CN109018137A - Balance car and its control method - Google Patents
Balance car and its control method Download PDFInfo
- Publication number
- CN109018137A CN109018137A CN201811045989.2A CN201811045989A CN109018137A CN 109018137 A CN109018137 A CN 109018137A CN 201811045989 A CN201811045989 A CN 201811045989A CN 109018137 A CN109018137 A CN 109018137A
- Authority
- CN
- China
- Prior art keywords
- vehicle frame
- balance car
- vehicle
- shaft
- frame
- 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.)
- Pending
Links
Classifications
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The present invention relates to balance car and its control methods, balance car, include: the first vehicle frame and the second vehicle frame, be rotatablely connected between the first vehicle frame and the second vehicle frame, the position of the first vehicle frame and the connection of the second vehicle frame is provided with for sensing the sensing device for relatively rotating angle between two vehicle frames.The configuration of the present invention is simple, rationally, the relative rotation angles of two vehicle frames sensed according to the sensing device of two vehicle frame link positions realizes course changing control, fast sensitive for setting.
Description
Technical field
The present invention relates to a kind of balance car and its control methods.
Background technique
Present balance car, especially swing car, steering are the sensors by being installed under left and right foot pedal to control
System, photoelectric sensor is used as, then when needing turning, foot pedal is trampled by the foot of operator, makes to be located at foot pedal
Under photoelectric sensor sense the inclined degree of pedal, and then course changing control is carried out to balance car.This balance bassinet structure is multiple
Miscellaneous, sensor setting is more and complicated, and maintenance replacement is inconvenient；Each sensor is set to below foot-operated region, easy to damage out of control.
Summary of the invention
The present invention relates to balance car and its control methods, can largely simplify the setting of the vulnerable parts such as sensor,
Structure setting is reasonable, can effectively solve the problems in background technique.
The present invention is achieved by the following technical solutions:
Balance car, comprising: the first vehicle frame and the second vehicle frame are rotatablely connected between the first vehicle frame and the second vehicle frame, the first vehicle frame with
The position of second vehicle frame connection is provided with the sensing device for sense between two vehicle frames relative rotation angle, the first vehicle frame and the
Wheel is respectively connected on the outside of two vehicle frames.
By using above-mentioned technical proposal, the deflection angle between the first vehicle frame and the second vehicle frame of balance car passes through sensing
Device senses, and so-called deflection angle, i.e. the first vehicle frame be relative to the relative rotation angle between the second vehicle frame, sensing device
Positioned at the position that the first vehicle frame is connect with the second vehicle frame, this link position can be the middle part or other positions of balance car.Balance car
Steering by sensing device senses to the deflection angles of two vehicle frames realize.It is provided with and is used in first vehicle frame or the second vehicle frame
The relative rotation angle sensed according to sensing device is to realize the controller of steering, and the angle that such as the first vehicle frame leans forward is than the
The angle that two vehicle frames lean forward is big, then before the angle to lean forward to the second vehicle frame side directional steering, such as the second vehicle frame is than the first vehicle frame
The angle inclined is big, then to the first vehicle frame side directional steering, i.e., steering, sensing device is realized in conjunction with the inclination conditions of two vehicle frames
It is set to the position of two rotation vehicle frames connection, more directly can more efficiently measure the relative rotation angle between two vehicle frames, with
Just it more promptly realizes and turns to.
As a further improvement of the present invention, the sensing device is Hall sensor.By using above-mentioned technical proposal,
Hall sensor can use the variation in magnetic field between two rotating members, and sensitive first vehicle frame that senses fastly is relative to the second vehicle
The rotational angle of frame.
As a further improvement of the present invention, it is connected between first vehicle frame and the second vehicle frame by a shaft, shaft
One end is fixedly connected with the second vehicle frame, and the shaft other end is flexibly connected relative to the first vehicle frame, and the sensing device, which can sense, to be turned
Rotational angle of the axis relative to the first vehicle frame.By using above-mentioned technical proposal, shaft one end is fixedly connected with the second vehicle frame, is turned
The axis other end is flexibly connected relative to the first vehicle frame, as long as sensing device senses angle of rotation of the shaft relative to the first vehicle frame
Degree, can be equivalent to and sense rotational angle between two vehicle frames, and clever structure is reasonable, so that whole vehicle is more compact rationally.
