CN108394479A - 一种自平衡车辆装置及其相应控制方法 - Google Patents
一种自平衡车辆装置及其相应控制方法 Download PDFInfo
- Publication number
- CN108394479A CN108394479A CN201710068262.5A CN201710068262A CN108394479A CN 108394479 A CN108394479 A CN 108394479A CN 201710068262 A CN201710068262 A CN 201710068262A CN 108394479 A CN108394479 A CN 108394479A
- Authority
- CN
- China
- Prior art keywords
- self
- chassis
- shaft
- balancing vehicle
- vehicle device
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000005484 gravity Effects 0.000 claims abstract description 16
- 238000005119 centrifugation Methods 0.000 claims abstract description 6
- 239000000725 suspension Substances 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000036632 reaction speed Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims 1
- 238000013500 data storage Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 3
- 230000004044 response Effects 0.000 abstract description 2
- 230000003993 interaction Effects 0.000 abstract 1
- 230000006641 stabilisation Effects 0.000 abstract 1
- 238000011105 stabilization Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 206010019233 Headaches Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 235000013569 fruit product Nutrition 0.000 description 1
- 231100000869 headache Toxicity 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000010977 jade Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
- B62D37/06—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses using gyroscopes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G9/00—Resilient suspensions of a rigid axle or axle housing for two or more wheels
- B60G9/02—Resilient suspensions of a rigid axle or axle housing for two or more wheels the axle or housing being pivotally mounted on the vehicle, e.g. the pivotal axis being parallel to the longitudinal axis of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/06—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type
- B60G13/10—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type pneumatic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0161—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during straight-line motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D24/00—Connections between vehicle body and vehicle frame
- B62D24/04—Vehicle body mounted on resilient suspension for movement relative to the vehicle frame
-
- 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
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/20—Type of damper
- B60G2202/24—Fluid damper
- B60G2202/242—Pneumatic damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/45—Rolling frame vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0511—Roll angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
Description
Claims (16)
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710068262.5A CN108394479B (zh) | 2017-02-07 | 2017-02-07 | 一种自平衡车辆装置及其相应控制方法 |
