CN107281740B - Roller skating device - Google Patents

Roller skating device Download PDF

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Publication number
CN107281740B
CN107281740B CN201710626491.4A CN201710626491A CN107281740B CN 107281740 B CN107281740 B CN 107281740B CN 201710626491 A CN201710626491 A CN 201710626491A CN 107281740 B CN107281740 B CN 107281740B
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China
Prior art keywords
pedal
roller skate
driving
controller
ground engaging
Prior art date
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Active
Application number
CN201710626491.4A
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Chinese (zh)
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CN107281740A (en
Inventor
陈中元
伊布拉欣
嵇鑫健
涂斌
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Ninebot Beijing Technology Co Ltd
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Ninebot Beijing Technology Co Ltd
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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Application filed by Ninebot Beijing Technology Co Ltd filed Critical Ninebot Beijing Technology Co Ltd
Priority to CN201710626491.4A priority Critical patent/CN107281740B/en
Priority to PCT/CN2017/095726 priority patent/WO2019019211A1/en
Publication of CN107281740A publication Critical patent/CN107281740A/en
Priority to EP18769578.8A priority patent/EP3459604A4/en
Priority to US16/096,061 priority patent/US20190256163A1/en
Priority to RU2019104532A priority patent/RU2703783C1/en
Priority to JP2018553902A priority patent/JP6709292B2/en
Priority to RU2019132271A priority patent/RU2722466C1/en
Priority to KR1020187029985A priority patent/KR102080687B1/en
Priority to PCT/CN2018/094983 priority patent/WO2019019905A1/en
Priority to KR1020207004614A priority patent/KR102115844B1/en
Priority to KR1020207004613A priority patent/KR102115845B1/en
Application granted granted Critical
Publication of CN107281740B publication Critical patent/CN107281740B/en
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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

Abstract

The present invention provides a roller skate apparatus, comprising: a pedal, a ground element, a first sensor, a drive element, a first controller, the pedal coupled to the first sensor and the ground element, the ground element coupled to the drive element, the first controller coupled to the first sensor and the drive element; the pedal is suitable for standing at a single point and can be inclined forwards or backwards when standing at a single point; the grounding element is used for acting under the driving of the driving element; the first sensor is used for sensing the posture of a driver on the pedal; the driving element is used for generating an output signal for controlling the action of the grounding element and maintaining the whole skidding device in a balanced state; the first controller is used for controlling the generation of the output signal according to the gesture, so that the roller skating device with better user experience is provided.

Description

Roller skating device
Technical Field
The embodiment of the invention relates to the technical field of roller skates or walking tools, in particular to a roller skate device.
Background
The roller skates are mainly divided into a speed type and an operation type as an entertainment tool or a walking tool, but the two types of roller skates are basically consistent in structural form and comprise skate bodies, wheel carriers arranged on soles and a plurality of rollers, and the difference is that the number, the size and the arrangement of the rollers have certain difference according to different use purposes. In the use, all rely on operator's manpower drive to realize sliding for example through pedaling the action to there is certain limitation long-time use still to cause physical fatigue easily, in addition, at the in-process that slides, stand on the roller skate and keep balance, it is higher to operator's requirement, thereby finally lead to the user experience of roller skate relatively poor.
Disclosure of Invention
Accordingly, one of the technical problems to be solved by the embodiments of the present invention is to provide a roller skating device, which overcomes or alleviates the above technical defects in the prior art.
An embodiment of the present invention provides a roller skating device, including: a pedal, a ground element, a first sensor, a drive element, a first controller, the pedal coupled to the first sensor and the ground element, the ground element coupled to the drive element, the first controller coupled to the first sensor and the drive element; wherein:
the pedal is suitable for standing at a single point and can be inclined forwards or backwards when standing at a single point;
the grounding element is used for acting under the driving of the driving element;
the first sensor is used for sensing the posture of a driver on the pedal;
the driving element is used for generating an output signal for controlling the action of the grounding element and maintaining the whole skidding device in a balanced state according to the posture;
the first controller is used for controlling the output signal of the driving element.
