JP6026609B1 - 外力発生時に直進走行が維持される二輪セルフバランススクーターの走行方法 - Google Patents
外力発生時に直進走行が維持される二輪セルフバランススクーターの走行方法 Download PDFInfo
- Publication number
- JP6026609B1 JP6026609B1 JP2015182680A JP2015182680A JP6026609B1 JP 6026609 B1 JP6026609 B1 JP 6026609B1 JP 2015182680 A JP2015182680 A JP 2015182680A JP 2015182680 A JP2015182680 A JP 2015182680A JP 6026609 B1 JP6026609 B1 JP 6026609B1
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- JP
- Japan
- Prior art keywords
- wheel
- traveling
- rotation speed
- scooter
- balancing
- 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.)
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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
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- 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
-
- 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
- B60L2200/16—Single-axle 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
- B60L2200/00—Type of vehicles
- B60L2200/22—Microcars, e.g. golf cars
-
- 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
- B60L2240/24—Steering angle
-
- 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
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle vehicles
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- 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
- Y02T10/64—Electric machine technologies in electromobility
-
- 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)
- Power Engineering (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
Description
2 バランシング車椅子
10 第1の車輪
11 第1のモータ
20 第2の車輪
21 第2のモータ
30 車輪ハウジング
31 足場
32 垂直フレーム
33 取っ手
40 コントローラ
50 サドル
A、A' 軸整列線
C 急カーブ走行線
S 直進走行線
R 復旧走行線
S10 電源を印加する走行準備段階
S20 体を前方または後方に傾けながら、角度による走行速度及び前後進走行方向を設定して走行する走行段階
S30 一方の車輪の破裂時、破裂した車輪の回転数を向上させる事故車輪急速回転段階
S40 事故車輪の回転数に合わせて正常車輪の回転数を低減する正常車輪減速回転段階
S50 事故車輪の回転数と正常車輪の回転数を同一に調節する両輪の回転数合わせ段階
S60 両輪の回転数合わせ段階を繰り返しながら走行する回転数繰返し合わせ走行段階
Claims (1)
- 電源を印加する走行準備段階(S10)と、搭乗者が、体を前方または後方に傾けながら、角度による走行速度及び前後進走行方向を設定して走行する走行段階(S20)と、一方の車輪が破裂したとき、破裂した車輪の回転数を向上させる事故車輪急速回転段階(S30)と、事故車輪の回転数に合わせて正常車輪の回転数を低減する正常車輪減速回転段階(S40)と、事故車輪の回転数と正常車輪の回転数を同一に調節する両輪回転数合わせ段階(S50)と、前記両輪回転数合わせ段階(S50)を繰り返しながら走行する回転数繰返し合わせ走行段階(S60)と、を含むことを特徴とする、外力発生時に直進走行が維持される二輪セルフバランススクーターの走行方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020150110432A KR101716237B1 (ko) | 2015-08-05 | 2015-08-05 | 외력 발생시 직진 주행이 유지되는 투휠 셀프밸런싱 스쿠터의 주행방법 |
KR10-2015-0110432 | 2015-08-05 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP6026609B1 true JP6026609B1 (ja) | 2016-11-16 |
JP2017030715A JP2017030715A (ja) | 2017-02-09 |
Family
ID=56878461
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015182680A Active JP6026609B1 (ja) | 2015-08-05 | 2015-09-16 | 外力発生時に直進走行が維持される二輪セルフバランススクーターの走行方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US9434438B1 (ja) |
JP (1) | JP6026609B1 (ja) |
KR (1) | KR101716237B1 (ja) |
CN (1) | CN107000805B (ja) |
DE (1) | DE112016000027T5 (ja) |
WO (1) | WO2017023026A2 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
USD941948S1 (en) | 2016-07-20 | 2022-01-25 | Razor Usa Llc | Two wheeled board |
USD840872S1 (en) | 2016-07-20 | 2019-02-19 | Razor Usa Llc | Two wheeled board |
USD803963S1 (en) | 2016-07-20 | 2017-11-28 | Razor Usa Llc | Two wheeled board |
CN106741410B (zh) * | 2017-02-24 | 2019-07-12 | 宁波工程学院 | 两轮电动平衡车分级驱动信号生成方法 |
JP2021506671A (ja) * | 2017-12-22 | 2021-02-22 | レイザー・ユーエスエー・エルエルシー | 電動バランス車両 |
USD949244S1 (en) * | 2019-11-29 | 2022-04-19 | Ninebot (Beijing) Tech Co., Ltd. | Self balancing scooter |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06278424A (ja) * | 1993-03-29 | 1994-10-04 | Mazda Motor Corp | タイヤ空気圧警報装置 |
JPH07164924A (ja) * | 1993-12-17 | 1995-06-27 | Mazda Motor Corp | 自動車の駆動力配分制御装置 |
JP2006240402A (ja) * | 2005-03-01 | 2006-09-14 | Nissan Motor Co Ltd | 車両の駆動力配分制御装置 |
JP2007022138A (ja) * | 2005-07-12 | 2007-02-01 | Bridgestone Corp | ホイールインモータ車両用のタイヤおよびそれを用いたホイールシステム |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
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US4579188A (en) * | 1984-11-09 | 1986-04-01 | Facer Robert H | Multi-speed transmission for friction driven cycles |
US5257671A (en) * | 1990-11-28 | 1993-11-02 | Jonathan Watkins | Vehicle |
US5904218A (en) * | 1990-11-28 | 1999-05-18 | Watkins; Jonathan | Single-track vehicle with independently actuable and limited-pivot-angle caster side wheels |
US5628379A (en) * | 1990-11-28 | 1997-05-13 | Watkins; Jonathan | Single track vehicle |
US5816354A (en) * | 1990-11-28 | 1998-10-06 | Watkins; Jonathan | Single track vehicle |
US6006849A (en) * | 1998-02-11 | 1999-12-28 | Watkins; Jonathan | Single-track vehicle with foot pedal feedback and inertial force limiters |
JP2005137161A (ja) * | 2003-10-31 | 2005-05-26 | Mitsubishi Motors Corp | 電気自動車 |
JP4810253B2 (ja) * | 2006-02-21 | 2011-11-09 | 本田技研工業株式会社 | 四輪駆動車両の制御装置 |
DE102007016948B3 (de) * | 2007-04-05 | 2008-08-28 | Fte Automotive Gmbh | Blockiergeschützte, hydraulische Bremsanlage, insbesondere für motorisierte Zweiräder |
CN101524993A (zh) * | 2008-03-07 | 2009-09-09 | 葛超顺 | 前轮爆胎平稳控制方法 |
US8128111B2 (en) * | 2009-09-04 | 2012-03-06 | Zike, Llc | Scooter and pedal drive assembly |
KR101079755B1 (ko) * | 2010-06-14 | 2011-11-03 | 김준형 | 핸즈프리형 전동스쿠터 |
KR20130026328A (ko) * | 2011-09-05 | 2013-03-13 | 현대자동차주식회사 | 타이어 파손 시 차량 안정화 장치 및 방법 |
JP2013135501A (ja) * | 2011-12-26 | 2013-07-08 | Aisin Seiki Co Ltd | モータ駆動車両の制御装置及び制御方法 |
CN104842984B (zh) * | 2014-08-26 | 2018-03-27 | 北汽福田汽车股份有限公司 | 爆胎制动方法、系统及车辆 |
CN104512502B (zh) * | 2014-12-29 | 2017-06-16 | 南京快轮智能科技有限公司 | 用重心控制方向的无把手双轮自平衡电动车及其控制方法 |
-
2015
- 2015-08-05 KR KR1020150110432A patent/KR101716237B1/ko active IP Right Grant
- 2015-09-04 US US14/846,617 patent/US9434438B1/en active Active
- 2015-09-16 JP JP2015182680A patent/JP6026609B1/ja active Active
-
2016
- 2016-07-29 DE DE112016000027.8T patent/DE112016000027T5/de not_active Ceased
- 2016-07-29 WO PCT/KR2016/008334 patent/WO2017023026A2/ko active Application Filing
- 2016-07-29 CN CN201680002480.2A patent/CN107000805B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06278424A (ja) * | 1993-03-29 | 1994-10-04 | Mazda Motor Corp | タイヤ空気圧警報装置 |
JPH07164924A (ja) * | 1993-12-17 | 1995-06-27 | Mazda Motor Corp | 自動車の駆動力配分制御装置 |
JP2006240402A (ja) * | 2005-03-01 | 2006-09-14 | Nissan Motor Co Ltd | 車両の駆動力配分制御装置 |
JP2007022138A (ja) * | 2005-07-12 | 2007-02-01 | Bridgestone Corp | ホイールインモータ車両用のタイヤおよびそれを用いたホイールシステム |
Also Published As
Publication number | Publication date |
---|---|
CN107000805A (zh) | 2017-08-01 |
US9434438B1 (en) | 2016-09-06 |
CN107000805B (zh) | 2019-05-10 |
KR20170017073A (ko) | 2017-02-15 |
DE112016000027T5 (de) | 2017-11-23 |
WO2017023026A3 (ko) | 2017-04-27 |
KR101716237B1 (ko) | 2017-03-14 |
JP2017030715A (ja) | 2017-02-09 |
WO2017023026A2 (ko) | 2017-02-09 |
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