EP17895523.3A EP3572309A4 (en) | 2017-02-07 | 2017-11-21 | SELF-BALANCING VEHICLE DEVICE AND RELATED CONTROL METHOD |
PCT/CN2017/112042 WO2018145500A1 (zh) | 2017-02-07 | 2017-11-21 | 一种自平衡车辆装置及其相应控制方法 |
US16/484,118 US11554818B2 (en) | 2017-02-07 | 2017-11-21 | Self-stabilizing vehicle and control method thereof |
JP2019541766A JP2020505272A (ja) | 2017-02-07 | 2017-11-21 | 自己平衡型車両装置及びその制御方法 |
US18/079,028 US11851113B2 (en) | 2017-02-07 | 2022-12-12 | Self-stabilizing vehicle and control method thereof |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710068262.5A CN108394479B (zh) | 2017-02-07 | 2017-02-07 | 一种自平衡车辆装置及其相应控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108394479A true CN108394479A (zh) | 2018-08-14 |
CN108394479B CN108394479B (zh) | 2020-04-24 |
Family
ID=63093845
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710068262.5A Active CN108394479B (zh) | 2017-02-07 | 2017-02-07 | 一种自平衡车辆装置及其相应控制方法 |
Country Status (5)
Country | Link |
---|---|
US (2) | US11554818B2 (zh) |
EP (1) | EP3572309A4 (zh) |
JP (1) | JP2020505272A (zh) |
CN (1) | CN108394479B (zh) |
WO (1) | WO2018145500A1 (zh) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109203901A (zh) * | 2018-11-10 | 2019-01-15 | 石河子大学 | 一种可调节侧倾及俯仰角悬架系统的高地隙车辆及其工作方式 |
CN109353438A (zh) * | 2018-10-11 | 2019-02-19 | 佛山科学技术学院 | 一种减震平衡车 |
CN109606246A (zh) * | 2019-01-30 | 2019-04-12 | 中国矿业大学 | 一种用于半流体运输集装箱动平衡液压底盘及控制方法 |
CN111717299A (zh) * | 2020-06-09 | 2020-09-29 | 南京理工大学 | 车辆自稳定驾驶舱及基于该驾驶舱的控制系统和方法 |
CN111731399A (zh) * | 2020-07-06 | 2020-10-02 | 神华国能集团有限公司 | 一种行走设备及机器人 |
CN112167790A (zh) * | 2020-10-09 | 2021-01-05 | 珠海格力电器股份有限公司 | 一种炊具 |
CN112477729A (zh) * | 2019-09-12 | 2021-03-12 | 昆山市尚升危险废物专业运输有限公司 | 一种防倾斜的危险品运输车车厢结构 |
CN112739559A (zh) * | 2018-09-24 | 2021-04-30 | 祖克斯有限公司 | 使用压力设定点控制车辆悬挂系统 |
CN113715717A (zh) * | 2021-10-27 | 2021-11-30 | 洛阳德野专用车辆有限公司 | 一种越野房车车厢的防摇晃结构 |
CN114524031A (zh) * | 2022-02-23 | 2022-05-24 | 福建汉特云智能科技有限公司 | 一种机器人车体及扫地机器人 |
CN114940222A (zh) * | 2022-06-10 | 2022-08-26 | 华南农业大学 | 一种具有坡地自适应调整的轻型履带底盘 |
CN117508352A (zh) * | 2023-12-28 | 2024-02-06 | 河南德野专用车辆股份有限公司 | 一种可调式房车上装稳定平衡车架 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7518689B2 (ja) * | 2020-07-29 | 2024-07-18 | カワサキモータース株式会社 | 移動経路生成システム、移動経路生成プログラム及び移動経路生成方法 |
KR20220063054A (ko) * | 2020-11-09 | 2022-05-17 | 현대강전(주) | 운송장비용 쏠림방지장치 |
US20220177058A1 (en) * | 2020-12-08 | 2022-06-09 | Bryant Engineering & Development, LLC | Self-Stabilizing Two-Wheeled Vehicle |
US11952072B2 (en) * | 2020-12-08 | 2024-04-09 | Bryant Engineering & Development, LLC | Self-stabilizing vehicle |
IT202000031109A1 (it) * | 2020-12-16 | 2022-06-16 | Piaggio & C Spa | Un motoveicolo con avantreno rollante e carrello posteriore con due ruote motrici |
CN113264111A (zh) * | 2021-06-22 | 2021-08-17 | 黑系智能装备(威海)有限公司 | 用于自行式越野房车箱体的自平衡装置 |
CN115042902B (zh) * | 2022-07-26 | 2024-03-29 | 浙江德策工贸有限公司 | 一种滑板车及滑板车行驶方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN202728379U (zh) * | 2012-08-30 | 2013-02-13 | 张济安 | 一种两轮轿车 |
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 |
CN204095952U (zh) * | 2014-08-19 | 2015-01-14 | 祝凌云 | 一种电动两轮汽车 |
CN105365914A (zh) * | 2014-08-19 | 2016-03-02 | 北京凌云智能科技有限公司 | 一种电动两轮汽车 |
CN105676858A (zh) * | 2016-03-02 | 2016-06-15 | 深圳市美莱创新股份有限公司 | 自平衡两轮平衡车及控制方法 |
Family Cites Families (57)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3326318A (en) * | 1965-10-22 | 1967-06-20 | Bevoise John M De | Anti-skid vane |
US3373832A (en) * | 1966-04-19 | 1968-03-19 | Thomas O. Summers | Gyro vehicle |
US3711113A (en) * | 1970-09-09 | 1973-01-16 | J Stammreich | Vehicle suspension arrangement |
FR2153221B1 (zh) * | 1971-09-23 | 1976-09-17 | Jamer Jacques | |
US4887829A (en) * | 1987-04-07 | 1989-12-19 | Prince Curtis L | Rear wheel suspension system for a tricycle vehicle |
CA2193073C (en) * | 1994-06-14 | 2001-02-06 | Christopher Ralph Van Den Brink | Self-stabilising, directionally controllable vehicle with at least three wheels |
NL1007045C2 (nl) * | 1997-09-16 | 1999-03-25 | Brinks Westmaas Bv | Kantelvoertuig. |
US6805362B1 (en) * | 2003-05-02 | 2004-10-19 | Thomas Wesley Melcher | Vehicle lean and alignment control system |
FR2872773B1 (fr) * | 2004-07-07 | 2006-09-29 | Moulene Sarl | Vehicule motorise de faible largeur |
JP4529588B2 (ja) * | 2004-08-24 | 2010-08-25 | トヨタ自動車株式会社 | 車両制御装置 |
JP4363311B2 (ja) * | 2004-11-12 | 2009-11-11 | トヨタ自動車株式会社 | 減衰力制御装置 |
EP1885593B1 (en) * | 2005-05-31 | 2011-07-20 | Brinks Westmaas B.V. | Self-balancing vehicle |
JP2008230466A (ja) * | 2007-03-22 | 2008-10-02 | Hitachi Ltd | サスペンション制御装置 |
JP4594346B2 (ja) * | 2007-03-22 | 2010-12-08 | トヨタ自動車株式会社 | 車両挙動制御装置 |
CN103899699B (zh) * | 2008-07-09 | 2016-03-16 | 火石工业产品有限责任公司 | 气弹簧-气减振器组件及方法 |
CN201357866Y (zh) * | 2008-07-10 | 2009-12-09 | 昆明理工大学 | 经济型三轮太阳能车车架 |
JP2010030416A (ja) * | 2008-07-29 | 2010-02-12 | Mitsubishi Heavy Ind Ltd | 走行安定装置及び該装置を備えた産業車両 |
JP2010083447A (ja) | 2008-10-02 | 2010-04-15 | Toyota Motor Corp | 移動体の慣性制御装置及び方法 |
JP2010105436A (ja) * | 2008-10-28 | 2010-05-13 | Aisin Seiki Co Ltd | ロール剛性制御装置 |
GB2465020B (en) * | 2008-11-07 | 2012-10-10 | Antony Richard Weir | Self-balancing single-track electric vehicle |
WO2010116641A1 (ja) * | 2009-03-30 | 2010-10-14 | 株式会社エクォス・リサーチ | 車両 |
US8167318B2 (en) * | 2009-09-21 | 2012-05-01 | Msi Defense Solutions, Llc | Hydraulic anti-roll system |
GB2476807B (en) * | 2010-01-08 | 2012-10-31 | David Andrew Gale | A vehicle |
US8706390B2 (en) * | 2010-03-16 | 2014-04-22 | Lit Motors Corporation | Gyroscopic stabilized vehicle |
JP5505319B2 (ja) * | 2011-01-18 | 2014-05-28 | 株式会社エクォス・リサーチ | 車両 |
GB2492757B (en) * | 2011-07-07 | 2015-12-23 | David Andrew Gale | A vehicle |