As can be seen from the above technical solutions, in the embodiments of the present invention, since the pedal is coupled to the first sensor and the grounding element, the grounding element is coupled to the driving element, and the first controller is coupled to the first sensor and the driving element; the pedal is suitable for standing at a single point and can be inclined forwards or backwards when standing at a single point; the grounding element is used for acting under the driving of the driving element; the first sensor is used for sensing the posture of a driver on the pedal; the driving element is used for generating an output signal for controlling the action of the grounding element and maintaining the whole skidding device in a balanced state; the first controller is used for controlling the generation of the output signal according to the gesture, so that physical fatigue caused by manual driving sliding is avoided, in addition, in the sliding process, the device can maintain a balance state, the requirement on the operation skill of an operator is low, and the user experience is improved, in other words, the roller skating device with better user experience is integrally provided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present invention, and it is also possible for a person skilled in the art to obtain other drawings based on the drawings.
FIG. 1 is a schematic structural diagram of a roller skate apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a roller skate apparatus according to a second embodiment of the present invention; as shown in the figure
FIGS. 3a and 3b are schematic structural diagrams of a third embodiment of the present invention, which are one and two schematic structural diagrams of a roller skating device;
FIG. 3c is a schematic view of an alternative embodiment of a mounting base;
FIG. 4 is a schematic structural diagram of a roller skate apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a fifth embodiment of a roller skating device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a sixth embodiment of a roller skating device according to the present invention;
FIGS. 7a and 7b are one and two schematic structural diagrams of a seventh roller skating device according to an embodiment of the present invention;
FIG. 8 is a partial schematic view of a skate apparatus embodying the present invention;
fig. 9 is a schematic view of a control principle of a skating device in a ninth embodiment of the present invention.
Detailed Description
Of course, it is not necessary for any particular embodiment of the invention to achieve all of the above advantages at the same time.
In order to make those skilled in the art better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments of the present invention shall fall within the scope of the protection of the embodiments of the present invention.
The following further describes specific implementation of the embodiments of the present invention with reference to the drawings.
In an embodiment of the present invention, since the pedal is coupled to the first sensor and the grounding element, the grounding element is coupled to the driving element, and the first controller is coupled to the first sensor and the driving element; the pedal is suitable for standing at a single point and can be inclined forwards or backwards when standing at a single point; the grounding element is used for acting under the driving of the driving element; the first sensor is used for sensing the posture of a driver on the pedal; the driving element is used for generating an output signal for controlling the action of the grounding element and maintaining the whole skidding device in a balanced state; the first controller is used for controlling the generation of the output signal according to the gesture, so that physical fatigue caused by manual driving sliding is avoided, in addition, in the sliding process, the device can maintain a balance state, the requirement on the operation skill of an operator is low, and the user experience is improved, in other words, the roller skating device with better user experience is integrally provided.
In the following embodiments of the present invention, the first sensor is specifically configured to sense a posture of a driver on the pedal and generate pitch sensing data, and the first controller is specifically configured to determine a current pitch angle of the pedal according to the pitch sensing data. The first controller, when controlling the output signal of the drive element, controls the output signal of the drive element, in particular by means of the desired pitch angle of the pedal and the current pitch angle, such as by means of the angular difference between the desired pitch angle of the pedal and the current pitch angle.
Although the following description will be given by way of example of the embodiment of the roller skate, it should be noted that the roller skate is not the only embodiment of the roller skate, and the roller skate may be configured in any form suitable for roller skating by a disabled person or by a hand.
Further, in the embodiments described below, the ground engaging elements are illustratively wheels, and the ground engaging elements are driven by the driving elements to roll. When the subsequent control turns, the rotation speed of the wheels is controlled to generate a rotation speed difference for controlling the turning.
However, in other embodiments, the wheels are not limited to the above embodiments, and may be any other structure that can make physical contact with the ground. The ground engaging element may also be a plate-like structure, for example if applied in skating or skiing scenarios, the ground engaging element being adapted to slide under the drive of the drive element.
Further, in the following embodiments, the first sensor may specifically be a gyroscope, but is not limited to a gyroscope as long as the attitude of the driver on the pedal can be sensed and the pitch sensing data can be generated. In the following embodiments, the first sensor is not illustrated.
Further, in the following embodiments, the driving element is specifically a motor, but the driving element is not limited to a motor, and a specific application scenario may be implemented as long as the grounding element can be driven to operate. When the driving element is a motor, the output signal of the driving element is the output torque of the driving element.
Embodiment one (one single grounding element):
FIG. 1 is a schematic structural diagram of a roller skate apparatus according to an embodiment of the present invention; as shown in fig. 1, when the roller skate is implemented in the form of a roller skate, the roller skate specifically includes the pedal 101, the ground contact element 102, the motor (not shown in fig. 1), and the first controller (not shown in fig. 1), the pedal 101 is adapted to stand on one foot, and the number of the ground contact element 102 is specifically one, that is, the driver has only one contact point with the ground through the roller skate. Correspondingly, the number of drive elements is one.
