WO2019019209A1

WO2019019209A1 - Roller skating device

Info

Publication number: WO2019019209A1
Application number: PCT/CN2017/095720
Authority: WO
Inventors: 陈中元; 高禄峰
Original assignee: 纳恩博（北京）科技有限公司
Priority date: 2017-07-27
Filing date: 2017-08-02
Publication date: 2019-01-31
Also published as: CN107281739A

Abstract

A roller skating device, comprising a pedal (101), a main grounding element (102), auxiliary grounding elements (110a, 110b), a driving element, a first controller, and a first sensor. The pedal (101) is coupled to the main grounding element (102). The main grounding element (102) is coupled to the driving element. The first controller is coupled to the driving element and the first sensor. The pedal (101) is suitable for a driver to stand thereon at a single point, and is adapted to tilt forwards or backwards when the driver stands at the single point. The first sensor senses a posture of the driver on the pedal (101). The main grounding element (102) is driven by the driving element to act. The driving element is used for generating an output signal used for controlling action of the main grounding element (102) and maintaining the entire roller skating device to be in a balanced state. The first controller is used for controlling generation of the output signal according to the posture. The auxiliary grounding elements (110a, 110b) are used for limiting the maximum tilting angle of the pedal (101) according to the contact between the pedal (101) and the ground when the pedal (101) is tilted. The roller skating device avoids body fatigue due to skating by human power, thus improving user experience and safety.

Description

Roller device

The present application claims priority to Chinese Patent Application, filed on Jan. 27,,,,,,,,,,,,,,,,,,,,,,,,,,,

Technical field

The embodiments of the present application relate to the technical field of roller skating or traveling tools, and in particular, to a roller skating device.

Background technique

As an entertainment tool or a walking tool, roller skates can be mainly divided into speed type and control type. However, the structure of these two types of roller shoes is basically the same, including the shoe body and the wheel frame mounted on the sole and several rollers. The difference is that the number, size and arrangement of the rollers may vary depending on the purpose of use. In the process of use, it is driven by the operator's manpower, such as sliding through the pedaling action, so that there are certain limitations. It is easy to cause fatigue when used for a long time. In addition, during the sliding process, standing on the roller skates should be maintained. Balanced, the operator's requirements are higher, which ultimately leads to poor user experience of the roller skates; and the automatic speed limit of the skates cannot be achieved.

Summary of the invention

In view of this, one of the technical problems solved by the embodiments of the present application is to provide a skating device for overcoming or relieving the above technical deficiencies in the prior art.

An embodiment of the present application provides a roller skating device, including:

a pedal, a primary grounding element, an auxiliary grounding element, a driving component, a first controller, a first sensor, wherein the pedal is coupled to the primary grounding component, the primary grounding component is coupled to the driving component, a first controller coupled to the driving element and the first sensor;

The pedal is adapted to be suitable for the driver to stand on a single point thereon and to tilt forward or backward when standing at a single point;

The first sensor senses a posture of a driver on the pedal;

The main grounding element is for operating under the driving of the driving element;

The drive element is configured to generate an action to control the ground element and maintain the entire skating device An output signal in which the body is in equilibrium;

The first controller is configured to control generation of the output signal according to the posture;

The auxiliary grounding element is adapted to limit a maximum angle at which the pedal is tilted in accordance with contact with the ground when the pedal is tilted.

According to the above technical solution, in the embodiment of the present application, since the pedal is coupled to the main grounding component, the main grounding component is coupled to the driving component, and the first controller is coupled to the driving component. And the first sensor; the pedal is adapted to be suitable for a driver to stand on a single point thereon and for tilting forward or backward when standing at a single point; the first sensor sensing the driver at the pedal a posture of the upper grounding member for driving under the driving of the driving member; the driving member for generating an output signal for controlling the action of the grounding member and maintaining the entire roller bearing device in an equilibrium state; The first controller is configured to control the generation of the output signal according to the attitude; the auxiliary grounding element is configured to limit a maximum angle of the pedal tilt according to contact with the ground when the pedal is tilted. Since the output signal controls the action of the main grounding element on the one hand, and maintains the overall skating device in an equilibrium state on the other hand, the human body is prevented from achieving physical fatigue caused by the sliding. In addition, during the gliding process, since the balance state can be maintained, the operator's operation skill is required to be low, thereby improving the user experience. In addition, the auxiliary grounding element is configured to limit a maximum angle of the pedal tilt according to contact with the ground when the pedal is tilted, so as to control a value of the output signal not exceeding a set threshold, thereby implementing a main grounding component. The control of the rotational speed, in turn, limits the travel speed of the roller skid device, ultimately improving the safety of the roller skid device.

DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description are only Some embodiments are described in the embodiments of the present application, and other drawings may be obtained according to the drawings for those skilled in the art.

1 is a schematic structural view showing the structure of a wearable roller skating device according to Embodiment 1 of the present application;

2 is a schematic structural diagram of a structure of a wearable roller skating device according to Embodiment 2 of the present application;

3a and FIG. 3b are schematic diagrams and a second schematic structural diagram of a wearable roller skating device according to Embodiment 3 of the present application;

3c is a schematic view of a fixed base in the third embodiment of the present application;

4 is a schematic structural diagram of a wearable roller skating device according to Embodiment 4 of the present application;

5 is a schematic structural diagram of a specific implementation of a wearable roller skating device according to Embodiment 5 of the present application;

6 is a schematic structural diagram of a specific implementation of a wearable roller skating device according to Embodiment 6 of the present application;

7a and 7b are structural diagrams and 2 of the structure of the wearable roller skating device in the seventh embodiment of the present application;

8 is a partial schematic view of a wearable roller skating device according to Embodiment 8 of the present application;

9 is a schematic diagram of a control principle of a wearable roller skating device according to Embodiment 9 of the present application;

FIG. 10 is a schematic structural diagram of an auxiliary grounding element disposed in Embodiment 10 of the present application.

Detailed ways

Of course, any technical solution of implementing the embodiments of the present application necessarily does not necessarily need to achieve all the above advantages at the same time.

For a better understanding of the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present application. The embodiments are only a part of the embodiments of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by those skilled in the art should be within the scope of protection of the embodiments of the present application based on the embodiments in the embodiments of the present application.

The specific implementation of the embodiments of the present application is further described below with reference to the accompanying drawings.

In the embodiment of the present application, since the pedal is coupled to the main grounding element, the main grounding component is coupled to the driving component, and the first controller is coupled to the driving component and the first sensor. The pedal is adapted to be suitable for the driver to stand on a single point thereon and for tilting forward or backward when standing at a single point; the first sensor sensing the attitude of the driver on the pedal; a main grounding element for operating under the driving of the driving element; the driving element for generating an output signal that controls the operation of the grounding element and maintaining the overall condition of the roller skating device in an equilibrium state; the first controller is configured to The attitude controls the generation of the output signal; the auxiliary grounding element is configured to limit a maximum angle at which the pedal is tilted according to contact with the ground when the pedal is tilted. Wherein, the output signal controls the action of the main grounding element on the one hand, and maintains the overall skating device in an equilibrium state on the other hand; the human body is prevented from achieving physical fatigue caused by the sliding. In addition, during the gliding process, since the balance state can be maintained, the operator's operation skill is required to be low, thereby improving the user experience. In addition, the auxiliary grounding element is configured to limit a maximum angle of the pedal tilt according to contact with the ground when the pedal is tilted, so as to control a value of the output signal not exceeding a set threshold, thereby implementing a main grounding component. The control of the rotational speed, in turn, limits the travel speed of the roller skid device, ultimately improving the safety of the roller skid device.

In the following embodiments of the present application, the first sensor is specifically configured to sense a posture of a driver on the pedal and generate pitch sensing data, and the first controller is specifically configured to determine, according to the pitch sensing data. The current pitch angle of the pedal. The first controller, when controlling an output signal of the drive element, specifically controls an output signal of the drive element by a desired pitch angle of the pedal and the current pitch angle, such as by a desired pitch angle of the pedal And an angular difference between the current pitch angles.

The above-mentioned roller skating device is exemplified in the following in the form of a specific roller shoe. However, it should be noted that the roller skating shoe is not the only implementation form of the roller skating device, and the above-mentioned roller skating device can also be made suitable for roller skating on the hand. Product form, or, suitable for people with disabilities to roller skating Any product form.

Further, in the embodiments described below, the grounding element is illustratively a wheel that is rolled under the drive of the drive element. At the subsequent control of the steering, the rotational speed of the wheels is controlled to generate a rotational speed difference for controlling the steering.

However, in other embodiments, it is not limited to a wheel, and may be any other form of structure that can form actual physical contact with the ground. For example, if applied to a scene such as ice skating or skiing, the grounding element may also be a flat-like structural member that slides under the driving of the driving element.

Further, in the following embodiments, the first sensor may specifically be a gyroscope, but is not limited to a gyroscope as long as the driver's attitude on the pedal can be sensed and pitch sensing data is generated. In the following embodiments, the first sensor is not illustrated.

Further, in the following embodiments, the driving component is specifically a motor, but is not limited to a motor. As long as the grounding component can be driven to perform a specific application scenario. When the drive element is a motor, the output signal of the drive element is the output torque of the drive element.

Embodiment 1 (a single grounding element):

1 is a schematic structural diagram of a structure of a roller skating device according to Embodiment 1 of the present application; as shown in FIG. 1 , when the roller skating device is implemented in the specific product form of the roller skate, the roller skating shoe specifically includes the pedal 101, the grounding component 102, and the motor. (not shown in FIG. 1), a first controller (not shown in FIG. 1), the pedal 101 is used to stand on one foot, and the number of the grounding elements 102 is specifically one, that is, the driver passes the Skating shoes have only one point of contact with the ground. Correspondingly, the number of the drive elements is one.

In particular, the drive element can be directly embedded in the hub of the grounding element 102, so that the overall structure of the roller skate is relatively compact.

However, it should be noted that, if the compactness of the overall structure of the skate is not considered or not emphasized, the driving element may also be disposed in the hub of the grounding element 102 without being embedded, such as by a fixing seat or the like. A similar structure is directly provided at a position below the pedal 101.

Embodiment 2 (two

grounding elements

102a and 102b disposed at close distances)

2 is a schematic structural diagram of a structure of a roller skating device according to Embodiment 2 of the present application; as shown in FIG. 2, in this embodiment, different from the first embodiment, the number of the grounding components is two, respectively grounded. The lateral spacing between the

elements

102a, 102b, the

ground elements

102a, 102b is small, thereby achieving a position to be placed near the center of the pedal 101 such that the driver forms two points of contact with the ground through the roller skates, Thereby reducing the difficulty of using the roller skates.

In this embodiment, the driving shaft of the driving element is disposed laterally, that is, perpendicular to the direction in which the roller shoes travel, and the

grounding members

102a and 102b are respectively disposed at two ends of the driving shaft, and the driving component is embedded in the grounding. The hub of the component 102 is directly coupled to the grounding element 102a via a drive shaft and coupled to a grounding component 102b that is not embedded with the drive component. In other words, the grounding element 102a with the driving element embedded therein acts as a driving wheel during the running of the roller skate, and is not embedded The grounding element 102b having the driving element acts as a driven wheel, and the driven wheel rotates under the driving of the driving wheel.

It should be noted that, in other embodiments, a motor may be separately disposed on the

grounding elements

102a, 102b, so that the action of each grounding element can be separately controlled.

Embodiment 3 (two

grounding elements

102a and 102b disposed at a long distance)

3a and 3b are schematic diagrams and schematic diagrams showing a schematic structure of a structure of a roller skating device according to Embodiment 3 of the present application; as shown in FIG. 3a and FIG. 3b, in this embodiment, a grounding component is different from the above embodiment. 102a, 102b are respectively disposed at positions close to the left and right side edges of the pedal 101, that is, the lateral distances between the two contact points formed on the ground are large, thereby further reducing the difficulty of using the roller shoes.

Similar to the second embodiment, the

grounding elements

102a, 102b share a motor, specifically, the driving shaft of the driving element is disposed laterally, that is, perpendicular to the direction in which the roller shoes travel, and the grounding member 102a is respectively disposed at two ends of the driving shaft. 102b, the driving component is embedded in a hub of one of the grounding elements 102a, and is directly connected to the grounding component 102a through a transmission shaft, and is coupled to the grounding component 102b in which the driving component is not embedded. In other words, the grounding element 102a in which the driving element is embedded acts as a driving wheel during the traveling of the roller skate, and the grounding element 102b in which the driving element is not embedded as a driven wheel, the driven wheel is in the driving wheel Driven under the rotation.

Alternatively, in another embodiment, the number of the driving elements is two, and the

grounding elements

102a, 102b are respectively configured with one of the driving elements, thereby achieving separate control of the rotational speed of the

grounding elements

102a, 102b during normal travel. The

grounding elements

102a, 102b have the same rotational speed.

