CN107305387B - 压控电动载具及其控制方法 - Google Patents
压控电动载具及其控制方法 Download PDFInfo
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- CN107305387B CN107305387B CN201611206462.4A CN201611206462A CN107305387B CN 107305387 B CN107305387 B CN 107305387B CN 201611206462 A CN201611206462 A CN 201611206462A CN 107305387 B CN107305387 B CN 107305387B
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Images
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
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/01—Motorcycles with four or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
-
- 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
-
- 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
- A63C17/02—Roller skates; Skate-boards with wheels arranged 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
- A63C17/12—Roller skates; Skate-boards with driving mechanisms
-
- 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
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- 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
- A63C17/015—Wheel arrangements with wheels arranged in two pairs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/12—Electrically powered or heated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/24—Personal mobility vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/32—Driving direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Transportation (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Power Engineering (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Computing Systems (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Handcart (AREA)
- Selective Calling Equipment (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Toys (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (12)
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201662324494P | 2016-04-19 | 2016-04-19 | |
US62/324,494 | 2016-04-19 | ||
US15/273,316 | 2016-09-22 | ||
US15/273,316 US10988032B2 (en) | 2016-04-19 | 2016-09-22 | Self-propelled personal transportation device |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107305387A CN107305387A (zh) | 2017-10-31 |
CN107305387B true CN107305387B (zh) | 2021-01-08 |
Family
ID=59346252
Family Applications (4)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201621115018.7U Active CN206351742U (zh) | 2016-04-19 | 2016-10-11 | 压控电动载具 |
CN201610888192.3A Pending CN107303926A (zh) | 2016-04-19 | 2016-10-11 | 压控电动载具 |
CN201611206462.4A Active CN107305387B (zh) | 2016-04-19 | 2016-12-23 | 压控电动载具及其控制方法 |
CN201710103934.1A Active CN107305388B (zh) | 2016-04-19 | 2017-02-24 | 电动载具系统的控制方法 |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201621115018.7U Active CN206351742U (zh) | 2016-04-19 | 2016-10-11 | 压控电动载具 |
CN201610888192.3A Pending CN107303926A (zh) | 2016-04-19 | 2016-10-11 | 压控电动载具 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710103934.1A Active CN107305388B (zh) | 2016-04-19 | 2017-02-24 | 电动载具系统的控制方法 |
Country Status (9)
Country | Link |
---|---|
US (2) | US10988032B2 (zh) |
EP (1) | EP3445462B1 (zh) |
JP (1) | JP2019519415A (zh) |
KR (1) | KR20180133425A (zh) |
CN (4) | CN206351742U (zh) |
AU (1) | AU2017253769A1 (zh) |
HK (3) | HK1245912A1 (zh) |
SG (1) | SG11201806630QA (zh) |
WO (1) | WO2017182148A1 (zh) |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2014152951A1 (en) | 2013-03-14 | 2014-09-25 | Boosted, Inc. | Dynamic control for light electric vehicles |
CN204856861U (zh) * | 2015-07-01 | 2015-12-09 | 优利科技有限公司 | 遥控装置和遥控系统 |
US10988032B2 (en) | 2016-04-19 | 2021-04-27 | Walnut Technology Limited | Self-propelled personal transportation device |
CN206031052U (zh) * | 2016-07-18 | 2017-03-22 | 深圳天才动力科技有限公司 | 车辆备用电动车轮及遥控器 |
EP3405267A4 (en) * | 2017-03-21 | 2019-11-06 | Evolve Skateboards Pty Ltd | ELECTRIC WHEEL BOARDS |
CN108786083B (zh) | 2017-04-28 | 2020-05-05 | 胡桃智能科技(东莞)有限公司 | 电动载具、电动载具系统及其控制方法 |
CN107161260B (zh) * | 2017-05-09 | 2021-10-26 | 纳恩博(北京)科技有限公司 | 一种控制方法、车架、动力驱动组件及车辆 |
US10926159B1 (en) * | 2017-07-25 | 2021-02-23 | Lean Steer Difference, LLC | Lean-to-steer device with motorized steering responses |
US10486051B2 (en) * | 2017-09-26 | 2019-11-26 | Boosted, Inc. | Backpack for a personal transport vehicle |
TWI649984B (zh) * | 2017-10-12 | 2019-02-01 | 財團法人工業技術研究院 | 資料量測方法、資料量測管理系統及其電腦可讀取儲存媒體 |
CN107961526B (zh) * | 2017-11-30 | 2020-07-28 | 北京小米移动软件有限公司 | 滑行装置及其转向控制方法、装置 |
CN108273258A (zh) * | 2018-01-24 | 2018-07-13 | 纳恩博(北京)科技有限公司 | 电动行驶设备 |
US20210113914A1 (en) * | 2018-04-29 | 2021-04-22 | Nimbus Robotics, Inc. | A gait controlled mobility device |
CN108434709A (zh) * | 2018-06-05 | 2018-08-24 | 北京小米移动软件有限公司 | 滑板控制方法及滑板 |
DE102018212284A1 (de) * | 2018-07-24 | 2020-01-30 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Bremssystems sowie Bremssystem |
CN109703686B (zh) * | 2018-12-21 | 2020-11-20 | 纳恩博(北京)科技有限公司 | 一种电动助力的移动设备及其控制方法 |
CN112959315A (zh) * | 2019-12-13 | 2021-06-15 | 于春彦 | 一种新型智能机器人及其控制方法 |
DE102019135301B3 (de) * | 2019-12-19 | 2021-03-18 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Elektrisch angetriebenes Kleinstfahrzeug |
CN113511078B (zh) * | 2020-04-10 | 2024-03-26 | 广州汽车集团股份有限公司 | 一种低速反扭矩制动方法、装置、汽车及计算机可读存储介质 |
IT202000029504A1 (it) * | 2020-12-02 | 2022-06-02 | Mohawknee S R L | Sistema per pattinare e relativo metodo di funzionamento |
CN112706863B (zh) * | 2021-01-07 | 2022-05-27 | 上海钧正网络科技有限公司 | 一种转把异常检测方法、装置及设备 |
DE102021006648A1 (de) | 2021-07-14 | 2023-03-09 | Reinhold Riemensperger | Elektrisch antreibbarer Lastenroller, Lastenrollersteuerungs- und/oder - regelungssystem, Verfahren zur Steuerung und/oder Regelung eines elektrisch antreibbaren Lastenrollers sowie Computerprogrammprodukt zur Ausführung des Verfahrens mittels eines Computers |
CN114832362A (zh) * | 2022-04-21 | 2022-08-02 | 浙江九为电子科技有限公司 | 电动滑板的控制方法、其控制装置以及电动滑板 |
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JPH10314366A (ja) | 1997-05-23 | 1998-12-02 | Sanyo Electric Co Ltd | 自走式スケートボード |
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CN206351742U (zh) | 2017-07-25 |
US20180264972A1 (en) | 2018-09-20 |
CN107305388A (zh) | 2017-10-31 |
CN107303926A (zh) | 2017-10-31 |
SG11201806630QA (en) | 2018-11-29 |
EP3445462A1 (en) | 2019-02-27 |
WO2017182148A1 (en) | 2017-10-26 |
CN107305387A (zh) | 2017-10-31 |
US10988032B2 (en) | 2021-04-27 |
CN107305388B (zh) | 2021-06-15 |
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