In particular, the drive element may be directly embedded within the hub of the ground engaging element 102, thereby making the skate overall more compact in construction.
However, it should be noted that, without considering or emphasizing the compactness of the overall structure of the skate, the driving element may be disposed in the hub of the ground engaging element 102 in a non-embedded manner, such as directly beneath the pedal 101 via a fixed seat or other similar structure.
Example two (two grounded elements 102a and 102b placed in close proximity)
FIG. 2 is a schematic structural diagram of a roller skate apparatus according to a second embodiment of the present invention; as shown in fig. 2, in the present embodiment, unlike the first embodiment, the number of the ground contact elements is two, namely, the ground contact elements 102a and 102b, and the lateral distance between the ground contact elements 102a and 102b is small, so that the ground contact elements are arranged at a position close to the center of the pedal 101, and thus a driver can form two contact points with the ground through the roller skate, thereby reducing the difficulty of using the roller skate.
In this embodiment, a driving shaft (not shown in fig. 2) of the driving element (not shown in fig. 2) is transversely disposed, i.e., perpendicular to the direction of travel of the roller skate, and both ends of the driving shaft are respectively provided with the grounding elements 102a and 102b, and the driving element is embedded in a hub of the grounding element 102 and is directly connected to the grounding element 102a through the driving shaft while being coupled to the grounding element 102b in which the driving element is not embedded. In other words, the ground contact member 102a having the driving member embedded therein functions as a driving wheel during the travel of the skate, and the ground contact member 102b not having the driving member embedded therein functions as a driven wheel rotated by the driving wheel.
It should be noted that in other embodiments, a motor may be provided for each of the grounding elements 102a and 102b, so that the operation of each grounding element can be controlled individually.
EXAMPLE three (remotely located two grounding elements 102a and 102b)
FIGS. 3a and 3b are schematic structural diagrams of a third embodiment of the present invention, which are one and two schematic structural diagrams of a roller skating device; as shown in fig. 3a and 3b, in this embodiment, unlike the above-mentioned embodiments, the grounding elements 102a and 102b are respectively disposed at positions close to the left and right edges of the pedal 101, i.e., two contact points formed with the ground have a larger lateral distance, so as to further reduce the difficulty of using the roller skate.
Similar to the second embodiment, the ground engaging elements 102a, 102b share a motor, specifically, a transmission shaft of the driving element is transversely arranged, i.e. perpendicular to the direction of travel of the roller skate, the two ends of the transmission shaft are respectively provided with the ground engaging elements 102a, 102b, and the driving element is embedded in a hub of one of the ground engaging elements 102a, is directly connected with the ground engaging element 102a through the transmission shaft, and is coupled with the ground engaging element 102b which is not embedded with the driving element. In other words, the ground contact member 102a having the driving member embedded therein functions as a driving wheel during the travel of the skate, and the ground contact member 102b not having the driving member embedded therein functions as a driven wheel rotated by the driving wheel.
Alternatively, in another embodiment, the number of the driving elements is two, and one driving element is respectively configured for the grounding elements 102a and 102b, so that the rotation speeds of the grounding elements 102a and 102b can be independently controlled, and the rotation speeds of the grounding elements 102a and 102b are the same during normal traveling.
In the first to third embodiments, the axis of the grounding element is located below the pedal 101, and the whole grounding element is also located below the pedal 101.
As shown in fig. 3b, the method further comprises: a fixed base 100a to which the ground contact members 102a, 102b are coupled, the fixed base 100a being fixed to a lower surface of the step 101. In a specific application scenario, the grounding elements 102a and 102b may be integrated with the fixed base 100a, and then the fixed base 100a may be fixed on the lower surface of the pedal 101. The fixing base 100a is fixed to the lower surface of the step in the horizontal direction.
In other embodiments, the fixed base may be fixed to the lower surface of the pedal along a vertical direction, and a hole structure is provided on the fixed base, and a transmission shaft of the motor passes through the hole structure, and at the same time, one or a group of the grounding units are respectively coupled to both ends of the transmission shaft, so that a grounding element is integrally provided below the pedal.
