
-
2015
- 2015-10-10 CN CN201510651451.6A patent/CN106564546B/zh active Active
-
2016
- 2016-06-27 US US15/193,856 patent/US9656688B2/en active Active
- 2016-09-20 JP JP2018516189A patent/JP6636622B2/ja not_active Expired - Fee Related
- 2016-09-20 CA CA3000550A patent/CA3000550C/en active Active
- 2016-09-20 KR KR1020197034650A patent/KR102428624B1/ko active IP Right Grant
- 2016-09-20 EP EP16853071.5A patent/EP3334646B1/en active Active
- 2016-09-20 RU RU2018109424A patent/RU2694356C1/ru active
- 2016-09-20 KR KR1020187009728A patent/KR20180049053A/ko not_active Application Discontinuation
- 2016-09-20 MX MX2018003400A patent/MX2018003400A/es unknown
-
2017
- 2017-04-21 US US15/493,217 patent/US10144451B2/en active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005094898A (ja) * | 2003-09-17 | 2005-04-07 | National Institute Of Advanced Industrial & Technology | 平行2輪乗用台車 |
Also Published As
Publication number | Publication date |
---|---|
MX2018003400A (es) | 2018-11-09 |
US9656688B2 (en) | 2017-05-23 |
EP3334646B1 (en) | 2021-08-25 |
EP3334646A1 (en) | 2018-06-20 |
JP6636622B2 (ja) | 2020-01-29 |
US10144451B2 (en) | 2018-12-04 |
US20170217489A1 (en) | 2017-08-03 |
KR20180049053A (ko) | 2018-05-10 |
US20170101129A1 (en) | 2017-04-13 |
KR20190137164A (ko) | 2019-12-10 |
CA3000550C (en) | 2021-02-09 |
KR102428624B1 (ko) | 2022-08-03 |
CN106564546A (zh) | 2017-04-19 |
JP2018534195A (ja) | 2018-11-22 |
RU2694356C1 (ru) | 2019-07-11 |
EP3334646A4 (en) | 2018-09-05 |
CA3000550A1 (en) | 2017-04-13 |
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TR01 | Transfer of patent right |
Effective date of registration: 20240126 Address after: 321000 west side of 3 / F, 1 plant, No. 468, Xinji Road, qiubin street, Wucheng District, Jinhua City, Zhejiang Province (self declaration) Patentee after: Zhejiang Qike Robot Technology Co.,Ltd. Country or region after: China Address before: Building 9, Qixianqiao Village, Liangzhu Street, Yuhang District, Hangzhou City, Zhejiang Province, 310000 Patentee before: HANGZHOU CHIC INTELLIGENT TECHNOLOGY Co.,Ltd. Country or region before: China |
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