JP5741278B2 (ja) * | 2011-07-26 | 2015-07-01 | 株式会社エクォス・リサーチ | 車両 |
DE102012202596A1 (de) | 2012-02-21 | 2013-08-22 | Robert Bosch Gmbh | Vorrichtung und Verfahren zum Betreiben eines Fahrzeugs |
DE102012011867A1 (de) * | 2012-06-14 | 2013-01-24 | Daimler Ag | Radaufhängung |
US8919788B2 (en) * | 2012-08-27 | 2014-12-30 | Lit Motors Corporation | Gyroscopic system in vehicle suspension |
JP6277404B2 (ja) * | 2012-09-28 | 2018-02-14 | 株式会社エクォス・リサーチ | 自動車 |
GB2506726B (en) * | 2013-07-16 | 2014-10-22 | Sergey Nikolaevich Andreev | Two-wheel gyroscope-stabilized vehicle and methods for controlling thereof |
FR3010042B1 (fr) * | 2013-09-02 | 2015-08-14 | Bruno Malphettes | Vehicule inclinable a trois roues |
WO2015048823A1 (en) * | 2013-09-30 | 2015-04-02 | Firestone Industrial Products Company, Llc | Gas damper |
CN103600801A (zh) * | 2013-10-17 | 2014-02-26 | 上海交通大学 | 基于红外传感器的转向控制系统及其自平衡两轮车 |
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 |
US9387742B2 (en) * | 2014-01-13 | 2016-07-12 | Arvinmeritor Technology, Llc | Suspension system and method of control |
DE102014203388A1 (de) * | 2014-02-25 | 2015-08-27 | Zf Friedrichshafen Ag | Stabilisator zur Wankstabilisierung eines Fahrzeugs und Verfahren zum Betreiben eines solchen Stabilisators |
US9120511B1 (en) * | 2014-02-28 | 2015-09-01 | Horizon Hobby, LLC | Systems and methods for causing a rotational force to be applied to a vehicle |
EP3274194A1 (en) * | 2015-03-25 | 2018-01-31 | Hendrickson USA, L.L.C. | Damping air spring and shock absorber combination for heavy-duty vehicle axle/suspension systems |
CN108349558A (zh) * | 2015-08-10 | 2018-07-31 | 北京凌云智能科技有限公司 | 自平衡载具 |
US20180257720A1 (en) * | 2015-09-15 | 2018-09-13 | Daewoo Kim | Vehicle control device and method using gyroscope |
ITUA20163740A1 (it) * | 2016-05-24 | 2017-11-24 | Sistemi Sospensioni Spa | Sospensione per veicolo con ammortizzatore idraulico rigenerativo e con sistema di regolazione dell'assetto del veicolo. |
US10035400B2 (en) * | 2016-07-27 | 2018-07-31 | GM Global Technology Operations LLC | Vehicle suspension system |
JP6743735B2 (ja) * | 2017-03-17 | 2020-08-19 | トヨタ自動車株式会社 | 自動傾斜車両 |
JP6760195B2 (ja) * | 2017-05-02 | 2020-09-23 | トヨタ自動車株式会社 | 自動傾斜車両 |
GB2582114B (en) * | 2017-11-15 | 2022-06-15 | Sway Motorsports Llc | Control system for a tiltable vehicle |
US10486755B2 (en) * | 2017-11-30 | 2019-11-26 | Facebook, Inc. | Self-balancing robotic motorcycle |
US20190351727A1 (en) * | 2018-05-18 | 2019-11-21 | Hendrickson Usa, L.L.C. | Damping air spring with substantially fixed volume |
CN108657343B (zh) * | 2018-06-08 | 2024-08-02 | 深圳市壹然进出口贸易有限公司 | 自平衡电动漂移鞋 |
KR101969143B1 (ko) * | 2018-06-22 | 2019-04-16 | 연성은 | 자이로 카트 |
US20200102043A1 (en) * | 2018-09-28 | 2020-04-02 | Arizona Board Of Regents On Behalf Of Arizona State University | Robotic steering mechanism for autonomous bicycle |
US11027786B2 (en) * | 2018-11-20 | 2021-06-08 | Harley-Davidson Motor Company Group, LLC | Gyroscopic rider assist device |
EP3927564A1 (en) * | 2019-02-19 | 2021-12-29 | Sway Motorsports LLC | Autonomous tilting delivery vehicle |
US11072389B2 (en) * | 2019-02-22 | 2021-07-27 | Sway Motorsports Llc | Three-wheeled tilting vehicle |
GB2598760B (en) * | 2020-09-11 | 2024-04-10 | Gabriel Birligea Danut | A vehicle |
US20220177058A1 (en) * | 2020-12-08 | 2022-06-09 | Bryant Engineering & Development, LLC | Self-Stabilizing Two-Wheeled Vehicle |
-
2017
- 2017-02-07 CN CN201710068262.5A patent/CN108394479B/zh active Active
- 2017-11-21 EP EP17895523.3A patent/EP3572309A4/en not_active Withdrawn
- 2017-11-21 US US16/484,118 patent/US11554818B2/en active Active
- 2017-11-21 WO PCT/CN2017/112042 patent/WO2018145500A1/zh unknown
- 2017-11-21 JP JP2019541766A patent/JP2020505272A/ja active Pending
-
2022
- 2022-12-12 US US18/079,028 patent/US11851113B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN202728379U (zh) * | 2012-08-30 | 2013-02-13 | 张济安 | 一种两轮轿车 |
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 |
CN204095952U (zh) * | 2014-08-19 | 2015-01-14 | 祝凌云 | 一种电动两轮汽车 |
CN105365914A (zh) * | 2014-08-19 | 2016-03-02 | 北京凌云智能科技有限公司 | 一种电动两轮汽车 |
CN105676858A (zh) * | 2016-03-02 | 2016-06-15 | 深圳市美莱创新股份有限公司 | 自平衡两轮平衡车及控制方法 |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112739559A (zh) * | 2018-09-24 | 2021-04-30 | 祖克斯有限公司 | 使用压力设定点控制车辆悬挂系统 |
CN112739559B (zh) * | 2018-09-24 | 2024-01-26 | 祖克斯有限公司 | 使用压力设定点控制车辆悬挂系统 |
CN109353438A (zh) * | 2018-10-11 | 2019-02-19 | 佛山科学技术学院 | 一种减震平衡车 |
CN109353438B (zh) * | 2018-10-11 | 2023-09-26 | 佛山科学技术学院 | 一种减震平衡车 |
CN109203901A (zh) * | 2018-11-10 | 2019-01-15 | 石河子大学 | 一种可调节侧倾及俯仰角悬架系统的高地隙车辆及其工作方式 |
CN109606246B (zh) * | 2019-01-30 | 2023-07-07 | 中国矿业大学 | 一种用于半流体运输集装箱动平衡液压底盘及控制方法 |
CN109606246A (zh) * | 2019-01-30 | 2019-04-12 | 中国矿业大学 | 一种用于半流体运输集装箱动平衡液压底盘及控制方法 |
CN112477729A (zh) * | 2019-09-12 | 2021-03-12 | 昆山市尚升危险废物专业运输有限公司 | 一种防倾斜的危险品运输车车厢结构 |
CN111717299A (zh) * | 2020-06-09 | 2020-09-29 | 南京理工大学 | 车辆自稳定驾驶舱及基于该驾驶舱的控制系统和方法 |
CN111731399A (zh) * | 2020-07-06 | 2020-10-02 | 神华国能集团有限公司 | 一种行走设备及机器人 |
CN111731399B (zh) * | 2020-07-06 | 2021-06-15 | 神华国能集团有限公司 | 一种行走设备及机器人 |
CN112167790A (zh) * | 2020-10-09 | 2021-01-05 | 珠海格力电器股份有限公司 | 一种炊具 |
CN112167790B (zh) * | 2020-10-09 | 2022-04-22 | 珠海格力电器股份有限公司 | 一种炊具 |
CN113715717B (zh) * | 2021-10-27 | 2023-11-14 | 河南德野专用车辆股份有限公司 | 一种越野房车车厢的防摇晃结构 |
CN113715717A (zh) * | 2021-10-27 | 2021-11-30 | 洛阳德野专用车辆有限公司 | 一种越野房车车厢的防摇晃结构 |
CN114524031A (zh) * | 2022-02-23 | 2022-05-24 | 福建汉特云智能科技有限公司 | 一种机器人车体及扫地机器人 |
CN114940222A (zh) * | 2022-06-10 | 2022-08-26 | 华南农业大学 | 一种具有坡地自适应调整的轻型履带底盘 |
CN114940222B (zh) * | 2022-06-10 | 2023-06-20 | 华南农业大学 | 一种具有坡地自适应调整的轻型履带底盘 |
CN117508352A (zh) * | 2023-12-28 | 2024-02-06 | 河南德野专用车辆股份有限公司 | 一种可调式房车上装稳定平衡车架 |
CN117508352B (zh) * | 2023-12-28 | 2024-03-22 | 河南德野专用车辆股份有限公司 | 一种可调式房车上装稳定平衡车架 |
Also Published As
Publication number | Publication date |
---|---|
WO2018145500A1 (zh) | 2018-08-16 |
JP2020505272A (ja) | 2020-02-20 |
US20200023913A1 (en) | 2020-01-23 |
US20230116366A1 (en) | 2023-04-13 |
EP3572309A1 (en) | 2019-11-27 |
US11851113B2 (en) | 2023-12-26 |
CN108394479B (zh) | 2020-04-24 |
US11554818B2 (en) | 2023-01-17 |
EP3572309A4 (en) | 2020-02-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108394479A (zh) | 一种自平衡车辆装置及其相应控制方法 | |
Cossalter et al. | Motorcycle dynamics | |
US9272744B1 (en) | Three-wheeled vehicles | |
EP3505434A1 (en) | Vehicle | |
KR101676073B1 (ko) | 4륜차 | |
US4072325A (en) | Pendulum stabilized ground vehicles | |
US20010028154A1 (en) | Vehicle having suspension system with variable camber and vertical suspension in the plane of the wheel | |
CN101918256A (zh) | 用于车辆电子稳定系统的负载传感器 | |
EP3256367B1 (en) | Motorized vehicle with pivoting cabin combining features of automobiles and motorcycles | |
CN103261014B (zh) | 可通过重量转移控制的具有两件式行驶踏板的交通工具 | |
Puhn | How to Make Your Car Handle: Pro Methods for Improved Handling, Safety and Performance | |
CN105984537A (zh) | 可倾斜机动三轮车 | |
Campbell | Automobile suspensions | |
CN102303667B (zh) | 一种三轮车车架 | |
JP2012011996A (ja) | 車両 | |
GB2394701A (en) | Tilt trike | |
US20160001833A1 (en) | Couplable drive unit and steering unit | |
JP2014069676A (ja) | 自動車 | |
JP6277404B2 (ja) | 自動車 | |
CN109572343B (zh) | 一种具有控制装置的主动稳定车辆 | |
CN109153425B (zh) | 具有进行角运动的脚踏台的自平衡运输装置 | |
US8607913B2 (en) | Motorized three-wheeled vehicle rear steering mechanism | |
Bucchi et al. | Stability analysis of a novel four-wheeled motorcycle in straight running | |
US2521986A (en) | Combination steerable and banking wheel suspension | |
WO2022053925A1 (en) | Motorised dicycle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210402 Address after: 518100 8th floor, Yizhan business building, 8 Yizhan 4th Road, Shapu community, Songgang street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Meidahang Technology Co.,Ltd. Address before: 518127 factory building B, No.18, Songtang Road, tongfuyu Industrial Park, tangxiayong community, Songgang street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: DAHON TECHNOLOGIES, Ltd. |
|
TR01 | Transfer of patent right | ||
CP03 | Change of name, title or address |
Address after: 518100 8th floor, Yizhan business building, 8 Yizhan 4th Road, Shapu community, Songgang street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Dahang Science and Technology (Shenzhen) Co.,Ltd. Country or region after: China Address before: 518100 8th floor, Yizhan business building, 8 Yizhan 4th Road, Shapu community, Songgang street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Meidahang Technology Co.,Ltd. Country or region before: China |
|
CP03 | Change of name, title or address |