It should be noted that, in other embodiments, any other structure may be used to finally couple the grounding elements 102a, 102b to the pedal 101. FIG. 3c is a schematic view of an alternative embodiment of a mounting base; as shown in fig. 3c, the grounding points 102a, 102b are coupled to the lower surface of the pedal by a quick release structure 100 b.
Example four (remotely located two grounding elements 102a and 102b)
In contrast to the third embodiment, in the following fig. 4, when the grounding elements 102a and 102b are included and the lateral distance between the grounding elements is relatively large, the axes of the grounding elements 102a and 102b are located at the lower position of the pedal 101, but partially protrude upwards from the pedal 101.
The pedal 101 in the third embodiment is moved downward as a whole to obtain a schematic structural diagram of the roller skate apparatus in the fourth embodiment as shown in fig. 4.
Alternatively, in another embodiment, the number of the driving elements is two, and one driving element is respectively configured for the grounding elements 102a and 102b, so that the rotation speeds of the grounding elements 102a and 102b can be independently controlled, and the rotation speeds of the grounding elements 102a and 102b are the same during normal traveling.
Fig. 5 is a schematic structural diagram of a fifth embodiment of a roller skating device according to an embodiment of the present invention; as shown in fig. 5, the skate as a roller skate includes a ground engaging member 102, the ground engaging member 102 is located at the center of the step plate 101, and a motor is provided in the hub of the ground engaging member 102. A transmission shaft 103 of the motor is inserted into the hub, and a first bearing structure 104 is disposed near the middle of the transmission shaft 103, and the bearing structure 104 is coupled to the grounding element 102 to drive the grounding element 102 to rotate.
In addition, in fig. 5, two second bearing structures 105 may be respectively disposed at two ends of the transmission shaft, and the bearing structures at each end of the transmission shaft are coupled to the pedal 101, so that the motor and the transmission shaft are integrally disposed at a position below the pedal 101.
Fig. 6 is a schematic structural diagram of a sixth embodiment of a roller skating device according to the present invention; as shown in fig. 6, the skate as a roller skate includes two ground contact members 102a, 102b, and the ground contact members 102a, 102b are provided at positions near both left and right side edges of the step plate 101, respectively. The grounding elements 102a, 102b are each provided with a motor, and the motors and the transmission shafts are arranged in the manner described above with reference to the embodiment shown in fig. 5.
Unlike the embodiments of fig. 1-4, the pedal 101 of the embodiments of fig. 5 and 6 is not rectangular, but has circular arcs at both ends.
FIGS. 7a and 7b are one and two schematic structural diagrams of a seventh roller skating device according to an embodiment of the present invention; referring to fig. 7a and 7b, on the basis of the embodiment shown in fig. 1, a binding unit 108 is added, and the binding unit 108 is arranged on the pedal and used for fixing the position of the foot or the upper position of the foot of the individual using the roller skating device. Optionally, the binding unit 108 is a structure having a hook and loop fastener or a locking buckle, and the foot position or the foot leaning position of the driver using the roller skating device is fixed by the hook and loop fastener or the locking buckle, so that the driver is prevented from falling off the roller skating shoe. The foot position is, for example, the instep position, and the upper position of the foot is, for example, the ankle or the lower leg.
Further, in this embodiment, the roller device further includes: a protective cover 109 for contacting the heel of a single foot standing on the footplate 101 to secure the single foot to the footplate 101 during skating. The specific shape of the protective cover can be arc-shaped, so that the protective cover is tightly attached to the heel of a foot and provides a stable supporting function.
In the embodiment, the binding unit and the protective cover provide a stabilizing effect for the feet of the driver at the rear position and the front position, so that the falling injury danger caused by the falling of the driver from the skidding shoe in the skidding process is effectively prevented.
Further, in this embodiment, optionally, in any embodiment of the present invention, the method further includes: the battery pack is characterized by comprising a battery compartment 106, wherein a battery pack 107 is arranged in the battery compartment 106, and the battery pack 107 is used for supplying power to the driving element and other structures or circuits needing power. Specifically, the pedal 101 has a hollow inner cavity in which the battery compartment 106 is disposed.
FIG. 8 is a partial schematic view of a skate apparatus embodying the present invention; in the present embodiment, a battery pack 107 is provided at a rear portion of the skate as a skate shoe, and specifically, for example, a battery compartment in which the battery pack is provided in a hollow inner cavity of a protective cover 109.