In the above embodiments 1 to 3, the axis of the grounding element is located below the pedal 101, and the grounding element as a whole is also located below the pedal 101.

As shown in FIG. 3b, further comprising: a fixed base 100a, the

grounding elements

102a, 102b are coupled to the fixed base 100a, and the fixed base 100a is fixed to a lower surface of the pedal 101. In a specific application scenario, the grounding

member

102a, 102b may be integrated with the fixed base 100a, and the fixed base 100a may be fixed to the lower surface of the pedal 101.

It should be noted that, in other embodiments, the

grounding elements

102a, 102b may be finally coupled to the pedal 101 by any other configuration. Figure 3c is a schematic view of an alternative base in the third embodiment of the present application; as shown in Figure 3c, the

ground points

102a, 102b are coupled to the lower surface of the pedal by a quick release structure 100b.

Embodiment 4 (two

grounding elements

102a and 102b disposed at a long distance)

Different from the above-mentioned third embodiment, in the following embodiment of FIG. 4, when the

grounding elements

102a, 102b are included and the lateral distance between them is large, the axial center of the

grounding elements

102a, 102b is located below the pedal 101. But partially protrudes upward from the pedal 101.

The pedal 101 in the above-described third embodiment is entirely moved downward, and a schematic structural view of the roller skating device in the fourth embodiment shown in FIG. 4 is obtained.

grounding elements

102a, 102b during normal travel. The

grounding elements

102a, 102b have the same rotational speed.

It should be noted that, in the embodiment of FIG. 1 to FIG. 4, only the

grounding elements

102a, 102b and other parts are illustrated for the sake of view, and all components are not illustrated.

5 is a schematic structural diagram of a specific implementation of a roller skating device according to Embodiment 5 of the present application; as shown in FIG. 5, a roller skate as a roller skating device includes a grounding member 102, and the grounding member 102 is located at a center of the pedal 101, and A motor is disposed in the hub of the grounding element 102. The drive shaft of the motor is threaded into the hub, and the drive shaft 103 is disposed at the intermediate portion with a first bearing structure 104 that is coupled to the ground element 102 to drive the ground element 102 to rotate.

In addition, in FIG. 5, a second bearing structure 105 may be respectively disposed at both ends of the transmission shaft, and the bearing structure at each end of the transmission shaft is coupled with the pedal 101, thereby integrally setting the motor and the transmission shaft under the pedal 101. position.

6 is a schematic structural diagram of a specific implementation of a roller skating device according to Embodiment 6 of the present application; as shown in FIG. 6, the roller skate as a roller skating device includes two grounding members, namely, grounding

members

102a and 102b, and the

grounding members

102a and 102b are respectively disposed close to each other. The position of the left and right side edges of the pedal 101. The

grounding elements

102a, 102b are each provided with a motor. The arrangement of the motor and the drive shaft can be referred to the embodiment shown in FIG.

Different from the above-mentioned embodiments of Figs. 1 to 4, in the embodiment of Figs. 5 and 6, the pedal 101 is not rectangular but has arcs at both ends.

7a and 7b are schematic diagrams and 2 of the structure of the roller skating device in the seventh embodiment of the present application; referring to FIG. 7a and FIG. 7b, on the basis of the above embodiment of FIG. 1, a binding unit 108 is added, and the binding unit is added. Provided on the pedal, the foot position or the foot up position of the individual using the roller skating device is fixed. Optionally, the binding unit is a structure having a fastening button or a locking buckle, and the driver's foot position or the foot rest is fixed by the buckle or the locking buckle. Position to prevent the driver from falling off the roller skates. The position of the foot is, for example, the position of the foot, and the position of the foot is, for example, an ankle or a calf.

Further, in this embodiment, the skating device further includes: a protective cover 109 that is in contact with a heel of a single foot standing on the pedal 101 to stabilize one foot on the pedal 101 during the skating process . The specific shape of the protective cover may be curved to closely fit the heel of the foot to provide a stable support.

In the present embodiment, the restraint unit and the protective cover provide a firming action for the driver's foot in the rear position and the front position, thereby effectively preventing the driver from falling from the roller skate during the skating process.

Further, in this embodiment, optionally, in any embodiment of the present application, the battery compartment 106 further includes a battery pack 107 disposed therein, and the battery pack 107 is driven to the drive Components and other structures or circuits that require electricity. Specifically, the pedal 101 has a hollow inner cavity in which the battery compartment 106 is disposed.

8 is a partial schematic view of a roller skating device according to Embodiment 8 of the present application; in this embodiment, A battery pack 107 is disposed at a rear portion of the skating device of the skate, and specifically, for example, a battery compartment is disposed in a hollow interior of the protective cover 109, and the battery pack 107 is disposed in the battery compartment.

It should be noted that, in another embodiment, different from FIG. 8 above, the driver sets the battery pack 107 on the body, and then passes the external power cord and the electric circuit or component in the roller skate. Such as the first controller, the motor is connected.

9 is a schematic diagram of a control principle of a roller skate device according to Embodiment 9 of the present application; as shown in FIG. 9, when the pedal is tilted forward or backward, the first controller is configured to use an expected pitch angle θ according to the pedal. * An angular difference between the current pitch angle θ generates a drive electrical signal to control the magnitude of the output torque of the drive element. Specifically, a drive electric signal is generated to control the output torque magnitude of the drive element based on the current pitch angular velocity ω of the pedal and the angular difference θ _error between the desired pitch angle θ* and the current pitch angle θ. In this embodiment, the driving electrical signal is, for example, a driving voltage. The first controller (also referred to as a balance controller) is, for example, a PID controller.

Specifically, the skating device may further include a second controller (also referred to as a speed controller), the second controller configured to: determine the current speed V of the driving component and the set maximum rotational speed V ^* The pitch angle θ* is expected. In this embodiment, the second controller is also a PID controller, for example.

Further, determining whether the current rotational speed V of the driving component exceeds the set maximum rotational speed V ^* , if it is exceeded, indicating that the roller skating device is about to enter an overspeed state, and for this purpose outputting a desired pitch angle θ* of a non-zero size, The current pitch angle θ is calculated to obtain the above-described angular difference θ _error , and the first controller generates a driving electric signal according to the angular difference θ _error to control the output torque of the driving element and finally tilt the pedal in a direction opposite to the traveling direction. Therefore, the traveling speed of the skating device is not limited to exceed the upper limit of the traveling speed. If not exceeded, the pitch angle θ* is expected to be 0, and according to the angle difference θ _error , the first controller generates a driving electric signal according to the angle difference θ _error to control the output torque of the driving element and finally causes the The pedal is dynamically level.

In particular, the skating device may further comprise a second sensor that senses the current rotational speed of the drive element.

In addition, it should be noted that, in some specific application scenarios, the current pitch angular velocity may also be disregarded when generating the driving electrical signal.

In addition, it should be noted that, in some specific application scenarios, the second controller may not be configured when determining the desired pitch angle, but the first controller is multiplexed. I.e., a first controller can be used in accordance with the driving element and the current rotation speed V ^* set maximum speed V determining the desired pitch angle θ *, it may also be used according to the desired pitch angle [theta] * of the pedal and the current The angular difference between the pitch angles θ generates a drive electrical signal to control the magnitude of the output torque of the drive element.

In addition, it should be noted that the output signal of the driving element may also be in other forms, and the output torque is merely illustrated in this embodiment.

In another specific application scenario, if the second controller is configured, the second controller may also be multiplexed into the first controller. I.e., the second controller may be used according to the present rotation speed V of the driving element and the set maximum speed V ^* determining the desired pitch angle θ *, may also be used according to the desired pitch angle [theta] * of the pedal and the current The angular difference between the pitch angles θ generates a drive electrical signal to control the magnitude of the output torque of the drive element.

It should be noted that the auxiliary grounding elements are not illustrated in the above-described FIGS. 1 to 8.

10 is a schematic structural view of an auxiliary grounding component provided in Embodiment 10 of the present application; as shown in FIG. 10, an

auxiliary grounding component

110a, 110b is respectively disposed on the front and rear of the pedal 101 on the basis of the above-mentioned FIG. The maximum angle of the back tilt is limited.

In the present embodiment, specifically, a fixing block 111 may be disposed under the pedal 101, and the

auxiliary grounding member

110a or 110b is fixed to the fixing block 111.

It should be noted that reference may also be made to FIG. 10 to add an auxiliary grounding element to the other embodiments of the roller rolling apparatus shown in FIG.

In addition, the number of auxiliary grounding elements is not limited. For example, in some applications, only an auxiliary grounding element is disposed in front of the pedal, or an auxiliary grounding element is disposed only behind the pedal.

