KR20170068184A - Board Type Transportation Means Using Electric Power, Capable of Intuitive Control - Google Patents

Board Type Transportation Means Using Electric Power, Capable of Intuitive Control Download PDF

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Publication number
KR20170068184A
KR20170068184A KR1020150175084A KR20150175084A KR20170068184A KR 20170068184 A KR20170068184 A KR 20170068184A KR 1020150175084 A KR1020150175084 A KR 1020150175084A KR 20150175084 A KR20150175084 A KR 20150175084A KR 20170068184 A KR20170068184 A KR 20170068184A
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South Korea
Prior art keywords
board
moving means
motor
type electric
foot
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KR1020150175084A
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Korean (ko)
Inventor
김훈
김성국
마민욱
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김훈
김성국
마민욱
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Priority to KR1020150175084A priority Critical patent/KR20170068184A/en
Publication of KR20170068184A publication Critical patent/KR20170068184A/en

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/12—Roller skates; Skate-boards with driving mechanisms
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/26—Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
    • 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
    • B62K17/00—Cycles not otherwise provided for
    • 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
    • B62K3/00—Bicycles
    • B62K3/002—Bicycles without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The board type electric moving means according to the present invention is a board type electric moving means having a board 1 and a motor 20. The board type electric moving means includes a proximity sensor or a pressure sensor (Hereinafter, referred to as " foot sensor ") 10, and when the user senses that the user's foot is raised using the foot sensor 10, .
According to an aspect of the present invention, there is an advantage that intuitive control of the user is possible and power efficiency is increased.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a board type transportation means using electric power, Capable of Intuitive Control,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric moving means of a board type such as an electric skateboard or a motorized kickboard capable of intuitive control of a user.

Electric moving means such as an electric skateboard or a electric kickboard are in the limelight. Previously, battery efficiency was the biggest impediment to their development. I needed a motor and a large capacity battery that could move people and loads, but the bigger the battery, the heavier it becomes, the less efficient it is. This problem of power efficiency is one of the biggest issues in the development of electric moving means.

On the other hand, electric skateboards started to be commercialized in earnest in the US in 2011, and electric skateboards were generally used to adjust the speed by signaling a motor transmission using a remote controller of wired or wireless.

Since the existing skateboard market is so large, electric skateboard operators have been optimistic about the market, but since the early days, the market has been barely resilient. The reason is that the electric skateboard is a fairly expensive product, and the interface with the existing skateboard is very different from that of the existing skateboarding, which means that there is a risk of injury due to the speed of the skateboard. to be. And electric kickboards have similar reasons. To summarize, there are two common obstacles to the development of these boat-type powertrains.

First, it is a very different non-intuitive control method compared to the existing non-moving type products. Usually, when the user gives a trigger by using the button of the remote controller, the button of the handle, or the like, the command is transmitted to the motor transmission, and the motor transmission converts the command into a command given to the motor and then controls the motor. From the user's point of view, however, this type of control feels a sense of disparity compared to the way it is used in conventional non-motorized products. Traditional non-electric kickboards and skateboards can be intuitively interfaced, such as simply accelerating by landing. In addition, the triggering method of the above-described electric moving means reminds the user of the fear of injury caused by overspeed, thereby preventing the user from purchasing the high-priced product.

The second is that the electric moving means consumes a lot of power at the time of acceleration and deceleration. In order to reach a certain level of speed in the stop state, an acceleration process is required, which consumes much power. Power consumption is also required when forced braking is used to rotate the motor in the opposite direction during deceleration. As described above, the problem of power consumption was a very important factor in the development of electric moving means.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments.

Korea Registered Utility Model Bulletin 20-0420326 "Electric Skateboard" (registered on June 26, 2006)

An object of the present invention is to provide a board type electric moving means and a control method of a board type electric moving means capable of intuitively controlling the user.

Another object of the present invention is to provide a board type electric moving means and a board type electric moving means control method with increased power efficiency.

A board type electric moving means according to one aspect of the present invention includes a board and a motor. The board type electric moving means includes a proximity sensor or a pressure sensor (hereinafter referred to as a foot sensor) Wherein the motor is driven at a target speed at which the speed of the user is sensed when the user's foot is raised using the foot sensor.

A board type electric moving means according to one aspect of the present invention includes a board and a motor. The board type electric moving means includes a proximity sensor or a pressure sensor (hereinafter referred to as a foot sensor) The foot sensor detects the foot of the user and does not start the motor until the foot of the user is sensed from the standstill state.