In another embodiment, different from fig. 8, the battery pack 107 is carried on the back of the driver and then connected to the power utilization circuit or elements in the roller skate, such as the first controller and the motor, through an external power cord.
FIG. 9 is a schematic view of a control principle of a skating device according to a ninth embodiment of the present invention; as shown in fig. 9, when the pedal is tilted forward or backward, the first controller is configured to generate a driving electric signal to control the magnitude of the output torque of the driving element according to the angular difference between the desired pitch angle θ of the pedal and the current pitch angle θ. In particular, according to the current pitch angle speed ω of the pedal and the angular difference θ between the desired pitch angle θ and the current pitch angle θerrorGenerating a drive electrical signal to control an output torque magnitude of the drive element. In this embodiment, the driving electrical signal is, for example, a driving voltage. The first controller (also called balance controller) is for example a PID controller.
In particular, the roller device may further comprise a second controller (also referred to as speed controller) for determining a current speed V of rotation of the drive element and a set maximum speed V of rotation*Determining the desired pitch angle θ. Book (I)In an embodiment, the second controller is also for example a PID controller.
Further, it is determined whether the current rotational speed V of the drive element exceeds a set maximum rotational speed V*If the difference exceeds the preset value, the skidding device is in an overspeed state, a preset expected pitch angle theta with a non-zero size is output, and the angular difference theta is calculated with the current pitch angle thetaerrorThe first controller is based on the angular difference thetaerrorGenerating a driving electric signal to control an output torque of the driving element and finally tilting the pedal in a direction opposite to a traveling direction, thereby limiting a traveling speed of the skate to not exceed an upper limit of the traveling speed. If not, the expected pitch angle theta is 0, and then the angular difference theta is used for judging whether the pitch angle theta is larger than the pitch angle thetaerrorThe first controller is based on the angular difference thetaerrorGenerating a driving electric signal to control the output torque of the driving element and finally make the pedal dynamic in a horizontal state.
In particular, the roller device may further comprise a second sensor for sensing the current rotational speed of the drive element.
In addition, it should be noted that in some specific application scenarios, the current pitch angle rate may also be not considered in generating the driving electric signal.
In addition, it should be noted that the output signal of the driving element may have other forms, the output torque is only illustrated in the present embodiment, and different driving elements have different types of output signals.
In addition, it should be noted that in some specific application scenarios, the second controller may not be configured, but the first controller may be multiplexed when determining the desired pitch angle. I.e. the first controller may be adapted to determine the current speed V of rotation of the drive member and the set maximum speed V*Determining the desired pitch angle θ may be further used for generating a driving electric signal to control the magnitude of the output torque of the driving element according to an angular difference between the desired pitch angle θ of the pedal and the current pitch angle θ.
In another specific application scenario, if configured, the configurationA second controller is provided which may also be multiplexed as the first controller. I.e. the second controller may be adapted to determine the current speed V of rotation of the drive member and the set maximum speed V*Determining the desired pitch angle θ may be further used for generating a driving electric signal to control the magnitude of the output torque of the driving element according to an angular difference between the desired pitch angle θ of the pedal and the current pitch angle θ.
In the above-described embodiment of the wheel slide apparatus including two ground contact members, in order to achieve steering, the wheel slide apparatus may further include a steering sensor for sensing a step gesture of a driver on the pedal, and a third controller for controlling actions of the two ground contact members in accordance with the gesture to generate a speed difference for controlling steering.
Specifically, for example, in an application scenario, the steering sensor is configured to sense a step gesture of the driver on the pedal to generate steering sensing data, and the third controller is configured to generate a steering control command according to the steering sensing data to control the actions of the two ground engaging elements to generate a speed difference for controlling steering. The operation of the two grounding elements is controlled by controlling an output signal of a driving element.
Optionally, in an application scenario, the steering sensor is a pressure sensor, the pressure sensor is configured to sense a step gesture of a driver on the pedal and generate pressure sensing data, and the third controller is further configured to generate a steering control command according to the pressure sensing data to control actions of the two ground contact elements to generate a speed difference for controlling steering.
Optionally, in another application scenario, the steering sensor is a steering shaft, the steering shaft is configured to sense a foot posture of a driver on the roller device and generate torque sensing data, and the third controller is further configured to generate a steering control command according to the torque sensing data to control actions of the two ground contact elements to generate a speed difference for controlling steering.