In addition, the number of auxiliary grounding elements disposed at the front or the rear is not limited, and a plurality of sets may be provided.

The rolling perimeter of the primary ground element is greater than the rolling perimeter of the auxiliary ground element.

In this embodiment, the auxiliary grounding element is disposed in front of the main grounding element, and is in contact with the ground when the pedal is tilted forward, limiting a maximum angle of the pedal forward tilting to control the value of the output signal. Do not exceed the set first threshold. The auxiliary grounding element is located entirely below the pedal. Specifically, the lower surface of the pedal is provided with a front fork structure, and the auxiliary grounding unit is disposed under the pedal through the front fork structure.

In this embodiment, the auxiliary grounding element is disposed behind the main grounding element, and contacts the ground when the pedal is tilted backward to limit the maximum angle of the pedal backward tilting to control the value of the output signal. Does not exceed the set second threshold. The auxiliary grounding element is located entirely below the pedal. Specifically, the lower surface of the pedal is provided with a rear fork structure, and the auxiliary grounding unit is disposed under the pedal through the rear fork structure.

In addition, it should be noted that the auxiliary grounding element can function as a speed limit in addition to the maximum angle at which the pedal tilt can be displayed, and can also function as an auxiliary coasting.

It should be noted that, in the above embodiment, the roller skating device can operate in the electric driving state of the motor or in the manual driving state.

In the above embodiment, the drive element may be a high speed motor in addition to the hub motor.

In the present disclosure, the expression "include" or "may include" refers to the existence of the corresponding function, operation or element, and does not limit one or more additional functions, operations or elements. In the present disclosure, terms such as "include" and / or "have" are understood to mean certain features, numbers, steps, operations, components, elements or combinations thereof, and are not to be construed as being excluded. The existence or additional possibility of one or more other characteristics, numbers, steps, operations, constituent elements, elements or combinations thereof.

In the present disclosure, the expression "A or B", "at least one of A or / and B" or "one or more of A or / and B" may include all possible combinations of the listed items. For example, the expression "A or B", "at least one of A and B" or "at least one of A or B" may include: (1) at least one A, (2) at least one B, or (3) at least One A and at least one B.

The expressions "first", "second", "described" used in various embodiments of the present disclosure The first or the second may modify various components regardless of the order and/or importance, but these expressions do not limit the corresponding components. The above expressions only distinguish the components from other components. For example, the first The user device and the second user device represent different user devices, although both are user devices. For example, the first component may be referred to as a second component, similarly, without departing from the scope of the present disclosure. It can be referred to as a first component.

When an element (eg, a first element) is referred to as being "operably or communicably coupled" or "operably or communicably" coupled to another element (eg, a second element) An element (e.g., a second element) or "connected to" another element (e.g., a second element) is understood to mean that the one element is directly connected to the other element or the one element is via the other element (e.g., The third component is indirectly connected to the other component. Rather, it will be understood that when an element (e.g., a first element) is referred to as "directly connected" or "directly connected" to another element (the second element), then no element (e.g., the third element) is inserted in either Between the people.

The expression "for" as used herein may be used interchangeably with the following expressions: "suitable to", "capable of", "designed as", "suitable", "manufactured as" or "capable of" ". The term "for" does not necessarily mean "designed specifically" on hardware. Alternatively, in some cases, the expression "a device for" may mean that the device is "capable of" with other devices or components. For example, the phrase "a processor adapted to (or for) performing A, B, and C" may mean a dedicated processor (eg, an embedded processor) that performs only the corresponding operations or may be stored in a storage device by execution. A general purpose processor (eg, a central processing unit (CPU) or an application processor (AP)) that performs the corresponding operations by one or more software programs.

The device embodiments described above are merely illustrative, wherein the modules described as separate components may or may not be physically separate, and the components displayed as modules may or may not be physical modules, ie may be located A place, or it can be distributed to multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without deliberate labor.

