JP2019511977A - モータ制御装置を備える電動トレーラ - Google Patents
モータ制御装置を備える電動トレーラ Download PDFInfo
- Publication number
- JP2019511977A JP2019511977A JP2018544070A JP2018544070A JP2019511977A JP 2019511977 A JP2019511977 A JP 2019511977A JP 2018544070 A JP2018544070 A JP 2018544070A JP 2018544070 A JP2018544070 A JP 2018544070A JP 2019511977 A JP2019511977 A JP 2019511977A
- Authority
- JP
- Japan
- Prior art keywords
- trailer
- bicycle
- deformation
- mode
- longitudinal
- 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
Classifications
-
- 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
- B60L15/42—Adaptation of control equipment on vehicle for actuation from alternative parts of the vehicle or from alternative vehicles of the same vehicle train
-
- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D59/00—Trailers with driven ground wheels or the like
- B62D59/04—Trailers with driven ground wheels or the like driven from propulsion unit on trailer
-
- 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
- B62K27/00—Sidecars; Forecars; Trailers or the like specially adapted to be attached to cycles
- B62K27/003—Trailers
-
- 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
- B62K27/00—Sidecars; Forecars; Trailers or the like specially adapted to be attached to cycles
- B62K27/10—Other component parts or accessories
-
- 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
-
- 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
- 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
- B60L2200/28—Trailers
-
- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Regulating Braking Force (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
Description
Claims (13)
- 自転車に結合されるトレーラ(2,20)において、
縦方向軸AAを定め、車輪(4A,4B)を備えるシャシ(3)であって、各々の前記車輪(4A,4B)は、電気モータ(15)に結合される、前記シャシ(3)と、
前記シャシ(3)を前記自転車に結合する為の装置と、
所定のコマンド指令に応じて前記トレーラのステアリング、速度、ブレーキを制御する為の装置と、
を備え、
前記制御装置は、
前記縦方向の力を表す少なくとも一つの信号および前記横向きの力を表す少なくとも一つの信号を測定するように構成された、力を表す信号を測定する為の手段であって、前記力は、前記トレーラが前記自転車に結合されるときに前記トレーラ上で前記自転車によって作用される、前記手段と、
前記縦方向の力及び横向きの力に関連した前記情報を受信可能な前記モータを制御する為のユニット(7)と、
を備え、
前記測定手段は、複数のセンサを備え、前記複数のセンサのうちの第1センサは、少なくとも一つの変形センサ(6A,6B,6C)であり、前記変形センサ(6A,6B,6C)は、前記トレーラが前記自転車に結合されるとき、前記自転車によって前記トレーラに作用される縦方向の力を表す前記信号を測定する為の手段を構成し、前記複数のセンサのうちの2つの第2センサは、車輪に置かれ、前記トレーラが前記自転車に結合されるとき、前記自転車によって前記トレーラに作用される前記横向きの力を表す前記信号を測定する為の前記手段を構成することを特徴とする、トレーラ(2,20)。 - 前記測定手段は、前記シャシに固定され、前記シャシの前記縦方向軸に対して対称である少なくとも二つの変形センサ(6A,6B)を備え、各変形センサ(6A,6B)は、関連付けられた前記車輪の1つの近傍および上流側に置かれることを特徴とする、請求項1に記載のトレーラ(2,20)。
- 前記シャシ(3)は2つの縦方向部材(3A,3B)によって形成され、2つの縦方向部材(3A,3B)の各々には車輪(4A,4B)が固定され、各々の前記縦方向部材(3A,3B)は、変形センサ(6A,6B)を備え、前記変形センサ(6A,6B)は、関連付けられた前記車輪から、前記結合装置に最も近い前記縦方向部材の前記端部から前記車輪の前記ハブを分離する前記距離の半分未満の距離に配置されることを特徴とする、請求項2に記載のトレーラ(2,20)。