Optionally, in a further application scenario, the steering sensor is: a gyroscope for sensing a foot pose of a driver at the roller device and generating angular motion sensing data; the third controller is further used for generating a steering control instruction according to the angular motion induction data so as to control the action of the two grounding elements to generate a speed difference for controlling steering.
In this embodiment, the first controller is multiplexed into the third controller. However, if the third controller is not separately added, the third controller may be multiplexed with the first controller, or may be a second controller, or if the third controller is separately added, the third controller may be multiplexed as the first controller or the second controller.
In the above embodiments, the motor is embodied as an in-wheel motor, however, in other embodiments, the motor may be a high-speed motor.
In the above embodiments, the wheel may also be provided with a wheel cover.
In the present disclosure, the expression "include" or "may include" refers to the presence of a corresponding function, operation, or element, without limiting one or more additional functions, operations, or elements. In the present disclosure, terms such as "including" and/or "having" may be understood to mean certain characteristics, numbers, steps, operations, constituent elements, or combinations thereof, and may not be understood to preclude the presence or addition of one or more other characteristics, numbers, steps, operations, constituent elements, or combinations thereof.
In the present disclosure, 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. For example, 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.
The expressions "first", "second", "said first" or "said second" used in various embodiments of the present disclosure may modify various components regardless of order and/or importance, but these expressions do not limit the respective components. The foregoing description is only for the purpose of distinguishing elements from other elements. For example, the first user equipment and the second user equipment represent different user equipment, although both are user equipment. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.
When an element (e.g., a first element) is referred to as being "operably or communicatively coupled" or "connected" (operably or communicatively) to "another element (e.g., a second element) or" connected "to another element (e.g., a second element), it is understood that the element is directly connected to the other element or the element is indirectly connected to the other element via yet another element (e.g., a third element). In contrast, it is understood that when an element (e.g., a first element) is referred to as being "directly connected" or "directly coupled" to another element (a second element), no element (e.g., a third element) is interposed therebetween.
The expression "for" as used herein may be used interchangeably with the expressions: "suitable for", "having a capacity", "designed as", "suitable for", "manufactured as" or "capable". The term "used" may not necessarily mean "specially designed" in hardware. Alternatively, in some cases, the expression "a device for …" may mean that the device is "capable …" together with other devices or components. For example, the phrase "a processor adapted to (or used in) perform A, B and C" may mean a dedicated processor (e.g., an embedded processor) for performing the respective operations only or a general-purpose processor (e.g., a Central Processing Unit (CPU) or an Application Processor (AP)) that may perform the respective operations by executing one or more software programs stored in a memory device.
The above-described embodiments of the apparatus are merely illustrative, wherein the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (21)

1. A roller skate apparatus, comprising: a pedal, a ground element, a first sensor, a drive element, a first controller, the pedal coupled to the first sensor and the ground element, the ground element coupled to the drive element, the first controller coupled to the first sensor and the drive element; wherein:
the pedal is suitable for standing at a single point and can be inclined forwards or backwards when standing at a single point;
the grounding element is used for acting under the driving of the driving element;
the first sensor is used for sensing the posture of a driver on the pedal;
the driving element is used for generating an output signal for controlling the action of the grounding element and maintaining the whole skidding device in a balanced state;
the first controller is configured to control generation of the output signal according to the attitude, and includes:
when the current rotation speed of the driving element exceeds a set maximum rotation speed, the first controller generates a driving electric signal according to an angle difference between a desired pitch angle and a current pitch angle of the pedal to control an output torque of the driving element and finally tilt the pedal in a direction opposite to a traveling direction;
when the current rotating speed of the driving element does not exceed the set maximum rotating speed, the first controller generates a driving electric signal according to the angle difference between the expected pitch angle and the current pitch angle of the pedal to control the output torque of the driving element and finally make the pedal dynamically in a horizontal state.
2. A pulley arrangement according to claim 1, characterized in that the number of ground engaging elements is one, and correspondingly the number of driving elements is one.
3. A pulley arrangement according to claim 1, characterized in that the number of ground engaging elements is two and the number of driving elements is one, the driving elements being coupled to both of the ground engaging elements.
4. A pulley arrangement according to claim 1, characterised in that the number of ground engaging elements is two and the number of driving elements is two, one driving element being provided for each ground engaging element.
5. A roller skate according to claim 3 or 4 wherein the axial center of said ground engaging member is located at said step lower position and the entirety of said ground engaging member is located at said step lower position.