Claims

A roller skating device, comprising: a pedal, a main grounding element, an auxiliary grounding element, a driving component, a first controller, a first sensor, wherein the pedal is coupled to the main grounding component, the main grounding An element is coupled to the driving element, and the first controller is coupled to the driving element and the first sensor;

The pedal is adapted to be suitable for the driver to stand on a single point thereon and to tilt forward or backward when standing at a single point;

The first sensor is configured to sense a posture of a driver on the pedal;

The main grounding element is for operating under the driving of the driving element;

The driving element is configured to generate an output signal that controls the operation of the grounding element and maintains the overall condition of the roller skating device in an equilibrium state;

The first controller is configured to control generation of the output signal according to the posture;

The auxiliary grounding element is adapted to limit a maximum angle at which the pedal is tilted in accordance with contact with the ground when the pedal is tilted.
The roller skiing apparatus according to claim 1, wherein a rolling circumference of said main grounding member is larger than a rolling circumference of said auxiliary grounding member.
A roller skate device according to claim 1, wherein said auxiliary grounding member is disposed in front of said main grounding member for contacting said ground when said pedal is tilted forwardly to limit said pedal forward maximum The angle is to control the value of the output signal not to exceed the set first threshold.
The roller skate device of claim 3 wherein said auxiliary grounding element is located entirely beneath said pedal.
The roller sliding device according to claim 3, wherein the lower surface of the pedal is provided with a front fork structure, and the auxiliary grounding unit is disposed under the pedal through the front fork structure.
A roller skate device according to claim 1, wherein said auxiliary grounding member is disposed behind said main grounding member for contacting said ground when said pedal is tilted rearward to limit said pedal to be tilted to a maximum An angle to control the value of the output signal not to exceed a set second threshold.
The roller skate device of claim 6 wherein said auxiliary grounding element is located entirely beneath said pedal.
The roller sliding device according to claim 6, wherein the lower surface of the pedal is provided with a rear fork structure, and the auxiliary grounding unit is disposed below the pedal through the rear fork structure.
The roller skate device according to claim 1, wherein the number of the main grounding members is one, and correspondingly, the number of the driving members is one.
The roller skate device according to claim 1, wherein the number of the main grounding members is two, and the number of the driving members is one, and the driving members are connected to the two main grounding members.
The roller sliding device according to claim 1, wherein the number of the main grounding members is two, and the number of the driving members is two, and each of the main grounding members is provided with one The drive element.
A roller skate device according to claim 9 or 10 or 11, wherein the axis of the main grounding element is located below the pedal and the main grounding element is located entirely below the pedal.
A roller skate device according to claim 9 or 10 or 11, wherein the axis of the main grounding member is located below the pedal and the main grounding member portion projects upwardly from the pedal.
The roller skating device according to claim 10, wherein the main grounding member is a wheel, the driving shaft of the driving member is laterally disposed, and a main grounding member is disposed at each end of the driving shaft, the driving member It is embedded in the hub of one of the main grounding elements and is directly connected to the main grounding element in which the driving component is embedded through the transmission shaft, and is coupled to the main grounding component in which the driving component is not embedded.
A roller skate device according to claim 10 or 11, wherein the two main grounding members are respectively disposed at positions close to the left and right side edges of the pedal or at positions close to the center of the pedal.
The roller skate device according to claim 1, further comprising: a battery compartment, wherein the battery compartment is provided with a battery pack, and the battery pack supplies power to the driving component.
A roller skate device according to claim 16, wherein said battery compartment is disposed below said pedal.
A roller skating device according to any one of claims 1 to 17, further comprising: a restraining unit provided on the pedal to fix a position of a driver's foot using the skating device or The foot is up.
The roller skate device according to claim 18, wherein the restraining unit is a structure having a fastening or locking buckle, and the driving using the roller bearing device is fixed by the fastening button or the locking buckle The position of the foot or the position of the foot.
A roller skating apparatus according to claim 19, further comprising: a protective cover that is in contact with a heel of a single leg standing on said pedal to secure a single leg to said pedal during skating on.
A roller skating device according to any one of claims 1 to 20, further comprising: a fixed base, said main grounding member being coupled to said fixed base, said fixed base being fixed to said pedal lower surface.
The roller skate device according to claim 1, further comprising: a second controller, wherein the second controller is configured to determine the desired pitch angle based on a current rotational speed of the drive element and a set maximum rotational speed.
A roller skate device according to claim 22, wherein said first controller is further for determining a current pitch angular velocity of said pedal and a desired pitch of said pedal when said pedal is tilted forward or backward The angular difference between the angle and the current pitch angle generates a drive electrical signal to control the magnitude of the output signal of the drive element.
The roller skate device of claim 22, further comprising: a second sensor that senses a current rotational speed of the drive element.