- 前記測定手段は、変形センサ(6C)を備え、前記変形センサ(6C)は、前記結合装置(5)及び2つの位置センサと一体化され、前記2つの位置センサの各々は、前記車輪(4A,4B)の1つの前記モータに関連付けられることを特徴とする、請求項1に記載のトレーラ(2,20)。
- 前記結合装置は、2つの結合バー(50,52)を備え、前記2つの結合バー(50,52)は、それぞれ、前記自転車(1)および前記トレーラ(2,20)に固定され、前記変形センサ(6C)を構成する連結部品(53)によって互いに連結されることを特徴とする、請求項4に記載のトレーラ(2,20)。
- 前記制御ユニット(7)は、前記トレーラが前記自転車に結合されるとき、前記トレーラの前記移動を前記自転車の前記移動に従属させる為のアルゴリズムを有し、前記アルゴリズムは、複数の動作モードから選択される前記トレーラの動作モードに応じて前記モータ(15)を制御するように構成され、前記複数の動作モードは、前記制御ユニット(7)において実行され、測定された信号は、前記縦方向の力および横向きの力を表し、実行される前記動作モードは、いわゆる前記トレーラの「相殺」モードと、いわゆる前記トレーラの「プッシュ」モードと、いわゆる前記トレーラの「抵抗」モードと、を含み、前記「相殺」モードでは、前記モータ(15)が、ゼロの縦方向の力に対応した値に従属される、前記縦方向の力の測定信号の値に応じて制御され、前記「プッシュ」モードでは、前記モータ(15)が、負の縦方向の力に対応した値に従属される測定された縦方向の力を表す測定信号の値に応じて制御され、前記「抵抗」モードでは、前記モータ(15)が、正の縦方向の力に対応した値に従属される測定された縦方向の力を表す測定信号の値に応じて制御されることを特徴とする、請求項1〜5のいずれか一項に記載のトレーラ(2,20)。
- 前記制御ユニットにおいて実行される前記動作モードは、遠隔制御装置(8)によって選択され、作動されることを特徴とする、請求項6に記載のトレーラ(2,20)。
- 前記制御装置は、前記自転車の前記機械ブレーキの一つのゲートに固定可能な電気ブレーキゲートを更に備えることを特徴とする、請求項1〜7のいずれか一項に記載のトレーラ(2,20)。
- 少なくとも一つのバッテリを備え、前記バッテリは、抵抗のあるモードおよび/または前記電気ブレーキゲートの作動中に、前記トレーラの前記動作中に充電可能であることを特徴とする、請求項6〜8のいずれか一項に記載のトレーラ(2,20)。
- 前記制御ユニット(7)は、前記制御ユニット(7)のメモリモジュールに記録された中間閾速度および最大閾値速度と前記トレーラ(5)の前記速度を比較する為のモジュールを有することを特徴とする、請求項1〜9のいずれか一項に記載のトレーラ(2,20)。
- 前記変形センサ(6A,6B)は、少なくとも2つの変形ゲージを備え、前記変形ゲージは、互いに90度で配置され、前記ゲージの一つは、前記シャシ(3)の前記縦方向軸AAに沿って向けられることを特徴とする、請求項1〜10のいずれか一項に記載のトレーラ(2,20)。
- 請求項7〜11のいずれか一項に記載のトレーラ(2,20)に結合された自転車であって、前記トレーラ(2,20)の前記制御ユニット(7)と通信し、特に、前記複数の動作モード中の動作モードの前記選択を可能にするようにアレンジされる、前記遠隔制御装置(8)が、前記自転車の前記ハンドルバーに固定される、自転車。
- 前記自転車(1)の前記機械ブレーキの一つの前記ゲートに固定される電気ブレーキゲート(9)を備えることを特徴とする請求項12に記載の自転車。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1651572 | 2016-02-25 | ||
FR1651572A FR3048223B1 (fr) | 2016-02-25 | 2016-02-25 | Remorque motorisee comportant un dispositif d'asservissement des moteurs |
PCT/FR2017/050422 WO2017144832A1 (fr) | 2016-02-25 | 2017-02-27 | Remorque motorisee comportant un dispositif d'asservissement des moteurs |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019511977A true JP2019511977A (ja) | 2019-05-09 |
JP6907434B2 JP6907434B2 (ja) | 2021-07-21 |
Family
ID=56101590
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018544070A Active JP6907434B2 (ja) | 2016-02-25 | 2017-02-27 | モータ制御装置を備える電動トレーラ |
Country Status (10)
Country | Link |
---|---|
US (1) | US11642970B2 (ja) |
EP (1) | EP3419886B8 (ja) |
JP (1) | JP6907434B2 (ja) |
BR (1) | BR112018067325B1 (ja) |
CA (1) | CA3014038A1 (ja) |
DK (1) | DK3419886T3 (ja) |
ES (1) | ES2787201T3 (ja) |
FR (1) | FR3048223B1 (ja) |
PT (1) | PT3419886T (ja) |
WO (1) | WO2017144832A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202018100310U1 (de) * | 2018-01-19 | 2019-04-24 | Croozer Gmbh | Drahtlose Bremssteuerung |
CN108791676A (zh) * | 2018-06-10 | 2018-11-13 | 余静远 | 一种电动助力装置和控制方法 |