As a further improvement of the present invention, sensing device is set in shaft or is set on the first vehicle frame.By adopting
With above-mentioned technical proposal, the setting position of sensing device is in the position of two vehicle frames relative rotation, can efficiently measure two turns
Rotational angle between kinetoplast, securely and reliably.
As a further improvement of the present invention, the resetting apparatus resetted for shaft is provided on the first vehicle frame.By adopting
With above-mentioned technical proposal, the setting of resetting apparatus enables the first vehicle frame after rotating or the second vehicle frame when removing external force
Restore in time to initial position.
As a further improvement of the present invention, the resetting apparatus includes an elastic plate, and elastic plate middle part is directly or indirectly
It is resisted against in shaft, elastic board ends are directly or indirectly resisted against on the first vehicle frame.By using above-mentioned technical proposal, dress is resetted
The specific structure set may make more reliable more stably realize of two rotation vehicle frames to reset, the uniform force of elastic plate, reset effect
It is splendid.
As a further improvement of the present invention, elastic board ends are provided with elastic component, and two described elastic component one end are supported
Lean on or be connected to elastic plate, the other end against or be connected to the first vehicle frame.By using above-mentioned technical proposal, elastic plate is in
On elastic component, reseting procedure stabilization is not interfered gently.Elastic component can be spring or elastic or other elastic components.
As a further improvement of the present invention, offered in the shaft for elastic plate against groove.By using upper
State technical solution, the setting of shaft upper groove is conducive to the installation positioning of elastic plate and resets, and makes to install stronger, resets more
Steadily.
As a further improvement of the present invention, the elastic plate is steel plate.By using above-mentioned technical proposal, elastic plate is
Steel plate, wearability is good, easy to process, and service life is longer.Because elastic plate such as steel plate is not easy to be deformed, so that the first vehicle frame
When stress and the second vehicle frame do not stress, if then the first vehicle frame run-off the straight, the second vehicle frame correspondingly also can run-off the straight so that
Two being consistent property of vehicle frame.Only when foot, which steps on two vehicle frames, makes two vehicle frames rotate by force, two vehicle frames can just generate opposite turn
Dynamic angle.
As a further improvement of the present invention, the resetting apparatus is torsional spring, the one end of torsional spring and the second vehicle frame or turns
Axis connection, the other end are connect with the first vehicle frame.By using above-mentioned technical proposal, the setting of torsional spring is also beneficial to shaft or two
The reset of vehicle frame.
As a further improvement of the present invention, the first vehicle frame and the second vehicle frame include upper frame and lower vehicle frame.By adopting
With above-mentioned technical proposal, the vehicle of balance car is two-layer, including upper frame and lower vehicle frame, overall structure it is merrily and lightheartedly reasonable.
As a further improvement of the present invention, the first vehicle frame and the second vehicle frame include upper frame, middle vehicle frame and lower vehicle frame.
By using above-mentioned technical proposal, the vehicle of balance car is three-layer type, including upper frame, middle vehicle frame and lower vehicle frame, overall structure
Firm stable.
As a further improvement of the present invention, attitude transducer is additionally provided in first vehicle frame and/or the second vehicle frame.
By using above-mentioned technical proposal, the first vehicle frame and the second vehicle frame sensed by attitude transducer that move forward and backward of balance car
Inclined degree control, if the first vehicle frame turns forward, the first vehicle frame side is marched forward, if the second vehicle frame turns forward,
Two vehicle frames march forward, and the hypsokinesis of vehicle frame then controls the retrogressing of vehicle.
A kind of balance car control method is included the following steps: using balance car described in any of the above-described technical solution
A. it produces relative rotation between the first vehicle frame and the second vehicle frame, sensing device senses are between the first vehicle frame and the second vehicle frame
Relative rotation angle, and feed back to the controller of balance car, the controller of balance car turns to realize according to relatively rotating angle
To；
B. the attitude transducer on balance car senses the first vehicle frame of balance car and the second vehicle frame turns forward, then before balance car
Into the attitude transducer on balance car senses the first vehicle frame of balance car and the second vehicle frame tilts backwards, then balance car retreats.
By using above-mentioned technical proposal, control method is simple, operates conveniently, and is produced relative rotation by two vehicle frames, senses this rotation
The size of angle and direction, to realize the steering of balance car, and the forward or backward of balance car is then felt by attitude transducer
It surveys and is controlled by controller, it is efficient and convenient.Because the setting of resetting apparatus, such as elastic plate, steel plate torsional spring are not allowed to be also easy to produce
Deformation, when so that the first vehicle frame stress and the second vehicle frame not stressing, if then the first vehicle frame run-off the straight, the second vehicle frame is correspondingly
Also can run-off the straight so that two being consistent property of vehicle frame, whole forward or backward is can be realized in control side vehicle frame.
As a further improvement of the present invention, in step A, positioned at the sensing device of two vehicle frame link positions in the middle part of balance car
It senses the angle that the second vehicle frame turns forward and is greater than the angle that the first vehicle frame turns forward, then where balance car to the first vehicle frame
The directional steering of side；If the angle that the first vehicle frame turns forward is greater than the angle that turns forward of the second vehicle frame, balance car to
The directional steering of second vehicle frame side.By using above-mentioned technical proposal, the inclination angle value of two vehicle frame of balance car
Size determines direction and the speed of steering.
Balance car according to the present invention, structure is simple, ingenious, novel, conducive to the sensing for being loaded on two vehicle frame junction of balance car
The angle that device sensing relatively rotates, and according to the angular dimension of relative rotation and direction, it is turned to realize, it is easy to use, turn
It is flexible to control.
For above and other objects, features and advantages of the invention can be clearer and more comprehensible, preferred embodiment is cited below particularly,
And cooperate institute's accompanying drawings, it is described in detail below.
Detailed description of the invention
Fig. 1 is the overall structure diagram of balance car provided by one embodiment of the present invention.
Fig. 2 is the perspective view of the explosion of balance car provided by one embodiment of the present invention.
Fig. 3 is the shaft and sensing device structure diagram of balance car provided by one embodiment of the present invention.
Fig. 4 is the shaft and sensing device configuration schematic diagram of balance car provided by one embodiment of the present invention.
Fig. 5 is the shaft schematic diagram of balance car provided by one embodiment of the present invention.
In figure: the first vehicle frame 11, the second vehicle frame 12, controller 15, sensing device 16, the first upper frame 111, first are got off
Frame 112, the second upper frame 121, second lower vehicle frame 122, shaft 161, first sleeve 162, second sleeve 163, Hall sensor
164, elastic plate 165, the first spring 166, second spring 167, magnetic part 168, fixing end 1611, flange part 1612, groove
1613, movable end 1614, cavity 1615.
Specific embodiment
Further to illustrate that the present invention is the technical means and efficacy realizing predetermined goal of the invention and being taken, fasten below
Attached drawing and preferred embodiment, to specific embodiment, structure, feature and its effect according to the present invention, detailed description is as follows.
In this application unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this Shen as the case may be
Please in concrete meaning.
It should be noted that " first " and " second " in the present invention in " the first vehicle frame " and " the second vehicle frame " etc. be only for
It is illustrated more clearly that the present invention program, is an opposite concept, does not indicate unique restriction to the scope of the present invention, such as
In attached drawing 1, the first vehicle frame is left vehicle frame, and the second vehicle frame is right vehicle frame, changes a visual angle, then the first vehicle frame or the second vehicle frame
Reference may then change, be understood in the scope of the present invention.
Embodiment 1
Balance car please refers to Fig. 1 to Fig. 5, comprising: the first vehicle frame 11 and the second vehicle frame 12, the first vehicle frame 11 and the second vehicle frame 12
Between be rotatablely connected, the first vehicle frame 11 and the second vehicle frame 12 connection position be provided with for sense two vehicle frames between relatively rotates
The sensing device 16 of angle.Sensing device is Hall sensor 164.In other embodiments, sensing device can be other sensings
The sensor of angle.
In the present embodiment, connected between the first vehicle frame 11 and the second vehicle frame 12 by a shaft 161, shaft one end and second
Vehicle frame 12 is fixedly connected, and is fixing end 1611, and the shaft other end is flexibly connected relative to the first vehicle frame 11, is movable end 1614,
Sensing device can sense rotational angle of the shaft relative to the first vehicle frame.First sleeve 162 and second set are arranged in shaft 161
Cylinder 163, first sleeve 162 is set in the second vehicle frame, and first sleeve is set in the first vehicle frame.
In other embodiments, because the first vehicle frame and the second vehicle frame are an opposite concepts, shaft one end can of course
It is fixedly connected on the first vehicle frame, and the other end is then flexibly connected relative to the second vehicle frame.It is understood to protect model in the present invention
In enclosing.
In the present embodiment, Hall sensor 164 is set on the first vehicle frame 11, and magnetic part 168 is provided in shaft.Shaft
The cavity 1615 placed for magnetic part 168 is offered on 161.
In other embodiments, Hall sensor 164 is set in shaft, and magnetic part 168 is arranged on the first vehicle frame.
The resetting apparatus resetted for shaft is provided on first vehicle frame.Resetting apparatus includes an elastic plate 165 and setting
In the spring of elastic board ends, 166 one end of the first spring against or be connected to one end lower surface of elastic plate, the other end is resisted against
Or it is connected on the first vehicle frame；167 one end of second spring against or be connected to one end lower surface of elastic plate, the other end is resisted against
Or it is connected on the first vehicle frame.Elastic plate 165 is steel plate.In the present embodiment, offered in shaft 161 for elastic plate 165 against
Groove 1613, elastic plate 165 is fixed in groove by fastener, and the two sides of groove 1613 have flange part 1612.At it
In his embodiment, resetting apparatus can be the resetting apparatus of other structures.Two springs can be other elastic components, such as elastic.?
In other embodiments, resetting apparatus can be the resetting apparatus of other structures.Two springs can be other elastic components, such as elastic.
In other embodiments, resetting apparatus can be only a steel plate, be resisted against shaft in the middle part of steel plate, steel plate both ends are resisted against the first vehicle frame
On, can equally reach makes the vehicle frame of two rotations reach reset effect.
First vehicle frame and the second vehicle frame include upper frame and lower vehicle frame.Specifically, the first vehicle frame 11 is got on the bus including first
Frame 111 and the first lower vehicle frame 112, the first upper frame and the first lower vehicle frame mutually cover conjunction and constitute the first vehicle frame, and the first frame interior can
The controller 15 or battery or attitude transducer etc. of balance car are installed, the second vehicle frame includes that the second upper frame 121 and second are got off
Frame 122, the second upper frame and the second lower vehicle frame mutually cover conjunction and constitute the second vehicle frame, and the posture of the mountable balance of the second frame interior passes
Sensor etc..Specifically, 161 one end of shaft is fixedly connected in the second lower vehicle frame 122 or the second upper frame 121, the shaft other end
It is flexibly connected relative to the first upper frame or the first lower vehicle frame.The first vehicle frame after lid closes coats shaft one end, Gai Hehou's
Second vehicle frame coats the shaft other end.The outboard end of first vehicle frame is connected with wheel, the outboard end connection of the second vehicle frame
There are another wheel, hub motor built in each wheel, each hub motor is electrically connected to controller and battery.
A kind of balance car control method is included the following steps: using above-mentioned balance car
A. two feet of operator are trampled respectively on the first vehicle frame 11, the second vehicle frame 12, and operator controls two vehicle frames by both feet
Inclined degree, if producing relative rotation between the first vehicle frame 11 and the second vehicle frame 12, sensing device senses to the first vehicle frame with
Relative rotation angle between second vehicle frame, and the controller of balance car is fed back to, the controller of balance car is according to relative rotation
Angle turns to realize；Specifically, positioned at the sensing device senses of two vehicle frame link positions in the middle part of balance car to the second vehicle frame 12
The angle to turn forward is greater than the angle that the first vehicle frame 11 turns forward, then balance car turns to the direction of the first vehicle frame side
To；If the angle that the first vehicle frame 11 turns forward is greater than the angle that turns forward of the second vehicle frame 12, balance car is to the second vehicle frame
The directional steering of side.
B. the attitude transducer on balance car senses the first vehicle frame 11 of balance car and the second vehicle frame 12 turns forward, then
Balance car advances, and the attitude transducer on balance car senses the first vehicle frame 11 of balance car and the second vehicle frame 12 tilts backwards,
Then balance car retreats.
And the variation of angle is sensed using Hall sensor, it is substantially the rule in the magnetic field measured using Hall sensor
Property variation and embody the variation of angle, reflect direction and the size of rotational angle to a certain extent.I.e. Hall sensor is set
It is placed on a vehicle frame, magnet steel is set on another vehicle frame, and sensing is realized using the relative rotation of Hall sensor and magnet steel.Or
Other angles sensor can be used in person, sensing rotational angle, is the prior art, details are not described herein.
Embodiment 2
The first vehicle frame and the second vehicle frame of balance car include upper frame, middle vehicle frame and lower vehicle frame, the balance car knot of three layers of vehicle frame
Structure is stablized, and in sensing device, shaft one end is fixedly attached on the middle vehicle frame of the second vehicle frame, and the other end is relative to the first vehicle
The middle vehicle frame of frame is flexibly connected.Upper frame and lower vehicle frame are then coated on the upper and lower of middle vehicle frame.Other structures and its course changing control side
Method is in the same manner as in Example 1, repeats no more.
Embodiment 3
The resetting apparatus of shaft can be torsional spring in balance car, and one end of torsional spring is connect with the second vehicle frame or shaft, the other end and first
Vehicle frame connection can equally play the reset response after two vehicle frames relatively rotate.Other structures and its rotating direction control method and implementation
It is identical in example 1, it repeats no more.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention is disclosed as above with preferred embodiment, and however, it is not intended to limit the invention, anyone skilled in the art, not
It is detached within the scope of technical solution of the present invention, when the technology contents using the disclosure above are modified or are modified to equivalent change
The equivalent embodiment of change, but without departing from the technical solutions of the present invention, implement according to the technical essence of the invention to above
Any simple modification, equivalent change and modification made by example, all of which are still within the scope of the technical scheme of the invention.
Claims (15)
1. balance car characterized by comprising the first vehicle frame (11) and the second vehicle frame (12), the first vehicle frame (11) and the second vehicle
Frame is rotatablely connected between (12), the position that the first vehicle frame (11) is connect with the second vehicle frame (12) be provided with for sense two vehicle frames it
Between relatively rotate the sensing device of angle, be respectively connected with wheel on the outside of the first vehicle frame (11) and the second vehicle frame (12).
2. balance car as described in claim 1, which is characterized in that the sensing device is Hall sensor.
3. balance car as described in claim 1, which is characterized in that lead between first vehicle frame (11) and the second vehicle frame (12)
A shaft (161) connection is crossed, shaft (161) one end is fixedly connected with the second vehicle frame, and shaft (161) other end is relative to the first vehicle
Frame is flexibly connected, and the sensing device can sense rotational angle of the shaft relative to the first vehicle frame.
4. balance car as claimed in claim 3, which is characterized in that sensing device is set on shaft (161) or is set to
On one vehicle frame.
5. balance car as described in claim 3 or 4, which is characterized in that be provided on the first vehicle frame and resetted for shaft (161)
Resetting apparatus.
6. balance car as claimed in claim 5, which is characterized in that the resetting apparatus includes an elastic plate (165), elastic plate
Middle part is directly or indirectly resisted against on shaft (161), and elastic board ends are directly or indirectly resisted against on the first vehicle frame.
7. balance car as claimed in claim 6, which is characterized in that elastic board ends are provided with elastic component, two elasticity
Part one end against or be connected to elastic plate, the other end against or be connected to the first vehicle frame.
8. balance car as claimed in claim 6, which is characterized in that offer on the shaft (161) and supported for elastic plate (165)
The groove (1613) leaned on.
9. balance car as claimed in claim 6, which is characterized in that the elastic plate (165) is steel plate.
10. balance car as claimed in claim 5, which is characterized in that the resetting apparatus is torsional spring, the one end of torsional spring and the
Two vehicle frames or shaft connection, the other end are connect with the first vehicle frame.
11. the balance car as described in claims 1 or 2 or 3 or 4 or 6 or 7 or 8 or 9 or 10, which is characterized in that the first vehicle frame and
Second vehicle frame includes upper frame and lower vehicle frame.
12. the balance car as described in claims 1 or 2 or 3 or 4 or 6 or 7 or 8 or 9 or 10, which is characterized in that the first vehicle frame and
Second vehicle frame includes upper frame, middle vehicle frame and lower vehicle frame.
13. the balance car as described in claims 1 or 2 or 3 or 4 or 6 or 7 or 8 or 9 or 10, which is characterized in that first vehicle
Attitude transducer is additionally provided in frame and/or the second vehicle frame.
14. a kind of balance car control method, which is characterized in that using such as the described in any item balance cars of claim 1-13, packet
Include following steps:
A. it produces relative rotation between the first vehicle frame (11) and the second vehicle frame (12), sensing device senses to the first vehicle frame and second
Relative rotation angle between vehicle frame, and the controller of balance car is fed back to, the controller of balance car is according to relative rotation angle
It is turned to realize；
B. the attitude transducer on balance car senses the first vehicle frame (11) of balance car and/or the second vehicle frame (12) turns forward
Tiltedly, then balance car advances, and the attitude transducer on balance car senses the first vehicle frame (11) and/or the second vehicle frame of balance car
(12) it tilts backwards, then balance car retreats.
15. balance car control method as claimed in claim 14, which is characterized in that in step A, be located at two vehicles in the middle part of balance car
The sensing device senses of frame link position are greater than the first vehicle frame (11) to the angle that the second vehicle frame (12) turns forward and turn forward
Angle, then directional steering of the balance car to the first vehicle frame side；If the angle that the first vehicle frame (11) turns forward is greater than
The angle that second vehicle frame (12) turns forward, then directional steering of the balance car to the second vehicle frame side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811045989.2A CN109018137A (en) | 2018-09-07 | 2018-09-07 | Balance car and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811045989.2A CN109018137A (en) | 2018-09-07 | 2018-09-07 | Balance car and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109018137A true CN109018137A (en) | 2018-12-18 |
Family
ID=64624226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811045989.2A Pending CN109018137A (en) | 2018-09-07 | 2018-09-07 | Balance car and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109018137A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436163A (en) * | 2018-12-19 | 2019-03-08 | 浙江阿尔郎科技有限公司 | Two-wheeled link balance vehicle and its control method |
| CN110126956A (en) * | 2019-06-14 | 2019-08-16 | 浙江阿尔郎科技有限公司 | Balance car, which turns to, uses detection device, control device and balance car |
| CN110171514A (en) * | 2019-05-09 | 2019-08-27 | 浙江阿尔郎科技有限公司 | Balance car |
-
2018
- 2018-09-07 CN CN201811045989.2A patent/CN109018137A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436163A (en) * | 2018-12-19 | 2019-03-08 | 浙江阿尔郎科技有限公司 | Two-wheeled link balance vehicle and its control method |
| CN109436163B (en) * | 2018-12-19 | 2024-04-16 | 浙江阿尔郎科技有限公司 | Two-wheel linkage balance car and control method thereof |
| CN110171514A (en) * | 2019-05-09 | 2019-08-27 | 浙江阿尔郎科技有限公司 | Balance car |
| CN110171514B (en) * | 2019-05-09 | 2024-02-27 | 浙江阿尔郎科技有限公司 | Balance car |
| CN110126956A (en) * | 2019-06-14 | 2019-08-16 | 浙江阿尔郎科技有限公司 | Balance car, which turns to, uses detection device, control device and balance car |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206187203U (en) | Car is felt to man -machine interactive body | |
| CN109018137A (en) | Balance car and its control method | |
| EP3334646B1 (en) | Human-machine interaction vehicle | |
| US8225891B2 (en) | Inverted pendulum mobile vehicle | |
| CN106585805A (en) | Self-balancing electric vehicle with strain-based controls | |
| WO2008032587A1 (en) | Vehicle | |
| CN105947042B (en) | Electrodynamic balance vehicle and control method | |
| KR102021112B1 (en) | Electric balancing swing car | |
| CN210793471U (en) | Electric balance car | |
| JP2012012004A (en) | Vehicle | |
| CN106080893B (en) | Double-wheel self-balancing vehicle | |
| CN108327840A (en) | Autonomic balance system, bicycle and the bicycle intelligent control method of bicycle | |
| CN112601695B (en) | Learning angular position of a three-axis accelerometer integrated into an electronic control unit of a vehicle engine | |
| CN109159844B (en) | Control method and device of electric balance car | |
| JP5391990B2 (en) | Inverted two-wheeled mobile body, its operating method, and program | |
| CN206644916U (en) | Human-computer interaction body-sensing car | |
| CN205632808U (en) | Self -balance vehicle | |
| CN108725648A (en) | Human-computer interaction sports equipment and its control method and device | |
| CN108516038B (en) | Balance car and control method thereof | |
| CN206374884U (en) | Human-computer interaction body-sensing car | |
| CN213199979U (en) | Electric balance car | |
| KR101241380B1 (en) | Apparatus for measuring error of the acceleration sensor | |
| JP2022043370A (en) | Inclination vehicle having pair of right and left wheels | |
| CN213292569U (en) | Electric balance car | |
| JPH0236332A (en) | Turning simulation test instrument for automobile |
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 |