6. A roller skate according to claim 3 or 4 wherein said ground engaging member is axially centered below said tread plate and said ground engaging member partially projects upwardly from said tread plate.
7. A roller skate as defined in claim 3 wherein said ground engaging elements are wheels, the drive shaft of said drive element is transversely disposed, one of said wheels is disposed at each end of said drive shaft, and said drive element is embedded in the hub of one of said wheels and is directly connected to the wheel having said drive element embedded therein via the drive shaft while being coupled to the wheel not having said drive element embedded therein.
8. A roller skate as defined in claim 3 or 4 wherein two said ground engaging members are provided at locations adjacent to the left and right side edges of said tread board or at locations adjacent to the center of said tread board, respectively.
9. A roller skate as defined in claim 1 further comprising: the battery compartment is internally provided with a battery pack, and the battery pack is used for supplying power to the driving element.
10. A roller skate as defined in claim 9 wherein said battery compartment is disposed below said pedal.
11. A pulley device according to any one of claims 1-4, 7, 9 and 10, further comprising: and the binding unit is arranged on the pedal and is used for fixing the position of the foot of a driver using the roller skating device or the position of the foot close to the upper part.
12. A roller skate as defined in claim 11 wherein said restraining means is a structure having a hook and loop fastener or a locking buckle by which the position of the foot or the upper position of the foot of the rider using the roller skate is fixed.
13. A roller skate as defined in claim 1 further comprising: a protective cover for contacting a heel of a single foot standing on the pedal to secure the single foot to the pedal during skating.
14. A roller skate as defined in claim 1 further comprising: a fixed base on which the ground element is coupled, the fixed base being fixed to a lower surface of the step.
15. A roller skate as defined in claim 1 further comprising: a second controller for determining a desired pitch angle of the pedal based on a current rotational speed of the drive element and a set maximum rotational speed.
16. A pulley arrangement according to claim 15, characterised in that the first controller is further adapted to generate a drive electrical signal to control the output signal of the drive element as a function of the current pitch angle rate of the pedal and the angular difference between the desired pitch angle of the pedal and the current pitch angle, when the pedal is tilted forwards or backwards.
17. A roller skate as defined in claim 15 further comprising: a second sensor for sensing a current rotational speed of the drive element.
18. A roller skate as defined in claim 1 wherein said ground engaging elements are wheels and are two in number, said roller skate further comprising a steering sensor for sensing a foot position of a driver on said pedal, and a third controller for controlling the action of said two ground engaging elements in accordance with said foot position to generate a speed differential for controlling steering.
19. A roller skate as defined in claim 18 wherein said steering sensor is a pressure sensor for sensing the foot position of the driver on said pedal.
20. A roller skate as defined in claim 18 wherein said steering sensor is a steering shaft for sensing the attitude of the driver's foot on the skate.
21. A roller skate as defined in claim 18 wherein said steering sensor is: the gyroscope is used for sensing the foot posture of a driver on the roller skating device.
CN201710626491.4A 2017-07-27 2017-07-27 Roller skating device Active CN107281740B (en)

Priority Applications (11)

Application Number Priority Date Filing Date Title
CN201710626491.4A CN107281740B (en) 2017-07-27 2017-07-27 Roller skating device
PCT/CN2017/095726 WO2019019211A1 (en) 2017-07-27 2017-08-02 Roller skating device
RU2019132271A RU2722466C1 (en) 2017-07-27 2018-07-09 Assembly roller skating device and electric balancer
US16/096,061 US20190256163A1 (en) 2017-07-27 2018-07-09 Roller-skating device and electric balance vehicle
RU2019104532A RU2703783C1 (en) 2017-07-27 2018-07-09 Electric device for rolling on rollers and electric balancer
JP2018553902A JP6709292B2 (en) 2017-07-27 2018-07-09 Roller skating device and electric balance car
EP18769578.8A EP3459604A4 (en) 2017-07-27 2018-07-09 Roller skating device and electric balance vehicle
KR1020187029985A KR102080687B1 (en) 2017-07-27 2018-07-09 Roller Skating Apparatus and Electric Balancer
PCT/CN2018/094983 WO2019019905A1 (en) 2017-07-27 2018-07-09 Roller skating device and electric balance vehicle
KR1020207004614A KR102115844B1 (en) 2017-07-27 2018-07-09 Roller-skating device and electric balance vehicle
KR1020207004613A KR102115845B1 (en) 2017-07-27 2018-07-09 Roller-skating device and electric balance vehicle

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