JP7156908B2 (ja) * | 2018-10-31 | 2022-10-19 | 株式会社シマノ | 制御装置および検出装置 |
CN113382891A (zh) * | 2018-11-29 | 2021-09-10 | 格罗特工业有限公司 | 用于选择卡车拖车上的灯功能的适配器 |
SE544975C2 (en) * | 2020-01-21 | 2023-02-14 | Electro Mobility Europe Ab | Tow bar arrangement for control of a self-propelled trailer |
US11794832B2 (en) * | 2021-03-24 | 2023-10-24 | Peter Hartz Marketing Gmbh | Trailer, in particular for a bicycle, for providing a usable space |
DE102021110293A1 (de) | 2021-04-22 | 2022-10-27 | Brüggli | Anhängerkupplung und Anhänger für ein Zweirad- oder Dreiradfahrzeug |
DE102021214349A1 (de) | 2021-12-15 | 2023-06-15 | Zf Friedrichshafen Ag | Vorrichtung zum Überwachen von Vibrationen in einem Fahrradanhänger |
WO2024062458A2 (en) * | 2022-09-23 | 2024-03-28 | Khotkar Abhijeet Arun | A trailer and an associated controller |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4023864A (en) * | 1973-09-20 | 1977-05-17 | Lang Davis Industries, Inc. | Automatic stability control system with strain gauge sensors |
JPH08136572A (ja) * | 1994-11-07 | 1996-05-31 | Toyota Motor Corp | 車両における加速度センサ装置 |
JP2001058563A (ja) * | 1999-06-16 | 2001-03-06 | Hino Motors Ltd | 連結車両の制動装置 |
WO2010146497A1 (en) * | 2009-06-16 | 2010-12-23 | Protean Electric Limited | A trailer |
US20110042154A1 (en) * | 2009-08-19 | 2011-02-24 | Brian Daniel Bartel | System and method for towing a trailer |
US20110079453A1 (en) * | 2009-05-19 | 2011-04-07 | Ev-Ip, Llc | Methods and Apparatus for Utilizing Electrically Powered Vehicles |
WO2012095615A1 (fr) * | 2011-01-13 | 2012-07-19 | Ecole Nationale Superieure Des Techniques Industrielles Et Des Mines De Nantes | Engin roulant apte a etre tracte par des moyens tracteurs |
JP2013216238A (ja) * | 2012-04-10 | 2013-10-24 | Yachiyo Industry Co Ltd | パワーアシスト付きリヤカー |
WO2016000810A1 (de) * | 2014-07-01 | 2016-01-07 | Brüggli | Anhänger für ein fahrrad |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2611611B1 (fr) | 1987-02-26 | 1991-04-05 | Chapuis Pere Fils | Dispositif de propulsion d'un vehicule en remorque relie a un premier vehicule auto-propulseur |
US4771838A (en) * | 1987-05-21 | 1988-09-20 | Ketcham George M | Obedient self-powered slave vehicles |
US7743859B2 (en) * | 2006-02-03 | 2010-06-29 | Magna Powertrain Usa, Inc. | Hybrid drivetrains for trailers |
US20080023234A1 (en) * | 2006-07-27 | 2008-01-31 | Linghsiao Jerry Wang | Self controlled, electric powered trailer |
DE102008053605A1 (de) * | 2008-10-17 | 2010-04-29 | Ammersee Solar Gmbh | Generatorwagen |
US8261859B2 (en) * | 2010-08-12 | 2012-09-11 | Felt Racing, Llc | Motor powered bicycle trailer with integral hitch force metering |
FR2966797B1 (fr) * | 2010-10-29 | 2013-05-10 | Tunzini Marc Daniel | Une remorque assistee par au moins un moteur electrique servant a etre tractee par une bicyclette. |