In the above-described board type electric moving means, if the foot sensor does not sense the user's foot, the motor is not driven.

In the above-described board-type electric moving means, a wired or wireless remote controller is not used.

In the above-described board-type power transfer means, the torque input for driving the motor is controlled based on at least the target speed and the current speed of the board-type power transfer means.

In the above-described board-type electric moving means, the current speed is sensed by using a magnet attached to the wheel and a hall sensor fixed to the wheel.

The gyro sensor according to claim 1, further comprising a gyro sensor for sensing an inclination of the board type electric moving means, wherein the target speed, the current speed of the board type electric moving means, and the inclination detected by the gyro sensor And a torque input for driving the motor is controlled.

In the above-described board type electric moving means, the proximity sensor is an electrostatic sensor.

In the above-mentioned board type electric moving means, the board type electric moving means is applied to a skateboard, and the pressure sensor is installed between a deck of the scooter board and a rear truck.

The above-described board type electric moving means is applied to a skateboard or a kickboard.

The board type electric moving means may further include a front pressure sensor installed at a front side of the board and a rear pressure sensor installed at a rear side of the board, wherein the front pressure sensor and the rear pressure sensor And detects a movement of the center of gravity of the user by using the center-of-gravity movement, and sets the increase / decrease speed of the user from the target speed based on the detected movement of the center of gravity.

A control method of a board type electric moving means according to an aspect of the present invention is a control method of a board type electric moving means having a board and a motor. When the sensor senses that a user's foot is raised on the board, The speed is set as a target speed, and the motor is driven based on the comparison between the target speed and the current speed of the board-type power transmission means.

A control method of a board type electric moving means according to an aspect of the present invention is a control method of a board type electric moving means having a board and a motor. When the sensor senses that a user's foot is raised on the board, Speed is set as a target speed, and the motor is driven so that the target speed is maintained.

In the above-described control method of the board-type electric moving means, if the sensor does not sense the user's foot, the motor is not driven.

In the control method of the above-mentioned board type electric moving means, torque input for driving the motor is controlled on the basis of the target speed, the current speed of the board type electric moving means, and the detected inclination .

In the control method of the board-type electric moving means, the movement of the center of gravity of the user is sensed by using a front pressure sensor provided on the front side of the board and a rear side pressure sensor provided on the side of the board, And sets a rate of increase / decrease from the target speed based on the detected movement of the center of gravity.

According to an aspect of the present invention, there is an advantage that an intuitive control of a user can be performed. Since a remote controller which requires hand-held triggering is not needed as in the conventional method, adjustment is very convenient for a user. And the operation mode and control are very similar to the conventional non-electric board type moving means, and there is less fear of falling down due to the sudden emergence, and it becomes easier for the novice to enter. Basically, it is a cruising system that maintains the target speed, so there is no need for complicated control during driving. Also, safety is increased because the maximum speed is limited to the maximum speed a person can reach.

Further, according to one aspect of the present invention, there is an advantage that power efficiency is increased. It can save a lot of power because it replaces the acceleration / deceleration consuming the greatest power as manpower. And this saved power is directly linked to the increased travel distance of the motorized mobile.

Further, according to one aspect of the present invention, a cost saving effect can be brought about in terms of weight and cost. The maximum torque required for the operation may be much smaller than that of the conventional electric moving means because the person performs the process of acceleration and deceleration. This allows you to use a single motor instead of using a double motor or reduce the size of the motor. As the motor parts become lighter, the transmission parts and the hardware frame become lighter, which in turn reduces cost and weight.

1 is a view showing a configuration of a board type electric moving means according to a first embodiment of the present invention.
2 is a view showing a configuration of a board type electric moving means according to a second embodiment of the present invention.
FIG. 3 (A) is a graph showing an extreme example of the moving speed for easy understanding of the operation of the board type electric moving means according to the embodiment of the present invention, and FIG. 3 (B) FIG. 3 (C) is a view showing a deceleration state of the board-type electric moving means according to an embodiment of the present invention. FIG.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings in which: FIG. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention in the drawings, parts not related to the description are omitted, and similar names and reference numerals are used for similar parts throughout the specification.

1 is a view showing a configuration of a board type electric moving means according to a first embodiment of the present invention.

The board type electric moving means according to the first embodiment of the present invention includes a board 1, a wheel 2, a truck 3, a shaft housing 4, a foot sensor 10, a motor 20, A transmission 30, a controller 40, a battery 50, speed sensors 61 and 62, a belt and a pulley 70, and the like.

Most of the components shown in Fig. 1 are mounted on the rear side of the board 1, but some components may be mounted on the upper side of the board 1. Fig.

The present invention is applied to a board type moving means having a board 1 (a 'deck' of a skateboard is also included in the scope of a 'board' in the present invention) on which a user's foot can be placed, A kickboard or the like. Although FIG. 1 illustrates the skateboard as a reference, it is similarly applied to a kickboard and the like.

Like the ordinary skateboard, the wheel 2 is mounted on the board 1 via the shaft housing 4 and the truck 3, and the truck 3 enables buffering and turning on the skateboard.

The control unit 40 receives a signal from the various sensors 10 and 61 and generally controls the board type power transfer means and in particular outputs a shift command to the motor transmission 30, And a torque input indicative of a torque value to drive the electric motor 20. The motor transmission 30 supplies the drive current for driving the motor 20 while controlling the rotation speed or the torque of the motor 20 and the control unit 40 may be integrated within the motor transmission 30 . The rotational force generated by the motor 30 is transmitted to the wheel 2 through the belt and the pulley 70 to drive the wheel 2. [ The battery 50 supplies electric power to drive the board type electric moving means, in particular, to drive the motor 20. [

The board type electric moving means of the present invention is characterized in that the foot sensor 10 is a proximity sensor or a pressure sensor coupled to one area of the board, Detect the user's foot. The foot detection sensor 10 is a foot used for accelerating the board type electric moving means to the human body after the two floor floors of the user (hereinafter, referred to as 'acceleration foot' (I.e., a rear foot) of the board 1 can be formed in a predetermined area close to the rear of the board 1,

The proximity sensor, which is one type of the foot sensor 10, may be an infrared sensor using infrared rays, an electrostatic sensor of a capacitive type, an ultrasonic sensor using ultrasonic waves, or the like, and may be formed on the back side or the top side of the board 1 . The pressure sensor, which is one type of the foot sensor 10, may be formed on the back side or the top side of the board 1. [

Particularly, when the board type electric moving means is applied to the skateboard, the pressure sensor can be installed between the deck of the skateboard and the rear truck. Generally, on a skateboard, the front foot is placed on the deck on the front truck and the rear foot is placed on the deck on the rear truck. Depending on whether the accelerator feet are placed on the deck, I use it because it becomes visible.

In the board type electric moving means of the present invention, when the user senses that the foot is raised by using the foot sensor 10, the control unit 40 controls the motor transmission 30 with the target speed to be maintained at that time The motor transmission 30 drives the motor 20. [

The foot sensor 10 senses that the user's feet are being raised and the control unit 40 and the motor transmission 30 do not drive the motor 20 until the feet of the user are detected from the standstill state So that it is accelerated by a user's gravity like a conventional non-electric type board type moving means. In the board type electric traveling means of the present invention, the controller (40) and the motor transmission (30) drive the motor (20) so that the target speed is maintained in a state where the acceleration foot of the user is placed on the board (1).

If the foot sensor 10 does not sense the user's foot, the motor 20 is not driven. When the user wants to stop the board type electric moving means, if the accelerator foot is lowered, the current supply to the motor 20 is stopped. If the user wants to stop by the natural friction force or to stop the electric motor 20 more quickly, It is also possible to stop the acceleration foot by dragging it to the ground.

In the board-type electric moving means according to one aspect of the present invention, it is not necessary to use a wired or wireless remote controller provided in the conventional board type electric moving means.

The speed sensing sensor is for sensing the current speed of the board type electric moving means and is embodied by a magnet 62 attached to the wheel 2 and a hall sensor 61 fixed to the board 1 in opposition thereto, An encoder incorporated in or coupled to the optical disk 20, or the like. The control unit 40 controls the torque input to be input to the motor transmission 30 to drive the motor 20 based on at least the target speed and the current speed of the board type power transmission unit, To increase the torque input when the current speed is below the target speed and to decrease the torque input when the current speed exceeds the target speed.

2 is a view showing a configuration of a board type electric moving means according to a second embodiment of the present invention.

The board type electric movement means according to the second embodiment further includes a gyro sensor 80, a rear pressure sensor 91 and a front pressure sensor 92 in addition to the configuration of the board type electric movement means according to the first embodiment.

The gyro sensor 80 senses the inclination of the board 80 and the board type electric moving means and the control unit 40 controls the board type electric moving means sensed by the speed sensing sensors 61 and 62, And controls the torque input to the motor transmission 30 to drive the motor 20 based at least on the current speed of the motor 20 and the inclination detected by the gyro sensor 80. [

The gyro sensor 80 senses a flat surface, an uphill or a downhill, and may assist the speed detection sensors 61 and 62. The gyro sensor 80 increases the torque in the ascending direction and decreases the torque in the downward direction or cuts the power in the downward direction or applies the counter electromotive force to the motor 20 to perform the breaking action The gyro sensor 80 is used.

The front pressure sensor 92 is installed on the front side of the board 1 and the rear pressure sensor 91 is installed on the rear side of the board 1. Preferably the two pressure sensors 91, Or may be installed between the truck 3 and the board 1 or may be installed between the board 1 and a part of the support of the truck 3. [ The rear pressure sensor 91 and the foot sensor 10 may also be used when the foot sensor 10 is a pressure sensor.

The center of gravity of the user can be sensed by using the front pressure sensor 92 and the rear pressure sensor 91 and the increase / decrease speed of the user can be set based on the movement of the center of gravity of the sensed user. Although the increase / decrease speed is added to the target speed, the target speed is a center speed in cruising of the board type electric moving means, and is controlled so that the center of gravity of the moved user returns to the target speed again. Further, when the foot is moved away from the foot sensor 10 in the state where the increase / decrease speed is increased or decreased, and then the foot is released and then raised again, the speed at that time can be changed to the target speed.

Hereinafter, the operation and control method of the board type electric moving means according to the embodiment of the present invention will be described in detail.

In the control method of the board type electric moving means according to an aspect of the present invention, when the foot sensor 10 detects that the user's foot is being raised on the board 1, the speed at that time is set as the target speed, And the motor 20 is driven based on the comparison of the current speed of the board-type electric moving means. It is possible to monitor the current speed so as to follow the target speed, and to increase or decrease the target speed in a certain situation have.

In the control method of the board type electric moving means according to an aspect of the present invention, when the foot sensor 10 senses that the user's feet are being raised on the board 1, the speed at that time is set as the target speed, And the motor 20 is driven so as to maintain the target speed. In a certain situation, the increase / decrease speed can be partially or additionally increased or decreased in the target speed, so that 'maintenance' of the target speed can be interpreted in a broader sense.

If the foot sensor 10 does not detect the user's foot, the motor 20 can be prevented from being driven. Further, the detected inclination can be used in addition to the target speed and the current speed, and the target speed, The torque input for driving the motor 20 can be controlled on the basis of the detected torque.

FIG. 3 (A) is a graph showing an extreme example of the moving speed for easy understanding of the operation of the board type electric moving means according to the embodiment of the present invention, and FIG. 3 (B) FIG. 3 (C) is a view showing a deceleration state of the board-type electric moving means according to an embodiment of the present invention. FIG.

The board type electric moving means according to the embodiment of the present invention accelerates the ground by moving the foot like a general non-moving board type moving means (see Fig. 3 (B)). For a period of time from the start until the user reaches the desired constant speed (v T) (t0-t1 ) it has to accelerate by the force of the user.

When the user judges that the desired speed has been reached, he places the acceleration foot on a certain area of the board 1 (an area where the foot detecting sensor is installed or an area where the foot detecting sensor can detect), and commands the cruising Accordingly, the speed v T detected at the time using the speed sensing sensors 61 and 62 is set as the target speed, and then the motor transmission 30 is controlled to drive the motor 20 so as to maintain the target speed.

You can adjust the direction by moving the center of gravity to the left or right like a regular skateboard, or by turning the steering wheel like a regular kickboard.

In addition, even when encountering an uphill or downhill, the current speed can be made to follow the target speed by comparing the current speed with the target speed, and in addition, by using the gyro sensor 80, You do not have to do.

In addition, the torque can be increased in the case of an uphill according to the inclination detected by the gyro sensor 80, and the torque can be decreased in a downhill state, or the motor 20 can be braked by applying a reverse- have.

When the current speed exceeds the target speed and the downward force is applied to the motor 20 so that the counter electromotive force is applied and the current speed exceeds the target speed in consideration of the comparison result between the current speed and the target speed together with the inclination, Power can be cut off to increase power efficiency. If the current speed is lower than the target speed, the motor can be cut off or the torque input can be increased or decreased depending on the situation. If the current speed is lower than the target speed, the torque input can be increased.

Also, for safety reasons, it may be possible to automatically reduce the target speed to a certain speed when the vehicle is downhill.

In addition, the board-type electric moving means according to an embodiment of the present invention can use a sensor (a front pressure sensor and a rear pressure sensor in Fig. 2) for sensing the movement of the center of gravity of the user, The increase / decrease speed can be set from the target speed. For example, if you tilt your body forward, you can increase your speed and tilt your body back to reduce your speed. The increase / decrease speed is added to or subtracted from the target speed, and can be controlled so that the center of gravity of the moved user returns to the target speed when returning to the home position. It is needless to say that the intentional acceleration / deceleration by the detection of the movement of the center of gravity is indispensable in the practice of the present invention.

In the graph illustrated in FIG. 3 (A), an extreme example of a constant speed (v T ) is always shown during a period from t1 to t2. However, in actual operation, the traveling speed may follow the target speed, Depending on the situation or the user's intention to accelerate or decelerate, the speed may deviate from the constant speed even before the new target speed is set.

Further, when the feet are moved away from the foot sensor 10 in a state where the increase / decrease speed is increased or decreased, and then the feet are lifted up again, the target speed can be changed at that time. The feet are moved away from the board 1, It is also possible to set a new target speed to be accelerated or decelerated by decelerating or by dragging the foot to the ground and decelerating or by accelerating the ground with the foot to raise the foot on the board 1 again.

Further, in the board-type electric moving means according to the embodiment of the present invention, the feet can be decelerated and stopped by releasing the foot from the foot sensor 10 and turning off the ground with the feet (see the graph during the time t2-t3). In other words, foot-braking is the most common basic skill in skateboarding.

When the user moves away from the board type electric moving means according to an embodiment of the present invention for some reason, the foot sensor 10 can not detect the foot, And the electric moving means is automatically stopped by the natural friction force.

Hereinafter, effects and advantages of the board type electric moving means according to the present invention will be described.

First, according to the board type electric moving means according to the present invention, intuitive control of the user is possible.

Adjustment is very convenient for the user since there is no need for a remote controller that requires hand-held triggering as in the past. It is very similar to the conventional non-electric board type moving means, and its operation method and control are very similar, and it is less likely to fall due to sudden emergence, and it is easier for novices to enter. Basically, it is a cruising system that maintains the target speed, so there is no need for complicated control during driving. According to an aspect of the present invention, safety is also increased because the maximum speed is limited to the maximum speed that a person can reach.

All existing skateboards (and kickboards as well) use triggers (remote controllers) for acceleration and deceleration. When you push the trigger, it becomes the brake. However, in such a case, the accelerating subject is a skateboard, not a person, so that the speed of the board suddenly changes, which often makes it difficult to balance. The interface in the board type electric moving means according to an aspect of the present invention is the same as that of a conventional non-electric skateboard, and thus there is an advantage that it is safe from such a problem. It is also easy to balance because the user's hands are free and allows the user to concentrate only on the fun of board-type mover.

In addition, the board type electric moving means according to an aspect of the present invention has an advantage that power efficiency is increased. As described above, the step of consuming the greatest power is the acceleration / deceleration part. However, in the board-type power transfer means according to an aspect of the present invention, since the power consumption is replaced with the greatest power consumption step, much power can be saved. And the power thus saved directly leads to the increase of the travel distance of the electric moving means.

Further, the board type electric moving means according to one aspect of the present invention can bring about a cost saving effect in terms of weight and cost. Since the person performs the process of acceleration or deceleration, the maximum torque necessary for operation may be much smaller than that of the conventional electric transfer means. This allows you to use a single motor instead of using a double motor or reduce the size of the motor. As the motor parts become lighter, the transmission parts and the hardware frame become lighter, which in turn reduces cost and weight.

1: Board 2: Wheel
3: truck 4: shaft housing
10: foot sensor 20: motor
30: motor transmission 40:
50: Battery 61: Hall sensor
62: Magnet 70: belt and pulley
80: Gyro sensor 91: Rear pressure sensor
92: Front pressure sensor

Claims (15)

A board-type electric moving means having a board and a motor,
And a proximity sensor or pressure sensor (hereinafter, referred to as a foot sensor) coupled to one area of the board,
Detecting a foot of the user by using the foot sensor, and driving the motor at a target speed to maintain the speed at that time,
Wherein the board-type electric moving means comprises: A board-type electric moving means having a board and a motor,
And a proximity sensor or pressure sensor (hereinafter, referred to as a foot sensor) coupled to one area of the board,
The foot sensor senses that the foot of the user is raised,
The motor is not driven until the user's foot is sensed from the standstill state,
Wherein the board-type electric moving means comprises: The method according to claim 1,
Wherein the motor is not driven when the foot sensor does not sense the foot of the user,
Wherein the board-type electric moving means comprises: The method according to claim 1 or 2,
If you do not use a wired or wireless remote controller,
Wherein the board-type electric moving means comprises: The method according to claim 1,
And a torque input for driving the motor based on the target speed and the current speed of the board-type power transmission means,
Wherein the board-type electric moving means comprises: The method of claim 5,
A magnet attached to the wheel, and a hall sensor fixedly installed opposite to the wheel,
Wherein the board-type electric moving means comprises: The method according to claim 1,
Further comprising: a gyro sensor for sensing an inclination,
And a torque input for driving the motor based on at least the target speed, the current speed of the board-type electric moving means, and the inclination detected by the gyro sensor,
Wherein the board-type electric moving means comprises: The method according to claim 1 or 2,
The board type electric moving means is applied to a skateboard,
Wherein the pressure sensor is installed between a deck of the sca.
Wherein the board-type electric moving means comprises: The method according to claim 1 or 2,
Applied to skateboards or kickboards,
Wherein the board-type electric moving means comprises: The method according to claim 1,
A front pressure sensor installed on a front side of the board, and a rear pressure sensor installed on a rear side of the board,
Detecting a movement of the center of gravity of the user by using the front pressure sensor and the rear pressure sensor and setting a rate of increase / decrease from the target velocity based on the detected movement of the center of gravity,
Wherein the board-type electric moving means comprises: A method of controlling a board type electric moving means having a board and a motor,
When the sensor senses that the user's foot is raised on the board, the speed at that time is set as the target speed,
And for driving the motor based on the comparison between the target speed and the current speed of the board-
And a control unit for controlling the electric motor. A method of controlling a board type electric moving means having a board and a motor,
When the sensor senses that the user's foot is raised on the board, the speed at that time is set as the target speed,
And driving the motor to maintain the target speed,
And a control unit for controlling the electric motor. The method according to claim 11 or 12,
The sensor does not drive the motor if it does not sense the user's foot,
And a control unit for controlling the electric motor. The method according to claim 11 or 12,
And a torque input for driving the motor based on at least the target speed, the current speed of the board-type electric moving means, and the detected inclination,
And a control unit for controlling the electric motor. The method according to claim 11 or 12,
The center of gravity of the user is detected by using a front pressure sensor installed on the front side of the board and a rear side pressure sensor installed on the side of the board on the side of the board, To set the rate of increase / decrease,
And a control unit for controlling the electric motor.
KR1020150175084A 2015-12-09 2015-12-09 Board Type Transportation Means Using Electric Power, Capable of Intuitive Control KR20170068184A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019074277A1 (en) * 2017-10-13 2019-04-18 네이버랩스 주식회사 Personal mobility device
WO2020111629A1 (en) * 2018-11-29 2020-06-04 김항래 Drifting electric scooter
CN113680042A (en) * 2020-05-18 2021-11-23 保时捷股份公司 Electrically driven small vehicle
KR102400095B1 (en) * 2022-01-29 2022-05-18 김성호 Agricultural rail lifter

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019074277A1 (en) * 2017-10-13 2019-04-18 네이버랩스 주식회사 Personal mobility device
US11684843B2 (en) 2017-10-13 2023-06-27 Naver Labs Corporation Personal mobility device
WO2020111629A1 (en) * 2018-11-29 2020-06-04 김항래 Drifting electric scooter
CN113680042A (en) * 2020-05-18 2021-11-23 保时捷股份公司 Electrically driven small vehicle
CN113680042B (en) * 2020-05-18 2024-03-08 保时捷股份公司 Electrically driven small vehicle
KR102400095B1 (en) * 2022-01-29 2022-05-18 김성호 Agricultural rail lifter

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