FR3059272B1 - GYROPOD VEHICLE - Google Patents

GYROPOD VEHICLE Download PDF

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Publication number
FR3059272B1
FR3059272B1 FR1661552A FR1661552A FR3059272B1 FR 3059272 B1 FR3059272 B1 FR 3059272B1 FR 1661552 A FR1661552 A FR 1661552A FR 1661552 A FR1661552 A FR 1661552A FR 3059272 B1 FR3059272 B1 FR 3059272B1
Authority
FR
France
Prior art keywords
support
frame
gyropod
gravity
center
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.)
Active
Application number
FR1661552A
Other languages
French (fr)
Other versions
FR3059272A1 (en
Inventor
Mourad Bouzit
Lambert Trenoras
Eric Monacelli
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Universite de Versailles Saint Quentin en Yvelines
Original Assignee
Universite de Versailles Saint Quentin en Yvelines
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.)
Filing date
Publication date
Application filed by Universite de Versailles Saint Quentin en Yvelines filed Critical Universite de Versailles Saint Quentin en Yvelines
Priority to FR1661552A priority Critical patent/FR3059272B1/en
Priority to PCT/EP2017/080681 priority patent/WO2018096175A1/en
Publication of FR3059272A1 publication Critical patent/FR3059272A1/en
Application granted granted Critical
Publication of FR3059272B1 publication Critical patent/FR3059272B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/043—Mid wheel drive
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • 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
    • B60G2202/40—Type of actuator
    • B60G2202/42—Electric actuator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/24—Wheelchairs
    • 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)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

L'invention se rapporte à un véhicule (10) motorisé comprenant : • un gyropode (11), • un support (20) superposé au châssis (12) du gyropode et destiné à transporter des charges, le support étant mobile en translation par rapport au châssis (12) selon la direction longitudinale, • un premier actionneur (21) permettant de déplacer le support par rapport au châssis (12) selon la direction principale de déplacement du véhicule, • plusieurs capteurs de forces (24 à 27) disposés entre le châssis (12) et le support, chaque capteur (24 à 27) délivrant une information relative à une force verticale que le support exerce sur le châssis (12), • et un module de pilotage (30) recevant les informations provenant des capteurs de forces (24 à 27), le module de pilotage (30) étant configuré pour déterminer une position du centre de gravité du support (20) le long de la direction longitudinale et pour commander le premier actionneur (21) en fonction du déplacement du centre de gravité du support de façon à asservir la position de la projection du centre de gravité du support sur une position où le gyropode (11) est stable.The invention relates to a motorized vehicle (10) comprising: • a gyropod (11), • a support (20) superimposed on the frame (12) of the gyropod and intended to transport loads, the support being movable in translation with respect to to the frame (12) in the longitudinal direction, • a first actuator (21) making it possible to move the support relative to the frame (12) in the main direction of movement of the vehicle, • several force sensors (24 to 27) arranged between the frame (12) and the support, each sensor (24 to 27) delivering information relating to a vertical force that the support exerts on the frame (12), • and a control module (30) receiving information from the sensors of forces (24 to 27), the control module (30) being configured to determine a position of the center of gravity of the support (20) along the longitudinal direction and to control the first actuator (21) according to the displacement t of the center of gravity of the support so as to control the position of the projection of the center of gravity of the support to a position where the gyropod (11) is stable.

FR1661552A 2016-11-28 2016-11-28 GYROPOD VEHICLE Active FR3059272B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1661552A FR3059272B1 (en) 2016-11-28 2016-11-28 GYROPOD VEHICLE
PCT/EP2017/080681 WO2018096175A1 (en) 2016-11-28 2017-11-28 Vehicle with self-balancing scooter

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1661552A FR3059272B1 (en) 2016-11-28 2016-11-28 GYROPOD VEHICLE
FR1661552 2016-11-28

Publications (2)

Publication Number Publication Date
FR3059272A1 FR3059272A1 (en) 2018-06-01
FR3059272B1 true FR3059272B1 (en) 2020-11-13

Family

ID=58054260

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1661552A Active FR3059272B1 (en) 2016-11-28 2016-11-28 GYROPOD VEHICLE

Country Status (2)

Country Link
FR (1) FR3059272B1 (en)
WO (1) WO2018096175A1 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109606246B (en) * 2019-01-30 2023-07-07 中国矿业大学 Dynamic balance hydraulic chassis for semi-fluid transport container and control method
CN111976862B (en) * 2019-05-21 2022-12-02 北京京东乾石科技有限公司 Logistics distribution equipment
FR3101842B1 (en) * 2019-10-15 2021-11-12 Marc Rodallec Easily assembled and controllable hand truck-type load transport device
FR3103128B1 (en) * 2019-11-19 2022-07-29 Meropy Autonomous robot
FR3116792B1 (en) 2020-11-30 2022-11-04 Univ Versailles Saint Quentin En Yvelines Aid for moving a load

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007129505A1 (en) * 2006-05-09 2007-11-15 Equos Research Co., Ltd. Vehicle, characteristic value estimating device, and loaded article determination device
JP5018039B2 (en) * 2006-11-24 2012-09-05 株式会社エクォス・リサーチ vehicle
JP4506776B2 (en) * 2007-04-05 2010-07-21 トヨタ自動車株式会社 Traveling device
US8170780B2 (en) * 2008-11-06 2012-05-01 Segway, Inc. Apparatus and method for control of a vehicle
WO2010109466A1 (en) * 2009-03-24 2010-09-30 Galileo Mobility Instruments Ltd. Wheelchair
FR3023160B1 (en) * 2014-07-04 2021-06-11 Univ Versailles Saint Quentin En Yvelines ARTICULATED ARMCHAIR INCLUDING A VERTICALIZATION MECHANISM FOR A WHEEL VEHICLE.

Also Published As

Publication number Publication date
FR3059272A1 (en) 2018-06-01
WO2018096175A1 (en) 2018-05-31

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