EP3650262A1 (en) * | 2014-04-04 | 2020-05-13 | Superpedestrian, Inc. | Systems, methods, and devices for the operation of electrically motorized vehicles |
DE102016102847A1 (de) * | 2016-02-18 | 2017-08-24 | Nüwiel GbR (vertretungsberechtigte Gesellschafter: Sandro Rabbiosi, 21073 Hamburg; Fahad Aman Khan, 21073 Hamburg; Natalia Tomiyma, 22303 Hamburg) | Verfahren zur Ansteuerung eines angetriebenen Anhängers, ein motorgetriebener Anhänger sowie eine Sensoreinheit hierfür |
US20170291658A1 (en) * | 2016-04-08 | 2017-10-12 | lgnio LLC | Modular transporter |
-
2016
- 2016-02-25 FR FR1651572A patent/FR3048223B1/fr active Active
-
2017
- 2017-02-27 PT PT177117116T patent/PT3419886T/pt unknown
- 2017-02-27 BR BR112018067325-0A patent/BR112018067325B1/pt active IP Right Grant
- 2017-02-27 CA CA3014038A patent/CA3014038A1/fr active Pending
- 2017-02-27 DK DK17711711.6T patent/DK3419886T3/da active
- 2017-02-27 EP EP17711711.6A patent/EP3419886B8/fr active Active
- 2017-02-27 US US16/080,215 patent/US11642970B2/en active Active
- 2017-02-27 JP JP2018544070A patent/JP6907434B2/ja active Active
- 2017-02-27 ES ES17711711T patent/ES2787201T3/es active Active
- 2017-02-27 WO PCT/FR2017/050422 patent/WO2017144832A1/fr active Application Filing
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4023864A (en) * | 1973-09-20 | 1977-05-17 | Lang Davis Industries, Inc. | Automatic stability control system with strain gauge sensors |
JPH08136572A (ja) * | 1994-11-07 | 1996-05-31 | Toyota Motor Corp | 車両における加速度センサ装置 |
JP2001058563A (ja) * | 1999-06-16 | 2001-03-06 | Hino Motors Ltd | 連結車両の制動装置 |
US20110079453A1 (en) * | 2009-05-19 | 2011-04-07 | Ev-Ip, Llc | Methods and Apparatus for Utilizing Electrically Powered Vehicles |
WO2010146497A1 (en) * | 2009-06-16 | 2010-12-23 | Protean Electric Limited | A trailer |
US20110042154A1 (en) * | 2009-08-19 | 2011-02-24 | Brian Daniel Bartel | System and method for towing a trailer |
WO2012095615A1 (fr) * | 2011-01-13 | 2012-07-19 | Ecole Nationale Superieure Des Techniques Industrielles Et Des Mines De Nantes | Engin roulant apte a etre tracte par des moyens tracteurs |
JP2013216238A (ja) * | 2012-04-10 | 2013-10-24 | Yachiyo Industry Co Ltd | パワーアシスト付きリヤカー |
WO2016000810A1 (de) * | 2014-07-01 | 2016-01-07 | Brüggli | Anhänger für ein fahrrad |
Also Published As
Publication number | Publication date |
---|---|
JP6907434B2 (ja) | 2021-07-21 |
FR3048223B1 (fr) | 2018-04-06 |
EP3419886A1 (fr) | 2019-01-02 |
CA3014038A1 (fr) | 2017-08-31 |
ES2787201T3 (es) | 2020-10-15 |
FR3048223A1 (fr) | 2017-09-01 |
US20190118670A1 (en) | 2019-04-25 |
BR112018067325A8 (pt) | 2023-02-07 |
BR112018067325A2 (pt) | 2019-01-22 |
DK3419886T3 (da) | 2020-05-04 |
EP3419886B8 (fr) | 2020-03-11 |
US11642970B2 (en) | 2023-05-09 |
WO2017144832A1 (fr) | 2017-08-31 |
BR112018067325B1 (pt) | 2023-02-23 |
PT3419886T (pt) | 2020-05-06 |
EP3419886B1 (fr) | 2020-01-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6907434B2 (ja) | モータ制御装置を備える電動トレーラ | |
US11220173B2 (en) | Powered wheel assemblies and control systems | |
US8365849B2 (en) | System and method for towing a trailer | |
CN203255325U (zh) | 利用重心偏移控制移动的代步车 | |
CN203186511U (zh) | 一种无手柄自平衡两轮电动车 | |
JP6572586B2 (ja) | 電動二輪車の走行制御装置およびその走行制御方法 | |
US10040509B1 (en) | Control system for electric bicycles | |
CN105083460A (zh) | 一种便携口袋式智能电动车 | |
US20220063672A1 (en) | Autonomous electronic bicycle safety constraints based on inferred rider characteristics | |
US11543821B2 (en) | Track stand capable autonomous electronic bicycle | |
US20140027988A1 (en) | Method and device for controlling the damping of a vehicle that is able to be propelled by the driver | |
EP2826700A1 (en) | Motor control system for electric bicycle and method of controlling the same | |
CN101817356A (zh) | 电动独轮车 | |
CN204527462U (zh) | 一种电动自平衡式双轮车 | |
WO2018172755A1 (en) | System for controlling the speed of a self-propelled trailer | |
CN106005148A (zh) | 一种自平衡电动双轮车 | |
CN117872931A (zh) | 一种用于推车的智能控制方法及系统 | |
US20220063758A1 (en) | Integrated head tube steering motor for autonomous electronic bicycle | |
CN109823164B (zh) | 窄体独立驱动双轮车 | |
CN106627917B (zh) | 一种智能体感电动车 | |
KR101347741B1 (ko) | 인휠 모터 구동 전동차 및 인휠 모터 구동 전동차의 유무인 조향 제어 알고리즘 | |
US20200283091A1 (en) | Vehicle | |
US20240278867A1 (en) | Vehicle having a saddle riding vehicle and a sidecar coupled to the saddle riding vehicle | |
CN220243450U (zh) | 一种骑行工具的无线操控系统 | |
KR20120092798A (ko) | 이륜구동방식의 전동스쿠터 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20190918 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20200116 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20201126 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20201208 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20210308 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210510 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20210601 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20210604 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6907434 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313113 |
|
R360 | Written notification for declining of transfer of rights |
Free format text: JAPANESE INTERMEDIATE CODE: R360 |
|
R370 | Written measure of declining of transfer procedure |
Free format text: JAPANESE INTERMEDIATE CODE: R370 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313113 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |