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Publication numberCN205269008 U
Publication typeGrant
Application numberCN 201490000643
PCT numberPCT/US2014/036244
Publication date1 Jun 2016
Filing date30 Apr 2014
Priority date6 May 2013
Also published asDE202014010649U1, US9101817, US9400505, US9597580, US20140326525, US20150323935, US20160291599, US20160296827, US20170157497, WO2014182527A1
Publication number201490000643.X, CN 201490000643, CN 205269008 U, CN 205269008U, CN-U-205269008, CN201490000643, CN201490000643.X, CN205269008 U, CN205269008U, PCT/2014/36244, PCT/US/14/036244, PCT/US/14/36244, PCT/US/2014/036244, PCT/US/2014/36244, PCT/US14/036244, PCT/US14/36244, PCT/US14036244, PCT/US1436244, PCT/US2014/036244, PCT/US2014/36244, PCT/US2014036244, PCT/US201436244
Inventors凯尔·乔纳森·多尔克森
Applicant未来动力公司
Export CitationBiBTeX, EndNote, RefMan
External Links: SIPO, Espacenet
Electronic vehicle of electronic vehicle , electric skate board and self -balancing
CN 205269008 U
Abstract
The utility model relates to an electronic vehicle of electronic vehicle, electric skate board and self -balancing. Electronic vehicle can wrap rubbing board, and this board includes that main board face subtotal second board face divides, facial left foot or the right crus of diaphragm of configuration for receiving the person of riding separately that divide in main board face subtotal second board, wheel subassembly, this wheel subassembly set up between the face part and including the ground contact member, the board is installed to motor sub -assembly, this motor sub -assembly and the configuration is making the ground contact member to enclose pivoting to impel electronic vehicle, at least one sensor, the oriented information of at least one sensor placement for measuring the board, and the motor control ware, this motor control ware configuration is for receiving the oriented information by sensor measurements to make the motor sub -assembly impel electronic vehicle based on this orientation information. Electronic vehicle can including proper what a ground contact member to the motor can be the wheel hub motor.
Claims(20)  translated from Chinese
1. 一种电动交通工具,其包括: 板,所述板包括第一板面部分和第二板面部分,所述第一板面部分和第二板面部分各自配置为接收骑者的垂直于所述板的行驶方向定向的左脚或右脚; 轮子组件,所述轮子组件包括设置在所述第一板面部分和第二板面部分之间并且在所述第一板面部分和第二板面部分上方延伸的可旋转的地面接触元件; 马达组件,所述马达组件安装到所述板并且配置为使所述地面接触元件围绕轴旋转, 以推进所述电动交通工具; 至少一个传感器,所述至少一个传感器配置为测量所述板的取向信息;以及马达控制器,所述马达控制器配置为接收由所述至少一个传感器测量的取向信息,并且基于所述取向信息使所述马达组件推进所述电动交通工具; 其中所述电动交通工具包括恰好一个地面接触元件。 An electric vehicle, comprising: a plate, the plate includes a first portion and a second board face plate portion, the first portion and a second board face plate portions each configured to receive a rider's vertical direction of travel of the plate oriented left or right; wheel assembly, the wheel assembly includes a plate disposed between said first surface portion and a second portion of the board and the first surface portion and the plate rotatable ground surface above the second plate portion extending contact element; motor assembly, said motor assembly is mounted to the plate and configured to cause the ground-contacting element around an axis of rotation, to advance the electric vehicle; at least one sensor, the at least one sensor is configured to measure the orientation of the plate information; and a motor controller, the motor controller is configured to receive orientation information from said at least one sensor, and based on the orientation information to make the motor assembly to promote the electric vehicle; wherein said electric vehicle comprises exactly a ground-contacting elements.
2. 根据权利要求1所述的电动交通工具,其中所述马达组件包括轮毂马达。 2. The electric vehicle according to claim 1, wherein the motor assembly includes a hub motor.
3. 根据权利要求2所述的电动交通工具,其中所述轮毂马达是内装齿轮型的。 3. The electric vehicle according to claim 2, wherein the hub motor is a built-in gear type.
4. 根据权利要求2所述的电动交通工具,其中所述轮毂马达是直接驱动型的。 4. The electric vehicle according to claim 2, wherein the hub motor is a direct drive type.
5. 根据权利要求1所述的电动交通工具,还包括: 第一灯组件,其设置在所述板的第一端部处;以及第二灯组件,其设置在所述板的第二端部处; 其中当所述板在第一方向上被推进时,所述第一灯组件配置为输出第一颜色的光,并且当所述板在第二方向上被推进时,所述第一灯组件配置为自动改变颜色并且输出第二颜色的光;以及其中当所述板在所述第一方向上被推进时,所述第二灯组件配置为输出所述第二颜色的光,并且当所述板在所述第二方向上被推进时,所述第二灯组件配置为自动改变颜色并且输出所述第一颜色的光。 5. The electric vehicle according to claim 1, further comprising: a first lamp assembly at a first end disposed in said plate; and a second lamp assembly disposed in the second end plate portion; wherein when said plate is pushed in a first direction, the first lamp assembly configured to output a first color of light, and when the plate is pushed in the second direction, said first the lamp assembly is configured to automatically change the color and the output of the second color of light; and wherein when the plate is pushed when in the first direction, the second lamp assembly configured to output the second color light, and when the plate is advanced in the second direction, the second lamp assembly configured to automatically change the color and the output of the first color light.
6. 根据权利要求5所述的电动交通工具,其中所述第一颜色是白色,并且所述第二颜色是红色。 6. The electric vehicle according to claim 5, wherein the first color is white and the second color is red.
7. 根据权利要求1所述的电动交通工具,其中所述至少一个传感器包括共同地配置为估计所述板的倾斜角的陀螺仪和加速计。 7. The electric vehicle according to claim 1, wherein the at least one sensor comprises a common plate configured to estimate the angle of inclination of the gyroscopes and accelerometers.
8. -种电动滑板,其包括: 脚板面,所述脚板面具有第一板面部分和第二板面部分,所述第一板面部分和第二板面部分各自配置为平行于所述脚板面的俯仰轴线支撑骑者的脚; 恰好一个地面接触轮子,所述恰好一个地面接触轮子设置在所述第一板面部分和第二板面部分之间并且在所述第一板面部分和第二板面部分上方延伸,并且配置为围绕所述俯仰轴线旋转以推进所述电动滑板; 至少一个传感器,所述至少一个传感器配置为测量所述脚板面的取向;以及电动马达,所述电动马达配置为基于所述脚板面的取向引起所述恰好一个地面接触轮子的旋转。 8. - kind of electric scooters, comprising: a foot surface, said surface having a first foot plate surface portion and a second portion of the board, said first plate portion and a second surface portion of the plate surface parallel to the respective configuration pitch axis rider's foot supporting surface of foot; exactly one ground engaging wheel, the ground contact just one wheel disposed between said first side plate and the second plate portion of said first surface portion and a side plate portion and the upper surface of the second plate portion extends, and configured to rotate about the pitch axis to propel the electric scooters; at least one sensor, said at least one sensor configured to measure the orientation of the foot plate surface; and an electric motor, said configured to cause the electric motor based on the orientation of the foot contact with the ground plane is just a rotating wheel.
9. 根据权利要求8所述的电动滑板,其中所述电动马达是轮毂马达。 Electric skateboard according to claim 8, wherein the electric motor is a hub motor.
10. 根据权利要求8所述的电动滑板,还包括第一灯组件,其设置在所述第一板面部分的远端处;以及第二灯组件,其设置在所述第二板面部分的远端处; 其中当所述脚板面在第一方向上被推进时,所述第一灯组件配置为输出第一颜色的光,并且当所述脚板面在第二方向上被推进时,所述第一灯组件配置为自动改变颜色并且输出第二颜色的光;以及其中当所述脚板面在所述第一方向上被推进时,所述第二灯组件配置为输出所述第二颜色的光,并且当所述脚板面在所述第二方向上被推进时,所述第二灯组件配置为自动改变颜色并且输出所述第一颜色的光。 And a second lamp assembly disposed in the surface portion of the second plate; electric slider according to claim 8, further comprising a first lamp assembly disposed at a distal end portion of said first face plate the distal end; wherein when said foot surface is advanced in a first direction, the first lamp assembly when the output of the first color light, and when the surface of the foot is pushed in the direction of the second configuration, the first lamp assembly configured to automatically change the color and the output of the second color of light; and wherein when the surface when the foot is pushed in the first direction, the second lamp assembly configured to output the second colors of light, and when the surface of the foot is pushed in the second direction, the second lamp assembly configured to automatically change the color and the output of the first color light.
11. 根据权利要求8所述的电动滑板,其中所述至少一个传感器包括配置为测量所述脚板面围绕俯仰轴线的枢转的陀螺仪。 Electric skateboard according to claim 8, wherein the at least one sensor comprises a surface configured to measure the foot pivot around the pitch axis gyroscope.
12. 根据权利要求11所述的电动滑板,其中所述至少一个传感器还包括加速计,并且其中所述陀螺仪和所述加速计共同地配置为测量所述脚板面围绕俯仰轴线、侧倾轴线和偏航轴线的取向。 Electric scooter according to claim 11, wherein said at least one sensor further comprises an accelerometer and wherein the accelerometer and a gyroscope configured to measure the common plane footplate around the pitch axis, a roll axis orientation and yaw axis.
13. 根据权利要求8所述的电动滑板,还包括骑者检测装置,所述骑者检测装置配置为确定骑者的脚是否设置在所述脚板面上,并且当确定骑者的脚设置在所述脚板面上时发送使所述电动马达进入活动状态的信号。 According to claim 8 wherein the electric scooter, the rider further comprising detecting means for detecting the rider means configured to determine whether or not the rider's feet on the foot plate disposed surface, and when it is determined in the rider's foot disposed the transmission of the electric motor into the active surface of the foot when a signal.
14. 一种自平衡电动交通工具,其包括: 框架,其界定平面; 第一板面部分,所述第一板面部分安装到所述框架并且配置为平行于位于所述框架的所述平面中的俯仰轴线支撑骑者的第一只脚; 第二板面部分,所述第二板面部分安装到所述框架并且配置为平行于所述俯仰轴线支撑骑者的第二只脚; 轮子,所述轮子在所述第一板面部分和所述第二板面部分之间安装到所述框架,在所述平面上方和下方延伸,并且配置为围绕所述俯仰轴线旋转; 至少一个传感器,所述至少一个传感器安装到所述框架并且配置为感测所述框架的取向信息; 马达控制器,所述马达控制器配置为从所述至少一个传感器接收所述取向信息并且响应于所述取向信息生成马达控制信号;以及马达,所述马达配置为从所述马达控制器接收所述马达控制信号并且作为回应旋转所述轮子,由此推进所述自平衡电动交通工具。 14. A self-balancing electric vehicle, comprising: a frame defining a plane; the first plate face portion, the face portion of the first plate mounted to the frame and configured parallel to the plane of the frame is located the pitch axis support rider first foot; a second board portion, the second board portion is mounted to the frame and configured to support parallel to the pitch axis rider's second leg; wheels at least one sensor; said wheel between said first side plate and said second plate portion is mounted to the side frame portion, extending above and below the plane, and is configured to rotate about the pitch axis the at least one sensor mounted to the frame and configured to measure the sense orientation information frame; a motor controller, the motor controller is configured to the orientation of the information received from the at least one sensor in response to the alignment information generating motor control signals; and a motor, the motor is configured to receive the control signal from the motor controller and a motor rotating the wheel as a response, thereby promoting the self-balancing electric vehicle.
15. 根据权利要求14所述的自平衡电动交通工具,其中所述马达是电直接驱动型轮毂马达。 According to claim self-balancing electric vehicle 14, wherein the electric motor is a direct drive wheel motors.
16. 根据权利要求14所述的自平衡电动交通工具,其中所述至少一个传感器包括陀螺仪和3轴加速计,所述陀螺仪和所述3轴加速计共同地配置为感测足以估计所述框架的包括围绕俯仰轴线、侧倾轴线和偏航轴线的枢转的倾斜角的取向信息。 According to claim self-balancing electric vehicle 14, wherein the at least one sensor includes a gyroscope and 3-axis accelerometer, a gyroscope and a 3-axis accelerometer configured to sense a common enough estimates said frame includes information about the orientation of the inclination angle of pivoting about the pitch axis and the roll axis and the yaw axis.
17. 根据权利要求14所述的自平衡电动交通工具,还包括设置在所述第一板面部分的远端处的第一防滑垫和第一照明器,以及设置在所述第二板面部分的远端处的第二防滑垫和第二照明器,其中每个防滑垫包括配置为允许光从对应的照明器照射穿过同时防止所述对应的照明器接触地面的孔。 17. The claim self-balancing electric vehicle 14, further comprising a first skid pad and the first lighting device at the distal end portion of said first face plate, and disposed in the second plate surface the second anti-skid pad and a second portion of the illumination at the distal end, wherein each of the non-slip pad includes configured to allow light from the corresponding light irradiated through while preventing the contact with the ground luminaire corresponding holes.
18. 根据权利要求17所述的自平衡电动交通工具,其中当所述框架在第一方向上被推进时,所述第一照明器配置为输出第一颜色的光,并且当所述框架在第二方向上被推进时, 所述第一照明器配置为自动改变颜色并且输出第二颜色的光,并且其中当所述框架在所述第一方向上被推进时,所述第二照明器配置为输出所述第二颜色的光,并且当所述框架在所述第二方向上被推进时,所述第二照明器配置为自动改变颜色并且输出所述第一颜色的光。 18. claim self balancing electric vehicle 17, wherein when the frame is pushed in a first direction, the first illuminator configured to output a first color of light, and when the frame when the second direction is forward, the first illuminator is configured to automatically change the color and the second color light output, and wherein when the frame is pushed in the first direction, the second illuminator configured to output the second color of light, and when the frame is pushed in the second direction, the second illuminator is configured to automatically change the color and the output of the first color light.
19. 根据权利要求14所述的自平衡电动交通工具,还包括挡泥板,所述挡泥板附接到所述第一板面部分和所述第二板面部分中的至少一个并且配置为防止所述轮子横贯的水飞溅到骑者上。 According to claim self-balancing electric vehicle 14, further comprising a fender, the fender plate attached to the first surface portion and at least one surface of said second plate portion and configured to prevent the wheel across the water splashed on the rider.
20. 根据权利要求19所述的自平衡电动交通工具,其中所述挡泥板附接到所述第一板面部分和第二板面部分两者,并且将所述轮子与骑者完全分开。 20. The self-balancing electric vehicle according to claim 19, wherein the fender is attached to both the first portion and the second portion of the plate surface plate surface, and the wheels with the rider completely separate .
Description  translated from Chinese
电动交通工具、电动滑板和自平衡电动交通工具 Electric vehicles, electric scooters and self-balancing electric vehicle

[0001]相关申请的交叉引用 Cross [0001] REFERENCE TO RELATED APPLICATIONS

[0002] 本申请要求于2013年5月6日提交的序列号为61/820,043的美国临时专利申请的优先权,该申请由此通过引用并入。 [0002] This application claims the serial number on May 6, 2013 filed U.S. Provisional Patent No. 61 / 820,043 filed an application, which application is hereby incorporated by reference in its entirety.

技术领域 TECHNICAL FIELD

[0003] 本公开一般涉及自稳定电动交通工具。 [0003] The present disclosure relates generally to self-stabilizing electric vehicles. 实用新型内容 Utility Model Content

[0004] 在一个示例中,电动交通工具可包括板、轮子组件、马达组件、至少一个传感器和马达控制器。 [0004] In one example, the electric vehicle may comprise a plate, wheel assembly, motor assembly, the at least one sensor and a motor controller. 板可包括第一板面部分和第二板面部分,第一板面部分和第二板面部分各自配置为接收骑者的左脚或右脚。 Board may include a portion and a second portion of the first board face plate, the first plate and the second plate side surface portion configured to receive a portion of each rider's left foot or right foot. 轮子组件可设置在第一板面部分和第二板面部分之间并且包括地面接触元件。 Wheel assembly may be disposed between the first plate and the second plate portion side face portion and includes a ground-contacting element. 马达组件可安装到板并且配置为使地面接触元件围绕轴旋转,以推进电动交通工具。 Motor assembly may be mounted to the plate and configured to enable the ground-contacting element around an axis of rotation, to advance the electric vehicle. 所述至少一个传感器可配置为测量板的取向信息。 At least one sensor may be configured to measure sheet orientation information. 马达控制器可配置为接收由传感器测量的取向信息并且基于取向信息使马达组件推进电动交通工具。 The motor controller may be configured to receive orientation information measured by the sensor and the orientation information based on the motor electric vehicle propulsion assembly. 电动交通工具可以包括恰好一个地面接触元件。 Electric vehicle may comprise exactly one ground-contacting element.

[0005] 在另一个示例中,电动滑板可包括脚板面、恰好一个地面接触轮子、至少一个传感器和电动马达。 [0005] In another example, the electric slide surface may include a foot, just a ground contact wheel, at least one sensor and electric motors. 脚板面可具有第一板面部分和第二板面部分,第一板面部分和第二板面部分各自配置为支撑骑者的脚。 Surface may have a foot portion and a second portion of the first board face plate, the first plate portion and a second surface portion of each side plate configured to support the rider's feet. 所述一个地面接触轮子可设置在第一板面部分和第二板面之间,并且配置为围绕轴旋转以推进滑板。 The wheel may be a ground contact disposed between the first plate and the second plate surface side portion, and is configured to rotate about the shaft to advance the slider. 所述至少一个传感器可配置为测量脚板面的取向。 At least one sensor may be configured to measure the orientation of the foot plate surface. 电动马达可配置为基于脚板面的取向引起轮子的旋转。 The electric motor can be configured to cause the rotation of the wheels based on the orientation of the foot surface.

[0006] 在另一个示例中,自平衡电动交通工具可包括框架、第一板面部分和第二板面部分、轮子、至少一个传感器、马达控制器以及马达。 [0006] In another example, the self-balancing electric vehicle may comprise a frame, a first plate and a second plate portion side surface portions, the wheels, the at least one sensor, a motor controller and a motor. 框架可界定平面。 Framework defined plane. 第一板面部分可安装到框架并且配置为支撑骑者的第一只脚。 The first part of the plate surface can be mounted to the frame and configured to support the rider's foot first. 第二板面部分可安装到框架并且配置为支撑骑者的第二只脚。 The second part of the board may be mounted to the frame and configured to support the rider's second leg. 轮子可在板面部分之间安装到框架,在平面上方和下方延伸,并且配置为围绕位于该平面中的轴线旋转。 Board between the wheels can be mounted to the frame portion, extending above and below the plane, and is configured to rotate about an axis located in the plane. 所述至少一个传感器可安装到框架并且配置为感测框架的取向信息。 At least one sensor may be mounted to the frame and configured to sense the frame alignment information. 马达控制器可配置为从传感器接收取向信息,并且响应于该取向信息生成马达控制信号。 The motor controller may be configured to receive orientation information from the sensors and motor control signal is generated in response to the orientation information. 马达可配置为从马达控制器接收马达控制信号,并且作为回应旋转轮子,因此推进滑板。 Motor may be configured to receive a signal from the motor controller controls the motor, and as a response to a revolving wheel, thus advancing slide.

附图说明 BRIEF DESCRIPTION

[0007] 图1是骑者在包括轮子组件以及俯仰轴线、侧倾轴线和偏航轴线的电动交通工具上的透视图。 [0007] FIG. 1 is a rider on the wheel assembly includes a pitch axis and the roll axis and the yaw axis of the electric vehicle perspective.

[0008] 图2是包括轮毂马达的轮子组件的分解透视图。 [0008] Figure 2 is an exploded perspective view of a wheel hub motor assembly.

[0009] 图3是沿俯仰轴线截取的轮毂马达的半示意性剖视图。 [0009] FIG. 3 is a semi-schematic cross-sectional view taken along the pitch axis of the hub motor.

[0010] 图4是电动交通工具的底侧的透视图。 [0010] FIG. 4 is a perspective view of an electric vehicle's underside.

[0011] 图5是电动交通工具的各种电气部件的示意图。 [0011] FIG. 5 is a schematic diagram of electric vehicles of various electrical components.

[0012] 图6是示出电气部件的示例性的初始化程序、待命程序和操作程序的流程图。 [0012] Figure 6 is an exemplary electrical component initialization process is shown a flowchart of the standby program, and operating procedures.

[0013] 图7是在第一取向上的电动交通工具的侧视图。 [0013] FIG. 7 is a side view of an electric vehicle in a first orientation.

[0014] 图8是移动到第二取向以激活用于轮毂马达的控制回路的电动交通工具的侧视图。 [0014] FIG 8 is moved to a second orientation in order to activate the hub motor for control loop side view of the electric vehicle.

[0015] 图9是移动到第三取向以在顺时针方向上驱动轮毂马达的电动交通工具的侧视图。 [0015] FIG. 9 is moved to the third orientation to the drive hub motor in the clockwise direction of the electric vehicle side view.

[0016] 图10是移动到第四取向以在逆时针方向上驱动轮毂马达的电动交通工具的侧视图。 [0016] FIG 10 is moved into alignment with the fourth drive hub motor in the counterclockwise direction in the side view of the electric vehicle.

[0017] 图11是移动到第五取向以调节轮毂马达的旋转速率的电动交通工具的半示意性前视图。 [0017] FIG. 11 is a semi-schematic front view of the move to the fifth orientation to adjust the rate of rotation of the hub motor of an electric vehicle.

[0018] 图12是移动到第六取向以调节轮毂马达的旋转速率的电动交通工具的半示意性俯视图。 [0018] FIG 12 is moved to adjust the orientation of the sixth to the rate of rotation of the hub motor of the electric vehicle semi-schematic plan view.

[0019] 图13是包括与无线电子装置通信的电动交通工具的系统的示意图。 [0019] FIG. 13 is a schematic view of an electronic apparatus with a wireless communication with the electric vehicle system.

[0020] 图14是用于无线电子装置的软件应用程序的示意图。 [0020] FIG. 14 is a diagram for application software of the wireless electronic devices.

[0021] 图15是软件应用程序的示例性屏幕截图。 [0021] FIG. 15 is an exemplary screen shot software applications.

[0022] 图16是软件应用程序的另一个示例性屏幕截图,其示出导航特征。 [0022] FIG. 16 is another exemplary screen shot of a software application, which shows navigation features.

[0023]图17是软件应用程序的另一个示例性屏幕截图,其示出另一个导航特征。 [0023] FIG. 17 is another exemplary screen shot of a software application, which shows another navigation features.

[0024] 图18是软件应用程序的半示意性屏幕截图,其示出旋转图像。 [0024] FIG. 18 is a semi-schematic screenshot of a software application, which is shown to rotate the image.

[0025] 图19是由软件应用程序的一个实施例执行的操作的图示。 [0025] FIG. 19 is a diagram illustrating operations performed by a software application embodiment executed.

[0026]图20A和图20B当一起观看时是由软件应用程序的一个实施例执行的操作的另一个图示。 [0026] FIG. 20A and 20B when another icon when viewed together with the implementation of the operations executed by a software application.

[0027] 图21是包括与多个电动交通工具通信的无线电子装置的系统的示意图。 [0027] FIG. 21 is a schematic view of an electric vehicle with a plurality of wireless electronic communication devices of the system.

[0028] 图22是包括与多个无线电子装置通信的电动交通工具的系统的示意图。 [0028] FIG. 22 is a schematic view of a plurality of wireless electronic devices and electrical communication with the vehicle system.

[0029] 图23是说明性数据处理系统的示意图。 [0029] FIG. 23 is a schematic diagram of an illustrative data processing system.

具体实施方式 detailed description

[0030] 电动交通工具在下文中被描述并且在相关的附图中被示出。 [0030] and the electric vehicle is described in the associated drawings are shown below. 除非另有规定,否则电动交通工具和/或其各种部件可以但并非必需地包含本文中所描述的、示出的和/或并入的结构、部件、功能和/或变型中的至少一个。 Unless otherwise specified, electric vehicles and / or various components may be included, but not necessarily described herein, showing at least one and / or incorporated into the structure, components, functions and / or variations in . 此外,本文中结合系统或方法所描述的、示出的和/或并入的结构、部件、功能和/或变型可以但并非必需地被包括在其他类似系统和方法中。 In addition, the combination of systems or methods herein described, illustrated and / or structures, components, functions and / or modifications may be incorporated, but not necessarily be included in other similar systems and methods. 各种实施例的以下描述本质上仅仅是示例性的,而绝非意图限制本实用新型、本实用新型的应用或用途。 The following description of the nature of the various embodiments is merely exemplary in nature and in no way intended to limit the utility model, the utility model application, or uses.

[0031] 图1-23中示出通常表示为100的电动交通工具以及与其相关的部件和功能。 [0031] shown in Figure 1-23 is usually expressed as the electric vehicle 100 and its associated components and features. 交通工具100可以是自稳定交通工具和/或自平衡交通工具,诸如电力驱动的单轮式自平衡滑板。 The vehicle 100 may be a self-stabilizing the vehicle and / or self-balancing vehicles, such as electric-powered single wheeled self balancing skateboard. 交通工具100可具有类似于冲浪板或滑雪板的骑者姿态和/或动作,其可使交通工具100 骑行直观并且提供增加的安全性。 Vehicle 100 may have a similar surfboard or snowboard rider attitude and / or action, which allows the vehicle 100 ride intuitive and provide increased security.

[0032] 如图1所示,交通工具100可包括板(或脚板面,或框架,或平台)104,该板104具有用于将轮子组件112接纳在第一板面部分(或脚踏板)116和第二板面部分(或脚踏板)120之间的开口108。 [0032] 1, the vehicle 100 may comprise a plate (or foot surface, or frame, or platform) 104, 104 of the plate portion having a first plate surface (or foot pedal assembly 112 for receiving the wheel ) 108 120 between the openings 116 and the second plate surface part (or foot pedal). 第一板面部分116和第二板面部分120可以是同一物理件或可以是分开的件。 The first side plate portion 116 and the second plate surface portion 120 can be the same physical device or may be separate pieces. 第一板面部分116和第二板面部分120可以被包括在板104中。 The first side plate portion 116 and the second plate surface portion 120 may be included in the plate 104. 第一板面部分116和第二板面部分120可各自配置为支撑骑者的脚。 The first side plate portion 116 and the second plate surface portion 120 may each be configured to support a rider's foot. 第一板面部分116和第二板面部分120可各自配置为接纳骑者的左脚或右脚。 The first side plate portion 116 and the second plate surface portion 120 may each be configured to receive the rider's left foot or right foot.

[0033] 框架104可界定平面。 [0033] frame 104 may be defined plane. 第一板面部分116可安装到框架104并且配置为支撑骑者的第一只脚。 The first side plate portion 116 may be mounted to the frame 104 and is configured to support the rider's foot first. 第二板面部分120可安装到框架104并且配置为支撑骑者的第二只脚。 The second plate surface portion 120 may be mounted to the frame 104 and is configured to support the rider's second leg.

[0034] 轮子组件112可设置在第一板面部分116与第二板面部分120之间。 [0034] The wheel assembly 112 may be disposed between the first plate and the second plate portion 116 side surface portion 120. 第一板面部分116和第二板面部分120可位于轮子组件112的相对侧上,其中板104经设定尺寸以近似滑板。 The first side plate portion 116 and the second plate surface portion 120 may be located on opposite sides of the wheel assembly 112, wherein the plate 104 by an approximate sized skateboard. 在其他实施例中,板可近似长板滑板、滑雪板、冲浪板或可以其他方式被期望地设定尺寸。 In other embodiments, the plate can be approximated longboard skateboards, snowboards, surfboards or may otherwise be expected to set the size. 板104的板面部分116、120可被防滑材料部分124、128(例如"砂纸")覆盖以帮助骑者控制。 Board portion of the plate 104, 116, 120 may be part of the 124,128 non-slip material (for example, "sandpaper") to help cover the rider control.

[0035] 轮子组件112可包括地面接触元件(例如,轮胎、轮子或连续履带)132。 [0035] The wheel assembly 112 may include a ground-contacting member (e.g., tires, wheels or continuous crawler) 132. 如所示,交通工具100包括恰好一个地面接触元件132,并且所述恰好一个地面接触元件设置在第一板面部分116与第二板面部分120之间。 As shown, the vehicle 100 includes exactly one ground-contacting element 132, and the ground-contacting element is just a portion 116 disposed between the first plate and the second plate surface of the face portion 120. 地面接触元件132可安装到马达组件136。 Ground-contacting element 132 may be mounted to the motor assembly 136. 马达组件136 可安装到板104。 Motor assembly 136 can be mounted to the plate 104. 马达组件136可包括轴140(参见图2),轴140可通过一个或多个轴安装件和一个或多个紧固件诸如多个螺栓联接到板1〇4(参见图2和图4)。 Motor assembly 136 may include a shaft 140 (see FIG. 2), the shaft 140 by one or more axes mount and one or more fasteners such as bolts coupled to the plurality of plate 1〇4 (see Figures 2 and 4) . 马达组件136可配置为使地面接触元件132围绕(或绕)轴140旋转,以推进交通工具100。 Motor assembly 136 can be configured so that the ground around the contact element 132 (or about) the shaft 140 is rotated to advance the vehicle 100. 例如,马达组件136可包括诸如轮毂马达144的马达,该轮毂马达144配置为使地面接触元件132围绕轴140旋转,以沿地面推进交通工具100。 For example, the motor assembly 136 may include a motor 144, such as a motor hub, the hub motor 144 is configured to enable the ground-contacting element 140 is rotated about axis 132 to advance the vehicle along the ground 100. 马达可以是电动马达。 The motor may be an electric motor.

[0036] 交通工具100可具有俯仰轴线A1、侧倾轴线A2和偏航轴线A3。 [0036] Vehicle 100 may have A1, A2 roll axis and the yaw axis A3 pitch axis. 俯仰轴线A1可以是马达组件136使轮胎132围绕其旋转的轴线。 Pitch axis A1 may be a motor assembly 136 of the tire 132 rotates about its axis. 例如,俯仰轴线A1可穿过轴140(例如,俯仰轴线A1 可以平行于轴140的长形方向并且与其对准)。 For example, the pitch axis A1 may pass through the shaft 140 (for example, the pitch axis A1 may be parallel to the elongate direction of the shaft 140 and aligned therewith). 侧倾轴线A2可以垂直于俯仰轴线A1,并且可大体上在交通工具100可由马达组件136推进的方向上延伸。 A2 roll axis may be perpendicular to the pitch axis A1, and may extend substantially in the vehicle 100 may be a motor assembly 136 in the direction of advance. 例如,侧倾轴线A2可在板104的长形方向上延伸。 For example, the roll axis A2 may extend in the direction of the elongated plate 104. 偏航轴线A3可以垂直于俯仰轴线A1和侧倾轴线A2。 A yaw axis A1 and A3 may be perpendicular to the roll axis A2 pitch axis. 例如,偏航轴线A3可以正交于由板面部分116、120界定的平面。 For example, a yaw axis A3 may be orthogonal to the plane of the plate surface portion 116, defined.

[0037] 轮子132可在板面部分116、120之间安装到框架104。 [0037] wheel 132 between the portions 116, 120 surface mount to the frame 104. 轮子132可在由框架104界定的平面上方和下方延伸。 Wheel 132 may extend above the plane defined by the frame 104 and below. 轮子132可配置为围绕位于该平面中的轴线(例如,俯仰轴线A1)旋转。 Wheel 132 can be configured to rotate about an axis located in the plane (e.g., the pitch axis A1) of rotation. 另外,侧倾轴线A2可位于由框架104界定的平面中。 In addition, the roll axis A2 may be located in the plane defined by the frame 104 in. 在一些实施例中,俯仰轴线和侧倾轴线可界定平面。 In some embodiments, the pitch axis and the roll axis to define the plane.

[0038]轮胎132在脚跟-脚趾方向上(例如,在平行于俯仰轴线A1的方向上)足够宽,使得骑者可以利用他们自身的平衡来在脚跟-脚趾方向上使他们自己保持平衡。 [0038] 132 tires in the heel - toe direction (for example, in a direction parallel to the pitch axis A1) is wide enough so that the rider can use their own balancing in the heel - toe direction to make their own balance. 轮胎132可以是无内胎的,或者可以与内胎一起使用。 Tubeless tire 132 may be, or may be used in conjunction with the inner tube. 轮胎132可以是非充气轮胎。 Tire 132 may be non-pneumatic tire. 例如,轮胎132可以是"无空气的"、实心的和/或由泡沫制成。 For example, a tire 132 may be "no air", solid and / or made of foam. 轮胎132可具有轮廓,使得骑者可通过脚跟和/或脚趾压力使交通工具100在轮胎132的边缘上倾斜(和/或使板围绕侧倾轴线A2和/或偏航轴线A3枢转一见图11和图⑵,以使交通工具100"转弯"。 Tire 132 may have a profile, so that the rider through the heel and / or toe pressure to tilt the vehicle 100 on the edge of the tire 132 (and / or the plate around the roll axis A2 and / or yaw axis A3 pivot saw Figures 11 and ⑵, so that the vehicle 100 "turn."

[0039]轮毂马达144可以安装在轮胎(或轮子)132内,并且可以是内装齿轮型或可以是直接驱动型。 [0039] hub motor 144 may be mounted on the tire (or wheel) 132, and may be built-pinion type or may be a direct drive type. 轮毂马达的使用可消除链条和皮带,并且可实现大大改善可操纵性、重量分配和美观的形状因素。 Use hub motor eliminates chains and belts, and can achieve significantly improved maneuverability, weight distribution and beautiful form factor. 将轮胎132安装到轮毂马达144上可通过可使用可栓接到轮毂马达144上的轮毂适配器的开口轮辋设计或通过浇铸轮毂马达的外壳使得其直接在轮毂马达的外壳上提供用于胎圈的安装凸缘来完成。 The tire 132 is mounted to the hub on the motor 144 can be used may be bolted to the hub motor hub adapter 144 on the opening rim design or by casting the hub motor housing such that it provides for the bead directly on the hub of the motor housing to complete the mounting flange.

[0040] 图2示出具有栓接轮毂适配器148、152的轮子组件112的实施例。 [0040] FIG. 2 shows an embodiment having a bolted hub adapter 148, 152, 112 of the wheel assembly. 一个或多个紧固件诸如多个螺栓156可将轮毂马达144的第一侧连接到轮毂适配器148。 One or more fasteners such as a plurality of bolts 156 can be the hub of the motor 144 is connected to a first side of the hub adapter 148. 轮毂马达144和轮毂适配器148可定位在轮胎132的开口158中,其中适配器148的外安装凸缘148a在开口158的第一侧(未示出)上邻近胎圈定位。 Hub motor hub adapter 144 and 148 may be positioned in the opening 158 of the tire 132, in which the adapter 148 of the outer mounting flange 148a on the first side of the opening 158 (not shown) positioned adjacent the bead. 一个或多个紧固件诸如多个螺栓160可将轮毂适配器152 连接到轮毂马达144的第二侧,并且可将适配器152的外安装凸缘152a在开口158的第二侧上邻近胎圈162定位。 One or more fasteners such as bolts 160 may be a plurality of hub adapter 152 is connected to the hub motor of the second side 144, and 152 may be external adapter mounting flange 152a adjacent bead 162 on the second side of the opening 158 Location. 安装凸缘148a、152a可接合相应的胎圈以密封轮胎132的内部以用于随后的充气。 Mounting flanges 148a, 152a can engage respective internal sealing bead 132 of the tire for subsequent inflation. 安装凸缘148a、152a可摩擦接合轮胎132以将轮毂马达144的旋转传送到轮胎132〇 Mounting flange 148a, 152a may tire frictional engagement hub 132 to transmit rotation of the motor 144 to the tire 132〇

[0041] 轴140可被插入穿过第一轴安装件164的中心孔。 [0041] The shaft 140 may be inserted through the central hole of the first mounting member 164 of the shaft. 轴140的扩大的头部分140a可由轴安装件164保持。 Shaft 140 enlarged head portion 140a by holding the shaft mount 164. 例如,安装件164的中心孔可具有窄的部分,该窄的部分具有小于部分140a的直径的直径。 For example, mounting member 164 may have a central hole narrow portion, the narrow portion having a diameter smaller than a diameter of the portion 140a. 轴140的螺纹部分140b可依次地延伸穿过套筒168、轮毂适配器148的中心孔(未示出)、轮毂马达144的中心孔172、轮毂适配器152的中心孔、扭矩杆180的中心孔176以及第二轴安装件184的中心孔。 The threaded portion of the shaft 140, 140b may be sequentially extends through the sleeve 168, hub adapter central aperture 148 (not shown), the hub motor center hole 144 of the 172, hub adapter center hole 152, the torque rod central bore 180 of 176 and a central shaft hole of the second mounting member 184. 在螺纹部分140b延伸穿过安装件184的中心孔之后,螺母186可紧固到螺纹部分140b上以将轮子组件112固定在一起。 After the threaded portion 140b extends through the central aperture 184 of the mounting member, the nut 186 can be secured to the threaded portion 140b to wheel assembly 112 together. 例如,安装件184的中心孔可具有窄的部分,该窄的部分具有小于螺母186的直径的直径。 For example, mounting member 184 may have a central hole narrow portion, the narrow portion having a diameter smaller than the diameter of the nut 186.

[0042] 非圆形构件190可固定地附接到轮毂马达144的定子(参见图3)。 [0042] Non-circular member 190 may be fixedly attached to the hub of the motor stator 144 (see FIG. 3). 当轮子组件112固定在一起时,构件190可安置在扭矩杆180的槽180a中,并且扭矩杆180可安置在安装件184 的槽184a中。 When the wheel assembly 112 secured together member 190 may be positioned in the groove 180a of the torque rod 180, and the torque rod 180 may be disposed in the mounting member 184 in the groove 184a. 槽184a可与安装件164的槽164a类似地成形和/或设定尺寸。 Groove 184a with mounting groove 164a 164 similarly shaped and / or sized. 构件190可摩擦接合安装件184,以在轮毂马达144的操作期间防止定子旋转。 Friction engagement member 190 may mount 184 to the motor during operation of the hub 144 to prevent the stator.

[0043]套筒168可经设定尺寸以在安装件164、184之间提供轮子组件部件的期望间距。 [0043] sleeve 168 may be sized to between the mounting member 164, 184 to provide the desired spacing of the wheel assembly components. 例如,套筒168的第一端可安置在安装件164的中心孔中或邻近安装件164的中心孔安置,套筒168的第二端可在轮毂适配器148近侧邻近孔172的侧部(未示出)安置,并且套筒168可具有在其第一端和第二段之间的提供期望间距的长度。 For example, the sleeve 168 may be disposed at the first end of the central bore 164 of the mounting member or mounting member adjacent the central aperture 164 disposed, a second end of the sleeve 168 may be the side of the hub adjacent the proximal adapter 148 of the hole 172 ( not shown) are arranged, and may have a sleeve 168 provided between its first and second ends of the desired pitch length.

[0044] 优选地,轮毂马达144是直接驱动型横向磁通无刷马达。 [0044] Preferably, the hub motor 144 is a direct drive transverse flux brushless motor. 横向磁通马达的使用可允许高的(大体上)即时和连续扭矩以改善电动交通工具的性能。 A transverse flux motor allows high (generally) immediate and continuous torque in order to improve the performance of electric vehicles.

[0045] 图3示出在俯仰轴线处剖切的轮毂马达144的直接驱动型横向磁通无刷实施例的示意性示例。 [0045] FIG. 3 shows a cutaway of the pitch axis of the wheel hub motor direct drive transverse flux 144 illustrative examples of the brushless embodiment. 如所示,轮毂马达144可包括安装在(或固定地固定到)转子194的外壁的内侧表面上的磁体192。 As shown, the hub 144 may include a motor mounted on (fixed or secured to) the inner surface of the rotor magnet 194 of the outer wall 192. 转子194可固定地附接到轮毂适配器148、152(参见图2)。 Rotor 194 may be fixedly attached to the hub adapter 148, 152 (see FIG. 2). 定子196可固定地附接到中心孔172(参见图2)延伸穿过的套筒198。 The stator 196 may be fixedly attached to the central bore 172 (see FIG. 2) extends through the sleeve 198. 套筒198可延伸穿过转子194。 Sleeve 198 may extend through the rotor 194. 套筒198 可固定地附接到构件190(参见图2)。 Sleeve 198 may be fixedly attached to the member 190 (see FIG. 2). 套筒198可架置在附接到转子194的轴承200上。 Sleeve 198 can be mounted, attached to the rotor bearing 194 200. 在一些实施例中,轴承200可附接到套筒198并且可架置在转子194上。 In some embodiments, the bearing 200 can be attached to the sleeve 198 and may be mounting on the rotor 194. 相线202可延伸穿过孔172 (或其他合适的开口),并且可将定子196的一个或多个电线圈203与交通工具100的诸如功率级(power stage)的一个或多个其他电气部件(参见图4和图5)电连接。 Phase line 202 may extend through the aperture 172 (or other suitable opening), and may be one or more of the stator coil 196 of a vehicle, such as 203 and 100 of the power stage (power stage) or more other electrical components (see Figures 4 and 5) are electrically connected. 该一个或多个电气部件可基于骑者输入驱动轮毂马达144,以推进交通工具100并且主动地使交通工具100 保持平衡(参见图7-12)。 The one or more electrical components may enter the motor drive wheel 144 based on the rider's hub, in order to advance the vehicle 100 and the vehicle 100 so actively balance (see Figure 7-12). 例如,该一个或多个电气部件可配置为感测板104围绕俯仰轴线的移动,并且驱动轮毂马达144以使轮胎132在围绕俯仰轴线的类似方向上旋转。 For example, the one or more electrical components can be configured to sense a moving plate 104 about the pitch axis of the motor 144 and the drive hub 132 to rotate the tire around the pitch axis direction is similar. 另外,该一个或多个电气部件可配置为感测板104围绕侧倾轴线和/或偏航轴线的移动,并且基于该感测的移动调节驱动马达的速率,这可增加交通工具100的性能,特别是在转弯时。 Further, the one or more electrical components can be configured to sense a moving plate 104 about the roll axis and / or yaw axis, and adjusting the rate of movement of the drive motor based on sensed, which increases the performance of the vehicle 100 , especially when cornering.

[0046] 例如,该一个或多个电气部件可配置为基于骑者输入(例如,板104的移动)选择性地使电线圈通电,以产生用于将力施加到磁体192上的电磁场,从而引起转子194相对于定子196的期望旋转。 [0046] For example, the one or more electrical components can be configured based on the rider input (e.g., the mobile plate 104) selectively energizing coil to generate an electromagnetic field for applying a force to the magnet 192, thereby 194 causing the rotor relative to the stator 196 of the rotating expectations.

[0047] 在一些实施例中,轮毂马达144可以是有刷轮毂马达。 [0047] In some embodiments, the hub motor 144 may be a brush motor hub. 可选择地,电动交通工具可包括适于驱动轮子的轮毂的任何设备和/或马达,诸如设置在轮子轮毂外部的链条驱动机构、皮带驱动机构、齿轮驱动机构和/或有刷或无刷马达。 Alternatively, the electric vehicle may include any device adapted to drive the wheels of the hub and / or motor, such as provided in the wheel hub outside the chain drive mechanism, a belt drive mechanism, a gear drive mechanism and / or brush or brushless motor .

[0048] 优选地,轮毂马达144、轮胎132和轴安装件164、184可连接在一起作为子组件(例如,轮子组件112),并且然后整合到整体交通工具中(例如,可操作地安装在板104中),以有利于轮胎的更换和维修。 [0048] Preferably, the hub motor 144, shaft 132, and the tire mounting member 164, 184 may be joined together as a subassembly (e.g., wheel assembly 112), and then integrated into a whole a vehicle (e.g., operably mounted plate 104) to facilitate tire replacement and maintenance. 通过利用一个或多个相应的紧固件诸如相应的螺栓204、206(参见图2)将安装件164、184连接到板104,子组件可以可操作地安装在板104中。 By using one or more appropriate fasteners such as bolts 204, 206 corresponding to (see FIG. 2) the mounting member 164, 184 connected to the plate 104, the sub-assembly may be operably mounted in the plate 104. 图4示出将安装件184连接到板104的一部分的螺栓204。 Figure 4 shows the mounting screw member 184 is connected to a portion 204 of plate 104. 螺栓206可类似地将安装件164连接到板104的相对部分。 Bolts 206 may be similarly connected to the mounting member 164 opposite portion 104 of the plate. 轴安装件164、184可配置为从板104卸下,并且马达可配置为从设置在板104中的一个或多个电气部件"拔出",以例如允许骑者从板104移除子组件,从而更换轮胎或对轮子组件112和/或板104执行其他维修。 Shaft mounting member 164, 184 may be configured to remove from the plate 104, and the motor may be configured from a plate 104 disposed in one or more electrical components, "pull", e.g., to allow the rider to remove the plate 104 from the subassembly thereby change a tire or perform other maintenance on the wheel assembly 112 and / or 104 boards.

[0049] 参照图1和图4,第一防滑垫208可整合到(或连接到)第一板面部分116近侧处板104的第一端中,并且第二防滑垫212可整合到(或连接到)第二板面部分120近侧处板104的第二端中。 [0049] Referring to FIGS. 1 and 4, the first non-slip pad 208 can be integrated into a first end of the first plate surface (or connected to) the proximal portion 116 of the plate 104, and a second non-slip pad 212 can be integrated into ( or connected) to the surface of the second plate portion 120 at a proximal end of the second plate 104. 防滑垫208、212可以是可更换的和/或选性地可移除的。 Slip pad 208, 212 may be replaceable and / or options may be taken to remove. 例如,防滑垫可包括可更换的聚合物零件或部件。 For example, non-slip mats polymer parts or components may include replaceable. 在一些实施例中,防滑垫可配置为允许骑者在成角度的取向上使交通工具100停止(例如,通过在骑者从骑者检测装置或开关移除他们的脚之后将板的一端设定成抵靠地面,这在下面进一步详细描述)。 In some embodiments, the non-slip mats can be configured to allow the rider on the angled orientation so that the vehicle 100 is stopped (for example, by removing their foot from the rider detection means or switches rider after the end of the plate is provided fixed in abutment against the ground, which is described in further detail below). 由于板的所述端设定成抵靠地面(或与地面接触),因而相应的防滑垫通过与地面的表面的磨耗而被磨损。 Since the end plates set against the ground (or in contact with the ground), so that the corresponding wear non-slip mats through the surface of the ground is worn.

[0050] 交通工具100可包括一个或多个防滑垫,所述一个或多个防滑垫配置为保护板104 上的颜料或其他面饰剂,并且/或者例如如果交通工具100在其侧部上翻动和/或在其侧部上沿地面滑动则以其他方式保护交通工具100。 [0050] Vehicle 100 may include one or more of the mat, the one or more anti-skid pad configured to paint or other finishes agent protective plate 104, and / or for example if the vehicle is on its side portion 100 flip and / or sliding places other way along the ground on its side to protect the vehicle 100. 例如,一个或多个侧部防滑垫可以可移除地连接到板的一个或多个相对的纵向侧部(例如,大体上平行于侧倾轴线延伸)。 For example, one or more side antislip mat may be removably connected to a plate or a plurality of longitudinal opposite side portions (e.g., extending substantially parallel to the roll axis). 图1示出连接到板104的第一纵向侧部104a的第一侧部防滑垫216。 The first side-slip Figure 1 shows a plate 104 is connected to a first longitudinal side portion 104a of the pad 216. 在图4中,侧部防滑垫216已从第一纵向侧部104a移除。 In Figure 4, the side-slip pad 104a removed 216 from the first longitudinal side. 第二侧部防滑垫(未示出)可类似地可移除地连接到板104的与第一纵向侧部104a相对的第二纵向侧部104b(参见图4)。 A second side-slip pad (not shown) may similarly be removably connected to the plate 104 and the first portion 104a opposite longitudinal side a second longitudinal side portions 104b (see FIG. 4). 侧部防滑垫可作为一个或多个可移除的零件或部件并入电动交通工具中,并且/或者可以是或可以包括可更换的聚合物零件或部件。 Side-slip mats can be used as one or more removable parts or components incorporated in the electric vehicle, and / or may be a polymer or may include part or parts can be replaced.

[0051] 防滑垫和/或侧部防滑垫至板的可移除连接可使骑者(或其他用户)选择性地移除因磨耗而变得被磨损的这些垫中的一个或多个,并且/或者用一个或多个替换垫来替换磨损的垫。 [0051] non-slip mats and / or side-slip mats to board can be removably connected to the rider (or other user) is selectively removed by abrasion and wear these pads are made of one or more, and / or to replace worn pad to replace the pad with one or more.

[0052] 如图4所示,交通工具100可包括柄部220。 [0052] shown in Figure 4, the vehicle 100 may include a handle portion 220. 柄部220可设置在板104的下侧104c上。 Handle 220 may be provided on the lower side of the plate 104, 104c. 柄部220可整合到电气部件中的一个或多个的外壳或壳体中。 Handle 220 may be integrated into the electrical component of the one or more housing or casing.

[0053] 在一些实施例中,柄部220可在进(IN)位置和出(OUT)位置之间是可操作的。 [0053] In some embodiments, the handle portion 220 can feed (IN) and the position between (OUT) position is operational. 例如, 柄部220可以枢转地连接到板104,其中进位置对应于柄部220大体上与板104的下侧104c齐平,并且出位置对应于柄部220远离下侧104c被枢转(或折叠),使得柄部220远离板面部分120而突出。 For example, the handle 220 is pivotably connected to the plate 104, into the position which corresponds to the lower side of the shank portion 104 of plate 220 is substantially flush 104c, and a position corresponding to the lower side of the handle portion 220 away from the pivot 104c is ( or folded), so that the handle 220 away from the plate surface portion 120 and protruding.

[0054]交通工具100可包括用于从进位置释放柄部220的任何合适的机构、装置或结构。 [0054] Vehicle 100 may comprise any suitable mechanism for releasing the handle 220 from the intake location, device or structure. 例如,交通工具100可包括配置为在锁定(LOCKED)状态和解锁(UNLOCKED)状态之间操作柄部220的锁定机构224,锁定状态对应于防止柄部220从进位置移动到出位置,解锁状态对应于允许柄部220从进位置移动到出位置。 For example, the vehicle 100 may be configured to include a lock (LOCKED) between the state and the unlocked (UNLOCKED) state the handle portion 220 of the locking mechanism 224, corresponding to a locked state to prevent the handle from moving into position 220 to position the unlocked state corresponding to allow the handle 220 is moved from position to enter the position. 在一些实施例中,骑者可按压锁定机构224,以将柄部从锁定状态操作到解锁状态。 In some embodiments, the rider may press the locking mechanism 224, to handle the operation from the locked state to the unlocked state. 骑者可以手动将柄部220从进位置移动到出位置。 The rider can manually handle 220 is moved from the forward position to the position. 骑者可以抓住柄部220,将交通工具100提离地面并且将交通工具100从一个位置带到另一个位置。 The rider can grip the handle 220, 100 to lift the vehicle off the ground and the vehicle 100 from one location to another.

[0055] 在一些实施例中,柄部220可包括偏置机构,诸如弹簧,其在操作到锁定状态时将柄部220自动地推动到出位置。 [0055] In some embodiments, the handle 220 may include a biasing mechanism, such as a spring, which, when the operating state of the lock to the shank 220 to automatically push-out position. 在一些实施例中,锁定机构224可配置为选择性将柄部220锁定在出位置。 In some embodiments, the locking mechanism 224 can be configured to selectively lock the handle portion 220 at the position.

[0056] 交通工具100可包括用于防止水、灰尘或其他路面碎片由地面接触元件传递到骑者的任何合适的设备、装置、机构和/或结构。 [0056] Vehicle 100 may comprise any suitable device for preventing water, dust or other road debris from the ground-contacting element is transmitted to the rider, apparatus, mechanism and / or structure. 例如,如图1所示,交通工具100可包括第一局部挡泥板部分228和第二局部挡泥板部分232。 For example, as shown in Figure 1, the vehicle 100 may include a first portion 228 and a second partial partial fender fender portion 232. 部分228被示出为联接到第一板面部分116, 并且部分232被示出为联接到第二板面部分120。 Portion 228 is shown coupled to the first side plate portion 116, and portion 232 is shown coupled to the second plate surface portion 120. 部分228可防止碎片从轮胎132传递到骑者的定位在板面部分116上或邻近板面部分116定位的部分,比如当轮胎132在逆时针方向上围绕俯仰轴线A1旋转时。 Section 228 to prevent the debris from the tire passed 132 to 116 on the part of the plate surface or portion 116 positioned adjacent the board rider position, such as when a tire around the pitch axis A1 132 is rotated in the counterclockwise direction. 部分232可防止碎片从轮胎132传递到骑者的定位在板面部分120 上或邻近板面部分120定位的部分,比如当轮胎132在顺时针方向上围绕俯仰轴线A1旋转时。 Section 232 to prevent the debris from the tire 132 to pass the plate surface portion 120 or portion 120 is positioned adjacent the board rider position, such as when a tire around the pitch axis A1 132 is rotated in the clockwise direction.

[0057] 另外和/或可选择地,交通工具100可包括如图7-10所示的完整挡泥板240。 [0057] Additionally and / or alternatively, the vehicle 100 may include a complete fender as shown in Figure 7-10 240. 挡泥板240可配置为防止碎片从地面接触元件传递到骑者。 Fender 240 can be configured to transfer the contact element to prevent debris from the ground to the rider. 例如,挡泥板240的第一部分240a可联接到第一板面部分116,挡泥板240的第二部分240b可联接到第二板面部分120,并且挡泥板240的中心部分240c可将挡泥板240的第一部分240a和第二部分240b连接在轮胎132的在板104的上侧上方突出的一部分上方,如图7中所示。 For example, the first portion 240a fender 240 may be coupled to the first plate surface portion 116, 240 fender second portion 240b may be coupled to the second plate surface portion 120, and the central portion 240 of the fender can be 240c the first portion 240a of the mudguard 240 and a second portion 240b connected over a portion of the side plate 104 projecting above the tire 132, as shown in FIG. 7.

[0058] 挡泥板240和/或挡泥板部分228、232可附接到板面部分116、120中的至少一个,并且配置为防止轮子132横贯的水飞溅到骑者上。 [0058] fender 240 and / or fender portion 228, 232 may be attached to at least one plate surface portion 116, 120 in, 132 and is configured to prevent the wheels across the water splashed on the rider. 挡泥板240可附接到板面部分116、120两者, 并且可大体上将轮子132与骑者完全分开,如图7-10中所示。 Fender 240 can be attached to both the board section 116, 120, and 132 may be substantially the wheels with the rider completely separate, as shown in Figure 7-10.

[0059]挡泥板240可以是弹性挡泥板。 [0059] 240 may be elastic fender fender. 例如,挡泥板240可包括(或可以是)大体柔性或弹性材料诸如塑料的片材。 For example, the fender 240 may include (or can be) a substantially flexible or resilient material such as a sheet of plastic. 弹性材料的第一侧可联接到板面部分116(或板面部分116近侧的板104),并且弹性材料的第二侧可联接到板面部分120(或板面部分120近侧的板104)。 The first side of the elastic material may be coupled to the plate surface portion 116 (or plate surface portion 116 of the proximal plate 104), and the second side of the elastic material may be coupled to part 120 (or proximal portion 120 board board board 104). 在第一侧和第二侧之间的弹性材料的弹性可使挡泥板240偏置远离轮胎132,以在挡泥板240和轮胎132之间提供足够的间距,如图7-10所示。 The resilient elastomeric material between the first and second sides of the fender 240 can bias away from the tire 132, to provide sufficient distance between the fender 240 and the tire 132, shown in Figure 7-10 . 足够的间距可防止轮胎接触挡泥板。 Sufficient clearance to prevent tire contact fender.

[0060] 如果例如交通工具100偶然翻转使得部分240c与地面接触,则挡泥板240(例如,部分240c)可以是朝向轮胎132可压缩的。 [0060] For example, if the vehicle 100 so that the flip portion 240c accidental contact with the ground, the mudguard 240 (e.g., portion 240c) toward the tire 132 may be compressible. 当交通工具100恢复到合适的骑行位置,诸如图7所示的骑行位置,则弹性材料的弹性可使挡泥板恢复到提供足够的间距的位置。 When the vehicle 100 to restore proper riding position, flexible riding position such as shown in FIG. 7, the elastic material can be restored to provide adequate fenders spaced positions.

[0061] 挡泥板240可在平行于俯仰轴线A1的方向上以类似于图1所示的局部挡泥板部分228延伸的方式延伸跨过轮胎132的总宽度。 [0061] fender 240 may be parallel to the pitch axis direction A1 in a manner partially similar to Figure 1 fender portion 228 extends extends across the total width of the tire 132. 类似地,局部挡泥板部分232可在俯仰轴线A1的方向上延伸跨过轮胎132的总宽度。 Similarly, partial fender portion 232 may extend in the direction of the pitch axis A1 across the total width of the tire 132.

[0062] 如图4所示,交通工具100的一个或多个电气部件可包括电源250、马达控制器254、 骑者检测装置262、电源开关266和充电插头268。 [0062] shown in Figure 4, one or more electrical components of the vehicle 100 may include a power supply 250, the motor controller 254, the rider detection means 262, power switch 266 and charge plug 268. 电源250可包括可以是可再充电的一个或多个电池,诸如重量相对轻并且具有相对高功率密度的锂电池。 Power supply 250 may include one or more batteries may be rechargeable, such as a relatively lightweight and has a relatively high power density lithium batteries. 例如,电源250可包括一个或多个磷酸铁锂电池、一个或多个锂聚合物电池、一个或多个锂钴电池、一个或多个锂锰电池或其组合。 For example, the power supply 250 may include one or more of lithium iron phosphate, one or more of a lithium polymer battery, a lithium cobalt battery or more, or a plurality of lithium-manganese batteries, or combinations thereof. 例如,电源250可包括十六(16)个A123磷酸铁锂电池(例如,型号26650)。 For example, the power supply 250 may comprise sixteen (16) A123 lithium iron phosphate battery (for example, type 26650). 电源250的电池可按16S1P配置布置。 The battery can power 250 16S1P configuration layout. 微控制器269和/或一个或多个传感器(或至少一个传感器) 270可被包括在马达控制器254中或连接到该马达控制器254(参见图5)。 The microcontroller 269 and / or one or more sensors (or at least one of the sensors) 270 may be included in or on the motor controller 254 is connected to the motor controller 254 (see FIG. 5). 传感器270中的至少一个可配置为测量板104的取向信息(或取向)。 The sensor 270 may be configured to measure at least one alignment plate 104 information (or orientation). 例如,传感器270可配置为感测板104围绕和/或沿着俯仰轴线、侧倾轴线和/或偏航轴线的移动。 For example, the sensor 270 may be configured to sense the plate 104 and around / Mobile along the pitch axis or roll axis and / or yaw axis. 马达可配置为基于板104的取向引起轮子132的旋转。 The motor may be configured to cause rotation of the wheel 132 based on the orientation of plate 104. 具体地,马达控制器254可配置为接收由传感器270中的至少一个传感器测量的取向信息,并且基于该取向信息使马达组件136推进电动交通工具。 Specifically, the motor controller 254 may be configured to receive the at least one sensor for measuring the orientation sensor 270 in the information and the orientation information based on the motor assembly 136 electric vehicle propulsion. 例如,马达控制器254可配置为基于来自传感器270的所接收的感测的板104的移动经由微控制器269驱动轮毂马达144,以推进交通工具100和/或主动地使交通工具100保持平衡。 For example, the motor controller 254 may be configured to move from the sensor 270 based on the received sensed plate 104 via microcontroller 269 drive hub motors 144, 100 in order to advance the vehicle and / or the vehicle 100 so actively balance .

[0063] 电气部件中的一个或多个可整合到板104中。 [0063] The electrical components can be integrated into one or more of the plate 104. 例如,板104可包括可容纳电源250的第一环境壳体以及可容纳马达控制器254和骑者检测装置262的第二环境壳体。 For example, the board 104 may include a first power supply that can accommodate 250 housing environment and can accommodate motor controller 254 and the rider detection means 262 of second housing environment. 环境壳体可保护一个或多个电气部件免遭诸如进水的损害。 Environmental housing can protect one or more electrical components from damage such as feedwater.

[0064] 交通工具100可包括一个或多个灯组件,诸如一个或多个前灯和/或尾灯组件。 [0064] Vehicle 100 may include one or more light components, such as one or more front lights and / or tail light assembly. 例如,第一前灯/尾灯组件(或第一灯组件)272可设置在(和/或连接到)板104的第一端部上或板104的第一端部处(例如,在第一板面部分116的远端部分处),并且第二前灯/尾灯组件276可设置在(和/或连接到)板104的第二端部上或板104的第二端部处(例如,在第二板面部分120的远端部分处)。 For example, the first headlight / taillight assembly (or the first lamp assembly) 272 can be set (and / or connected to) the first end plate 104, a first end portion or plate 104 (for example, in the first board at the distal portion of section 116), and the second headlight / taillight assembly 276 may be disposed (and / or connected to) the second end plate 104 at the second end (for example, or plate 104, in the second distal end portion of the plate surface portion 120). 板104的第二端部可以与第一端部相对。 The second end plate 104 may be opposite to the first end portion.

[0065] 前灯/尾灯组件272、276可配置为可逆地照亮交通工具100。 [0065] headlight / taillight assembly 272,276 may be configured to be reversibly illuminate the vehicle 100. 例如,组件272、276可通过改变颜色来指示交通工具100移动的方向。 For example, components 272,276 may change color to indicate the direction of movement of the vehicle 100. 例如,前灯/尾灯组件可各自包括一个或多个高输出红色LED和白色LED(或其他合适的一个或多个照明器)278,其配置为从微控制器269(和/或传感器270中的俯仰传感器,诸如3轴陀螺仪280-参见图5)接收数据,并且基于交通工具100的移动方向自动地将颜色从红色改变为白色(或白色改变为红色,或第一颜色改变为第二颜色),其中白色LED (或第一颜色)在运动方向上照射,且红色LED (或第二颜色) 向后照射(例如,与运动方向相反)。 For example, the headlight / taillight assembly may each include one or more high-output white LED and red LED (or other suitable one or more lighting unit) 278 configured from a microcontroller 269 (and / or sensor 270 pitch sensor, such as a 3-axis gyroscope 280- see Figure 5) to receive data, and based on the direction of movement of the vehicle 100 is automatically changed color from red to white (or white is changed to red, change the color of the first or second color), wherein white LED (or the first color) is irradiated in the direction of movement, and the red LED (or the second color) irradiating rearward (e.g., movement in the opposite direction). 例如,前灯/尾灯组件中的一个或多个(例如,其相应的照明器)可经由LED驱动器282连接到微控制器269(参见图5),LED驱动器282可包括在马达控制器254中或连接到马达控制器254。 For example, headlights / taillights one or more components (e.g., the corresponding illuminator) can be connected via the LED driver 282 to the microcontroller 269 (see FIG. 5), LED driver 282 may include a motor controller 254 or is connected to the motor controller 254. 在一些实施例中,照明器可包括RGB/RGBWLED。 In some embodiments, the illuminator may include RGB / RGBWLED.

[0066] 照明器278可位于防滑垫208、212中,并且/或者由防滑垫208、212保护,如图4所示。 [0066] The illuminator 278 may be located in non-slip mats 208, 212, and / or by a non-slip pad 208, 212 protection, as shown in FIG. 例如,防滑垫208、212可包括相应的孔286、290。 For example, anti-skid pads 208, 212 may comprise respective holes 286,290. 照明器278可设置在相应的孔286、290中并且照射穿过相应的孔286、290。 The illuminator 278 may be disposed in respective holes 286,290 and is irradiated through the corresponding apertures 286,290. 孔286、290可经设定尺寸以防止照明器278接触地面。 Holes 286,290 may be sized to prevent the luminaire 278 touches the ground. 例如,孔286、290可各自具有大于照明器278的高度的深度。 For example, holes 286,290 can each have a height greater than 278 illuminator depth. 在一些实施例中,照明器可以与相关联的防滑垫是可分开的,使得可移除防滑垫而不移除照明器。 In some embodiments, the lighting can be associated with non-slip mats are separable, making it possible to remove the anti-skid pad without removing the luminaire.

[0067] 如图4所示,第一防滑垫208和第一照明器278设置在第一板面部分116的远端处, 并且第二防滑垫212和第二照明器278设置在第二板面部分120的远端处。 [0067] As shown, the first non-slip pad 208 and the first illumination device 278 is disposed at the distal end portion of the first side plate 116, and a second non-slip pad 212 and the second illuminator 278 provided in the second plate 4 surface at the distal end portion 120. 防滑垫中的每个可包括孔(例如,如上所提及的,防滑垫208可包括孔286,并且防滑垫212可包括孔290),所述孔配置为允许来自对应照明器的光照射穿过,同时防止照明器接触地面。 Each anti-skid pad may include a hole (for example, as mentioned above, the non-slip pad 208 may include holes 286 and 212 may include a non-slip pad hole 290), the aperture configured to allow light to penetrate from the corresponding luminaire before, while preventing contact with the ground illuminator.

[0068] 图5示出交通工具100的一个或多个电气部件的方框图。 [0068] FIG. 5 shows a block diagram of a vehicle or more electrical components 100. 电气部件可包括电源管理系统300、直流到直流(DC/DC)转换器304、无刷直流(BLDC)驱动逻辑器306、功率级310、3轴加速计314、一个或多个霍尔传感器318和马达温度传感器322JC/DC转换器304、BLDC驱动逻辑器306和功率级310可包括在马达控制器254中并且/或者连接到马达控制器254。 Electrical components may include a power management system 300, DC to DC (DC / DC) converter 304, a brushless DC (BLDC) drive logic 306, power level 310,3 axis accelerometer 314, or a plurality of Hall sensors 318 and a motor temperature sensor 322JC / DC converter 304, BLDC drive logic 306 and power stage 310 may include a motor controller 254 and / or 254 is connected to the motor controller. 加速计314可包括在传感器270中。 Accelerometer 314 may include a sensor 270.

[0069] 电动交通工具的主动平衡(或自稳定)可通过使用反馈控制环路或机构来实现,其可在一个或多个电气部件中实施。 Active balancing [0069] electric vehicle (or self-stabilized) by using a feedback control loop or mechanism to implement, it may be implemented in one or more electrical components. 反馈控制机构可包括连接到马达控制器254(和/或包括在马达控制器254中)的传感器270。 Feedback control mechanism may comprise a motor connected to the controller 254 (and / or included in the motor controller 254) of the sensor 270.

[0070] 优选地,反馈控制机构包括使用一个或多个陀螺仪(例如,陀螺仪280)和一个或多个加速计(例如,加速计314)的比例-积分-微分(PID)控制方案。 [0070] Preferably, the feedback control mechanism involves the use of one or more gyroscopes (for example, gyroscopes 280) and one or more accelerometers (for example, an accelerometer 314) proportional - integral - derivative (PID) control scheme. 陀螺仪280可配置为测量脚板面104围绕俯仰轴线的枢转。 Gyroscope 280 can be configured to measure the surface 104 feet around the pitch axis of the pivot. 陀螺仪280和加速计314可共同地配置为估计(或者测量或感测)板104的倾斜角,诸如脚板面围绕俯仰轴线、侧倾轴线和偏航轴线的取向。 Gyroscopes jointly arranged 280 and accelerometer 314 is estimated (or measured or sensed) inclination angle of plate 104, such as a foot surface orientation around the pitch axis and the roll axis and the yaw axis. 在一些实施例中,陀螺仪和加速计314可共同地配置为感测足以估计框架104的倾斜角(包括围绕俯仰轴线、侧倾轴线和偏航轴线的枢转)的取向信息。 In some embodiments, the gyroscopes and accelerometers 314 may be configured to sense a common enough to estimate the tilt angle of the frame 104 (including around the pitch axis, roll and yaw axis pivot axis) orientation information.

[0071]如上所述,板104的取向信息可由陀螺仪280和加速计314测量(或感测)。 [0071] As described above, the alignment plate 104 may be information gyroscope 280 and accelerometers 314 measure (or sense). 使用互补的或卡尔曼滤波器可组合来自陀螺仪280和加速计314的相应测量(或感测信号),以估计板104的倾斜角(例如,板104围绕俯仰轴线、侧倾轴线和/或偏航轴线的枢转,其中围绕俯仰轴线的枢转对应于俯仰角,围绕侧倾轴线的枢转对应于侧倾角或脚跟-脚趾角,并且围绕偏航轴线的枢转对应于偏航角),同时过滤掉碰撞、道路纹理和由于转向输入所致的干扰的影响。 Using a Kalman filter or complementary measure may be a combination of the respective (or sense signals) from accelerometer 280 and gyroscope 314, in order to estimate the tilt angle of the plate 104 (e.g., plate 104 about the pitch axis, a roll axis and / or yaw pivot axis, wherein the pivoting around the pitch axis corresponds to the pitch angle around the roll axis pivot or roll angle corresponding to the heel - toe angle and pivot about a yaw axis corresponding to the yaw angle) while filtering out the impact of the collision, the road textures and interference caused by the steering input. 例如,陀螺仪280和加速计314可连接到微控制器269,其可配置为相应地测量板104围绕和沿着俯仰轴线、侧倾轴线和偏航轴线的移动(参见图1)。 For example, the gyroscope 280 and accelerometers 314 can be connected to the microcontroller 269, which can be configured to measure the respective plates along and around the pitch axis 104, moving the roll axis and yaw axis (see FIG. 1). 可选择地,电动交通工具可包括配置为自稳定交通工具的任何合适的传感器和反馈控制环路,诸如配置为测量板围绕俯仰轴线的枢转的1轴陀螺仪、配置为测量重力矢量的1轴加速计和/或任何其他合适的反馈控制环路,诸如闭环传递函数。 Alternatively, the electric vehicle may be configured to include a self-stabilizing vehicle sensor and any suitable feedback control loop, such as a plate configured to measure around the pitch axis of a pivoting axis gyroscope configured to measure the gravity vector 1 axis accelerometer and / or any other suitable feedback control loop, such as closed-loop transfer function. 然而,另外的加速计和陀螺仪轴可允许改进的性能和功能性, 诸如检测板是否已经在其一侧上翻滚或骑者是否正在转弯。 However, the additional axis accelerometers and gyroscopes may allow improved performance and functionality, such as whether the board has been detected roll or whether the rider is turning on its side.

[0072] 反馈控制环路可配置为驱动马达144,以减小板104相对于地面的角。 [0072] Feedback control loop can be configured to drive the motor 144 in order to reduce the angle of the plate 104 with respect to the ground. 例如,如果在图1中,骑者将向下倾斜板104,使得第一板面部分116"低"于第二板面部分120(例如,如果骑者围绕俯仰轴线A1顺时针方向地枢转板104),则反馈环路可驱动马达144,以引起轮胎132围绕俯仰轴线A1的顺时针方向旋转(参见图9)以及板104上的逆时针方向的力。 For example, if in Figure 1, the rider board 104 downwardly, so that the first side plate portion 116 of the "low" to the second side plate portion 120 (e.g., if the rider about the pitch axis to pivot in a clockwise direction A1 plate 104), the feedback loop driving motor 144, 132 to cause the tire around clockwise rotation of the pitch axis A1 (see FIG. 9), and the force on the plate 104 counterclockwise.

[0073] 因此,通过骑者将重量朝向其"前"脚倾斜可实现电动交通工具的运动。 [0073] Thus, by the weight of the rider toward the "front" foot tilt it can achieve the electric vehicle movement. 类似地,通过骑者朝向其"后"脚倾斜可实现减速。 "After" Similarly, the rider's foot is inclined toward deceleration can be achieved. 再生制动可用于使交通工具减慢。 Regenerative braking can be used to slow the vehicle. 通过骑者维持其朝向其"后"脚的倾斜可实现持续的反向操作。 Toward maintaining its "rear" tilt foot can achieve sustained reverse operation by the rider.

[0074] 如图5所指示,微控制器269可配置为向BLDC驱动逻辑器306发送信号,其可传达关于板104的取向和运动的信息。 [0074] FIG. 5 indicates, the microcontroller 269 can be configured to send a signal BLDC drive logic 306, which may convey information about the orientation of the plate 104 and motion. BLDC驱动逻辑器306然后可解释信号并且与功率级310通信, 以相应地驱动马达144。 BLDC drive logic 306 signal is then interpreted and the power stage 310 in communication with the drive motor 144 to correspondingly. 霍尔传感器318可向BLDC驱动逻辑器发送信号,以提供关于马达144 的转子的大体即时旋转速率的反馈。 Hall sensor 318 may send a signal to the BLDC drive logic is to provide a substantially immediate feedback on the rate of rotation of the rotor of the motor 144. 马达温度传感器322可配置为测量马达144的温度并且将该测量的温度发送到逻辑器306。 Motor temperature sensor 322 may be configured to measure the temperature of the motor 144 and sends the measured temperature to the logic unit 306. 逻辑器306可基于所测量的马达144的温度来限制供应给马达144的功率量,以防止马达144过热。 Logic 306 may be based on the measured temperature of the motor 144 to limit the amount of power supplied to the motor 144, 144 in order to prevent the motor from overheating.

[0075] 可以并入PID环路或其他合适的反馈控制环路的某些修改,以改进电动交通工具的性能和安全性。 [0075] may be incorporated to modify the PID loop or some other suitable feedback control loop to improve electric vehicle performance and safety. 例如,通过限制最大积分器值可防止积分饱卷,并且指数函数可施加到俯仰误差角(例如,测量或估计的板104的俯仰角)。 For example, by limiting the maximum integrator value prevents integral windup, and the exponential function can be applied to the elevation error angle (for example, measured or estimated pitch angle of the plate 104).

[0076] 可选择地或另外地,一些实施例可包括神经网络控制、模糊控制、遗传算法控制、 线性二次调节器控制、状态依赖型黎卡提微分方程控制(state-dependent Riccati equationcontrol)或其他控制算法。 [0076] Alternatively or additionally, some embodiments may include a neural network control, fuzzy control, genetic algorithm control, linear quadratic regulator control, status-dependent Riccati Differential Control (state-dependent Riccati equationcontrol) or other control algorithms. 在一些实施例中,可并入绝对或相对编码器以提供马达位置的反馈。 In some embodiments, it may incorporate absolute or relative encoders provide feedback to the motor position.

[0077]如上所述,在转弯期间,俯仰角可由脚跟-脚趾角(例如,板围绕侧倾轴线的枢转一参见图11)调整,其可改进性能并且防止板104的前内侧边缘接触地面。 [0077] As described above, during turns, pitch angle by the heel - toe angle (e.g., pivot plate about a roll axis of rotation see Figure 11) adjustment, which can improve performance and prevent the front edge of the plate 104 contacts the inner surface . 在一些实施例中,如果板围绕侧倾轴线和/或偏航轴线枢转,则反馈环路可配置为增大、减小或以其他方式调整轮胎的旋转速率。 In some embodiments, if the plate around the axis of the roll and / or yaw axis of the pivot, the feedback loop may be configured to increase, decrease, or otherwise adjust the rate of rotation of the tire. 轮胎的旋转速率的这种调节可在板的一部分和骑者之间施加增大的正交力,并且可在转弯时向骑者提供与滑雪板穿过雪或冲浪板穿过水走刃的感觉类似的"走刃" 感觉。 Feeling the rate of rotation of the tire Such adjustment may be applied to increase the normal force between the plate and a portion of the rider, and may provide through the snow with skis or surfboards walking through the water to the edge of the rider when cornering similar "walk edge" feel.

[0078] 一旦骑者已将他们自己合适地定位在板上,则控制环路可配置为不激活直到骑者将板移动到预先确定的取向。 [0078] Once the rider has been properly positioned in their plate, the control loop may be configured to ride will not activate until the plate is moved to a predetermined orientation. 例如,算法可并入反馈控制环路中,使得控制环路不活动(例如,不驱动马达),直到骑者利用他们自身的重量使板达到大约水平取向(例如,0度俯仰角一如图8中所示)。 For example, the algorithm may be incorporated into a feedback control loop, so that the control loop is inactive (for example, do not drive motor) until the rider to use their own weight of the plate to about a horizontal orientation (for example, a pitch angle of 0 degrees in FIG. in FIG. 8). 一旦检测到该预先确定的取向,则反馈控制环路就可被允许(或激活) 以使电动交通工具平衡并且促进电动交通工具从静止模式(或配置,或状态,或取向)到移动模式(或配置,或状态,或取向)的转变。 Upon detecting the predetermined orientation, the feedback control loop can be enabled (or activated) to make the electric vehicle and to facilitate balancing the electric vehicle from a stationary mode (or configuration, or status, or orientation) to a movement mode ( or configuration, or status, or orientation) changes.

[0079] 返回参照图5, 一个或多个电气部件可配置为管理电源250。 [0079] Referring back to FIG. 5, one or more electrical components 250 may be configured to manage power. 例如,电源管理系统300可以是配置为保护电源250的电池免遭过度充电、过度放电和/或发生短路的电池管理系统。 For example, the power management system 300 may be configured to protect the power of the battery 250 from overcharging, over discharging and / or a short circuit of the battery management system. 系统300可监视电池健康状况,可以监视电源250中的充电状态,并且/或者可增加交通工具的安全性。 The system 300 can monitor the health of the battery, you can monitor the state of charge of the power supply 250, and / or increase vehicle safety. 电源管理系统300可连接在充电插头268和电源250之间。 Power management system 300 may be connected between the charging power supply 250 and plug 268. 骑者(或其他用户)可经由系统300将充电器联接到插头268并且给电源250再充电。 Rider (or other users) via the system 300 may be coupled to the charger plug to the power supply 268 and 250 recharging.

[0080] 在操作中,可激活电源开关266(例如,通过骑者)。 [0080] In operation, power switch 266 can be activated (for example, by rider). 开关266的激活可将接通电源的信号发送到转换器304。 Activation switch 266 can send a signal to the power converter 304. 响应于接通电源的信号,转换器304可将直流从电源250提供的第一电压电平转换到一个或多个其他电压电平。 In response to the power of the signal converter 304 from the DC power supply 250 may provide a first voltage level translator to one or more other voltage levels. 其他电压电平可不同于第一电压电平。 Other voltage levels may be different from the first voltage level. 转换器304可经由一个或多个电气连接来连接到其他电气部件,以向这些电气部件提供合适的电压。 Converter 304 may be connected to connect to other electrical components, to provide a suitable voltage to the electrical components via one or more electrical.

[0081 ] 转换器304(或其他合适的电路)可将接通电源的信号传送到微控制器269。 [0081] converter 304 (or other suitable circuit) can turn on the power signal to the microcontroller 269. 响应于接通电源的信号,微控制器可初始化传感器270和骑者检测装置262。 In response to the power-on signal, the microcontroller 270 can initialize the sensor and the rider detection means 262.

[0082] 电动交通工具可包括一个或多个安全机构,诸如电源开关266和/或骑者检测装置262,以确保在接合反馈控制环路之前骑者在板上。 [0082] the electric vehicle may include one or more of the security agencies, such as the power switch 266 and / or the rider detection means 262, to ensure that the feedback control loop before joining the rider on the board. 在一些实施例中,骑者检测装置262可配置为确定骑者的脚是否设置在脚板面上,并且在确定骑者的脚设置在脚板面104上时发送使马达144进入活动状态的信号。 In some embodiments, the rider detection means 262 may be configured to determine whether the rider's feet set foot on the surface, and the determination signal is set to send the rider's feet on the foot when the surface 104 of the motor 144 into the active state.

[0083] 骑者检测装置262可包括用于确定骑者是否在电动交通工具上的任何合适的机构、结构或设备。 [0083] The rider detection means 262 may comprise means for determining whether the rider any suitable mechanism in the electric vehicle, structure or equipment. 例如,装置262可包括一个或多个机械按钮、一个或多个电容式传感器、一个或多个电感式传感器、一个或多个光学开关、一个或多个力电阻式传感器和/或一个或多个应变仪。 For example, device 262 may include one or more mechanical buttons, or a plurality of capacitive sensors, or a plurality of inductive sensors, one or more optical switches, one or more resistive force sensor and / or one or more strain gauges. 所述一个或多个机械按钮可位于第一板面部分116和第二板面部分120中任一个或两者之上或下方(参见图1)。 The one or more mechanical buttons located on the second plate portion 116 and the surface 120 of the first plate surface portion on either one or both of or below (see FIG. 1). 可直接(例如,如果在板面部分上)或间接(例如,如果在板面部分下方)按压所述一个或多个机械按钮,以感测骑者是否在板104上。 Directly (for example, if the plate surface portion) or indirectly (for example, if the lower board surface portion) of the one or more mechanical pressing buttons, to sense whether the rider board 104. 所述一个或多个电容式传感器和/或一个或多个电感式传感器可位于板面部分中任一个或两者的表面之上或附近,并且可经由电容的变化或电感的变化相应地检测骑者是否在板上。 One or more of the above capacitive sensor and / or either one or both surfaces of the one or more inductive sensors may be located in or near the portion of the board, and can be detected via a corresponding change in capacitance or change in inductance whether riding on the board. 类似地,所述一个或多个光学开关可位于板面部分中任一个或两者的表面之上或附近。 Similarly, on or near either or both surfaces of the one or more optical switches may be located at the surface portion of the plate. 所述一个或多个光学开关可基于光信号检测骑者是否在板上。 The one or more optical switches may be based on whether the light signal detecting riding the board. 所述一个或多个应变仪可配置为测量由骑者的脚施加的板或轴的弯曲,以检测骑者是否在板上。 The one or more strain gauges may be configured to measure the board or by the shaft of the cyclist's foot is applied to the bent, in order to detect whether a rider on board. 在一些实施例中,装置262可包括手持式"按钮式"开关。 In some embodiments, the handheld device 262 may comprise a "push-button" switch.

[0084]如果装置262检测骑者合适地定位在电动交通工具上,则然后装置262可将骑者存在信号发送到微控制器269。 [0084] If the device 262 is detected by suitably positioned to ride on the electric vehicle, the device 262 may then be transmitted to the rider presence signal the microcontroller 269. 骑者存在信号可以是使马达144进入活动状态的信号。 The rider may signal the presence of the motor 144 into the active state of the signal. 响应于骑者存在信号(和/或板移动到水平取向),微控制器269可激活反馈控制环路以用于驱动马达144。 In response to the presence of a signal (and / or the plate is moved to a horizontal orientation) to the rider, the microcontroller 269 may activate feedback control loop for driving the motor 144. 例如,响应于骑者存在信号,微控制器269可将来自传感器270的板取向信息(或测量数据)发送到逻辑器306,用于经由功率级310向马达144提供功率。 For example, the presence of a signal in response to the rider, the microcontroller 269 may be 306, for providing power to the motor 144 via the power stage 310 in plate 270 from the sensor orientation information (or measurement data) to the logical unit.

[0085] 在一些实施例中,如果装置262检测骑者不再合适地定位在或存在于电动交通工具上,装置262可将骑者不存在信号发送到微控制器269。 [0085] In some embodiments, if the device 262 is detected rider no longer exist or suitably positioned on the electric vehicle, the device 262 may send a signal to the microcontroller 269 rider does not exist. 响应于骑者不存在信号,交通工具100的电路(例如,微控制器269、逻辑器306和/或功率级310)可配置为减小转子相对于定子的旋转速率,以使交通工具1 〇〇停止。 No signal in response to the rider, the circuit of the vehicle 100 (e.g., a microcontroller 269, logic 306 and / or power stage 310) may be configured to reduce the rate of rotation of the rotor relative to the stator, so that the vehicle 1 billion 〇 stop. 例如,可选择性地向转子的电线圈提供功率,以减小转子的旋转速率。 For example, to selectively provide power to the rotor coil, in order to reduce the rate of rotation of the rotor. 在一些实施例中,响应于骑者不存在信号,电路可配置为用相对强和/或大体连续的恒定电压使电线圈通电,以相对于定子锁定转子,以防止转子相对于定子旋转,并且/或者使转子突然停止。 In some embodiments, in response to the rider no signal, the circuit can be configured with a relatively strong and / or substantially continuous constant voltage to the coil is energized, with respect to the stator locked rotor, in order to prevent the rotor relative to the stator, and / or the rotor suddenly stopped.

[0086] 在一些实施例中,交通工具可配置为主动地驱动马达144,即使骑者可能不存在于交通工具上(例如,暂时地),这可允许骑者执行各种特技。 [0086] In some embodiments, the vehicle can be configured to actively drive the motor 144, even though the rider may not be present on the vehicle (e.g., temporarily), which allows the rider to perform various stunts. 例如,装置262可配置为将骑者不存在信号延迟发送到微控制器预先确定的持续时间,并且/或者微控制器可配置为将信号延迟发送到逻辑器306,以切断至马达的功率预先确定的持续时间。 For example, the apparatus 262 can be configured to delay sending a signal to the microcontroller duration determined in advance rider is not present, and / or a micro controller can be configured to send a signal to the delay logic 306, to cut off the power of the motor to advance determined duration.

[0087] 电动交通工具可包括其他安全机构,诸如蜂鸣器机构。 [0087] the electric vehicle may include other security agencies, such as the buzzer institutions. 如果电动交通工具内的电路检测到错误,蜂鸣器机构可配置为向骑者发射听觉信号(或嗡嗡声)。 If the circuit electric vehicles within an error is detected, the buzzer mechanism may be configured to emit an audible signal (or buzz) to the rider. 例如,如果电动交通工具内的电路没有通过诊断试验,则蜂鸣器机构可向骑者发射错误信号(参见图6)。 For example, if the circuit inside the electric vehicle diagnostic tests did not pass, the mechanism may emit the buzzer signal (see FIG. 6) to the rider.

[0088] 图6描绘了可由交通工具100执行的和/或可结合交通工具100执行的通常以600表示的方法(或操作)的多个步骤。 [0088] FIG. 6 depicts a vehicle 100 may perform and / or combination of methods is usually represented by 600 (or action) of the vehicle 100 to perform various steps. 虽然在下面描述了并且在图6中描绘了方法600的各种步骤,但是所述步骤不必全部被执行,并且在一些情况下可以按与所示顺序不同的顺序执行。 Although it described below and depicted in the various steps of the method 600 of FIG. 6, but the steps need not all be executed, and may be performed in the order shown in different orders in some cases.

[0089] 如所示,方法600可包括初始化程序、待命程序和操作程序。 [0089] As shown, the method 600 may include an initialization procedure, standby and operating procedures. 初始化程序可包括激活电源开关的步骤602。 Initialization process may include the step 602 to activate the power switch. 例如,在步骤602,骑者可按压开关266(参见图4)。 For example, at step 602, the rider may press the switch 266 (see FIG. 4). 初始化程序然后可进行到执行一个或多个诊断的步骤604。 Initialization routine then proceeds to step 604 to perform one or more of the diagnosis. 例如,交通工具100的电路可执行一个或多个诊断试验,以确定一个或多个电气部件是否是适当可操作的。 For example, the circuit of the vehicle 100 may perform one or more diagnostic tests to determine whether one or more electrical components is appropriate operational. 例如,在步骤604,马达控制器254可执行自诊断,以确定其部件诸如功率级是否是可操作的。 For example, step 604, the motor controller 254 can perform self-diagnosis to determine whether the components such as the power level is operable.

[0090] 初始化程序可包括确定在步骤604执行的诊断是否通过的步骤606。 [0090] initialization diagnostic procedures may include the step of determining whether executed in step 604 through 606. 如果在步骤606确定诊断没有通过,则然后方法600可进行到发射错误信号的步骤608以及禁用交通工具的步骤610。 If the diagnosis is determined in step 606 it does not pass, then the method 600 may proceed to step 608 and transmit error signal in step 610 to disable the vehicle. 例如,如果确定没有通过诊断,则交通工具100可经由蜂鸣器机构发射听觉嗡嗡声或发射光信号(例如,通过使照明器278发出闪光),并且可防止马达控制器254向马达144提供功率。 For example, if it is determined not by the diagnosis, the vehicle 100 may transmit auditory hum or emit light signals via buzzer institutions (for example, by a flashing light 278), and prevents the motor controller 254 to the motor 144 to provide power. 在一些实施例中,禁用交通工具可涉及相对于定子锁定转子。 In some embodiments, the vehicle can be disabled relates locked rotor relative to the stator. 例如,马达控制器可用大体恒定电流连续地使定子的电线圈通电,以防止转子相对于定子旋转。 For example, the motor controller can be used to make a substantially constant current is continuously energized stator coil, to prevent rotation of the rotor relative to the stator. 然而,如果在步骤606确定通过了诊断,则初始化程序可进行到初始化传感器270的步骤612。 However, if 606 is determined by the diagnosis step, the initialization program proceeds to step 612 to initialize the sensor 270.

[0091]如图6中所示,初始化程序然后可进行到待命程序。 [0091] As shown in Figure 6, the initialization program may then be placed in the standby program. 待命程序可包括确定是否检测到骑者的步骤614。 Stand procedures may include the step of determining whether the detected rider 614. 例如,基于来自骑者检测装置262的所接收到的信号,交通工具100的电路可确定骑者是否被检测为合适地定位在板104上(例如,其中一只脚在第一板面部分116 上,并且另一只脚在第二板面部分120上,如图7所示)。 For example, based on the rider from the detecting means 262 receives a signal, the circuit of the vehicle 100 may determine whether a rider is detected to be properly positioned on the plate 104 (e.g., one foot on the first side plate portion 116 on, and the other foot on the second board portion 120, as shown in Figure 7). 如果在步骤614确定在交通工具上没有检测到骑者,则然后可重复步骤614直到检测到骑者。 614 to determine if the vehicle is not detected in Step rider, it could then repeat step 614 until after the rider. 在一些实施例中,当骑者定位在交通工具上时,装置262可大体连续地向电路发送骑者存在信号,并且/或者当骑者没有定位在交通工具上时,装置262可大体连续地向电路发送骑者不存在信号。 In some embodiments, when the rider is positioned on the vehicle, the device 262 may be substantially continuous presence of a signal to the circuit sending the rider and / or when the rider is not positioned on a vehicle, the device 262 may be substantially continuously there is no signal sent to the circuit rider. 在一些实施例中,装置262可基于骑者的位置间歇地发送这些信号。 In some embodiments, apparatus 262 may intermittently transmit the signals based on the rider's position.

[0092] 如果在步骤614确定骑者被检测为合适地定位在板104上,如图7所示,则待命程序可进行到从传感器270(例如,陀螺仪280和加速计314)读取或获得一个或多个测量(例如, 取向信息)的步骤616。 [0092] If the detector 614 determines that the rider is properly positioned on the plate 104, in step 7, then the standby program can be read into or from the sensor 270 (e.g., a gyroscope 280 and accelerometers 314) the step of obtaining one or more measurements (e.g., orientation information) 616.

[0093] 待命程序可包括确定板104是否处于水平取向(或其他预定和/或预先确定的取向)的步骤618。 [0093] standby program may include determining plate 104 is in a horizontal orientation (or other predetermined and / or pre-determined orientation) step 618. 交通工具100的电路可基于在步骤616从传感器270获得的测量来确定板104 是否处于水平取向。 Circuit 100 may be based on a vehicle in step 616 from the measurement sensor 270 obtained to determine whether plate 104 in a horizontal orientation. 如果在步骤618确定板104不处于水平取向,如图7所示,则待命程序可返回到步骤614。 If the determination in step 618 the plate 104 is not in the horizontal orientation, as shown in FIG. 7, then the standby program returns to step 614.

[0094] 然而,如果在步骤618确定板104处于水平取向,如图8所示,则待命程序可经由反馈控制环路进行到操作程序(例如,以初始化交通工具的自平衡),其示例一般在图6中以620表示。 [0094] However, if it is determined in step 618, the plate 104 is in a horizontal orientation, shown in Figure 8, the program proceeds to the standby process (e.g., to initialize the self-balanced vehicle) via a feedback control loop, examples of which are generally in Figure 6, indicated by 620. 环路620可以是闭环平衡例程,其可以重复直到不再检测到骑者。 Loop routine 620 may be a closed loop balance, which may be repeated until the rider is no longer detected.

[0095]环路620可包括从传感器270读取或获得一个或多个测量的步骤622。 [0095] Loop 620 may comprise 270 to read or obtain one or more measured step 622 from the sensor. 例如,在步骤622,微控制器269(或其他电路)可从加速计314获得板104沿俯仰轴线、侧倾轴线和偏航轴线的加速度测量,并且可从陀螺仪280获得板104沿俯仰轴线、侧倾轴线和偏航轴线的位置测量。 For example, at step 622, the microcontroller 269 (or other circuitry) may obtain an acceleration measurement board 104 along the pitch axis, yaw axis and roll axis from accelerometer 314, and 280 may be obtained from the plate 104 along pitch axis gyroscope the roll axis and the yaw axis position measurement.

[0096]环路620可包括将传感器偏移量施加到在步骤622获得的测量中的一个或多个的步骤624。 [0096] The loop 620 may include a sensor offset is applied at step 622 to the step of measuring the obtained one or more of 624. 例如,在初始化期间在步骤612可确定加速计和陀螺仪的偏移量,所述偏移量在步骤624可施加到在步骤622获得的测量,以大体上校正传感器偏差。 For example, during initialization in step 612 may determine acceleration and gyro offset, the offset can be applied to the measurement at step 622 obtained in step 624, the sensor bias to substantially correct.

[0097] 环路620可包括组合传感器值的步骤626。 [0097] Loop 620 may include the step of combining sensor values 626. 例如,在步骤626,微控制器269可用互补的或卡尔曼滤波器组合在步骤622获得的来自加速计314和陀螺仪280的测量(包括或不包括所施加的偏移量)。 For example, at step 626, the microcontroller 269 available or complementary Kalman filter combination 622 obtained in step 314 from the accelerometer 280 and gyroscope measurement (or may not include an offset applied).

[0098] 环路620可包括计算(或确定)板104的倾斜角的步骤628。 [0098] Loop 620 may include calculating (or determining) step angle of inclination of the plate 104 628. 在步骤628,微控制器269 可基于来自加速计314和陀螺仪280的组合的测量来确定倾斜角。 In step 628, the microcontroller 269 may be based on measuring accelerometers and gyroscopes 314 from 280 in combination to determine the angle of inclination.

[0099]如上所述,倾斜角可包括板104的俯仰角、侧倾角和偏航角。 [0099] As described above, the inclination angle may include a pitch angle plate 104, roll and yaw angles. 如图9所示,骑者可围绕俯仰轴线A1枢转板104,以产生俯仰角Θ1,在该情况下在步骤630,微控制器可基于来自加速计314和陀螺仪280的组合的测量(例如,取向信息)确定板104具有俯仰角θ 1。 9, the rider can pivot about the pitch axis A1 plate 104, to generate a pitch angle Θ1, in this case, in step 630, the microcontroller 314 may be based on information from the accelerometer 280 and gyroscope measurement combination ( For example, the orientation information) specifying plate 104 has a pitch angle θ 1. 如所示,俯仰角可基于板104相对于水平取向的取向来确定。 As shown, the pitch angle relative to the horizontal orientation is determined based on the plate 104. 水平取向可基于所测量的重力矢量来确定或计算。 Horizontal orientation may be based on the measured or calculated to determine the gravity vector.

[0100]环路620可包括计算误差角的步骤630。 [0100] Loop 620 may include the step of computing error angle 630. 误差角可以是基于来自传感器270的取向信息的板从水平取向位移的估计或计算。 Error angle may be based on information from the board orientation sensor 270 of the estimated or calculated from the horizontally oriented displacement. 例如,在图9所示的取向上,微控制器可确定俯仰角Θ1是误差角。 For example, in the orientation shown in Figure 9, the microcontroller can determine pitch angle Θ1 is the error angle. 在步骤630,微控制器269可计算(或确定)相对于从加速计314获得的重力矢量测量的误差角。 In step 630, the microcontroller 269 can be calculated (or determined) with respect to the error angle obtained from the accelerometer 314 gravity vector measurements.

[0101]环路620可包括计算PID控制方案的P值、I值和D值的步骤632。 [0101] Loop 620 may include the step of calculating PID control scheme P value, I value and D value of 632. 这些值可以用于过滤掉地面上的碰撞、道路纹理和/或由于无意地突然转向输入所致的干扰的影响。 These values can be used to filter out the impact on the ground, the impact of road texture and / or due to interference unintentionally caused by sudden steering input.

[0102]环路620可包括向马达144发送马达命令(或马达控制信号)的步骤634。 [0102] Loop 620 may include the step of sending motor commands (or motor control signal) to the motor 144 634. 在步骤634,马达控制器可响应于从传感器270接收到的取向信息生成马达控制信号。 In step 634, the motor controller 270 in response to receiving from the sensor to the alignment information generating motor control signals. 马达144可配置为从马达控制器254接收马达控制信号,并且响应于该取向信息旋转轮子132。 Motor 144 can be configured from a motor controller 254 receives the motor control signal, in response to the rotation of the wheel 132 orientation information.

[0103] 例如,在步骤634,微控制器269可向逻辑器306发送信号,包括对应于所计算的倾斜角、所计算的误差角(其可以是所计算的倾斜角或其百分比)和/或所计算的P值、I值和D 值的信息。 [0103] For example, in step 634, the microcontroller 269 can send a signal to logic 306, including corresponding to the calculated angle of inclination error angle calculated (which may be the inclination angle or a percentage calculated) and / P values or the calculated values of the information I and D values. 基于该信息,BLDC驱动逻辑器306可确定如何相应地驱动马达144。 Based on this information, BLDC drive logic 306 may determine how the drive motor 144 accordingly. 例如,逻辑器306可确定应当基于俯仰角或误差角Θ1以第一速率在顺时针方向上(在图9中)驱动马达144 的转子,以试图将板104移回水平取向,并且向功率级310发送对应的马达命令。 For example, logic 306 may be determined based on the pitch angle, or error angle Θ1 at a first rate in a clockwise direction (FIG. 9) of the rotor of the drive motor 144, the plate 104 in an attempt to move back to the horizontal orientation, and the forward power level 310 sends a corresponding command to the motor. 功率级310 然后可相应地经由相线202(参见图3)向马达144提供功率。 Power stage 310 may then be appropriately phase 202 (see FIG. 3) to provide power to the motor 144 via. 如果骑者将向下压力保持在板面部分116上,则马达144的转子的顺时针方向旋转可导致图9中交通工具100向右的推进。 If the rider to keep downward pressure on the part of the face plate 116, the motor 144 in the clockwise direction of the rotor rotation can result in the vehicle 100 to the right in FIG. 9 advance.

[0104] 如图9所示,响应于马达命令,当交通工具100向右移动时,联接到板面部分116的照明器278可发射白光WL,并且联接到板面部分120的照明器278可发射红光RL。 [0104] 9, the motor in response to the command, when the vehicle 100 moves to the right, coupled to the board 116 of the lighting section 278 may emit white light the WL, and is coupled to the plate surface portion 120 of the luminaire 278 emits red light RL.

[0105] 返回参照图6,环路620可包括确定是否检测到骑者(例如,合适地定位在板104上) 的步骤636。 [0105] Referring back to FIG. 6, loop 620 may include determining whether the rider is detected (e.g., suitably positioned on the plate 104) in step 636. 微控制器可基于来自骑者检测装置的信号例如以类似于步骤614的方式作出该判定。 Microcontroller based on signals from the rider detection means, for example, in a manner similar to step 614 to make this determination. 在一些实施例中,确定是否检测到骑者可基于马达扭矩(例如,马达扭矩减小到低于预定阈值),或者可指示电动交通工具不受骑者控制的交通工具取向(例如,过多的俯仰角、 侧倾角和/或偏航角或其调整)。 In some embodiments, determining whether the rider may be detected based on the motor torque (e.g., motor torque decreases below a predetermined threshold value), or may not indicate the electric vehicle rider to control the orientation of the vehicle (e.g., excessive pitch angle, roll angle and / or yaw angle or adjustment).

[0106] 在步骤636,如果确定未检测到骑者(例如,骑者已经跌落、跳跃或以其他方式离开电动交通工具),则操作程序可进行到停止马达144的步骤638,并且返回到步骤614。 [0106] In step 636, if it is determined not detected rider (for example, the rider has fallen, jumping or otherwise leave the electric vehicle), the operation program proceeds to step motor is stopped 144 638, and returns to step 614. 在步骤638,停止马达可涉及相对于定子锁定转子,使得地面接触元件(例如,轮胎)停止围绕俯仰轴线相对于板旋转。 In step 638, the motor is stopped may involve the locked rotor relative to the stator, so that the ground-contacting member (e.g., tire) around the pitch axis with respect to the stop plate rotation. 例如,在步骤638,马达控制器可用大体连续、恒定和/或相对强的电流使定子的电线圈通电,以产生大体恒定和/或强的电磁场,以用于停止转子的磁体围绕俯仰轴线相对于定子的旋转。 For example, at step 638, the motor controller is available substantially continuous, constant and / or relatively strong current to the stator coil is energized to produce a substantially constant and / or a strong electromagnetic field, the rotor magnet is used to end about the pitch axis relative the rotation of the stator.

[0107] 然而,如果在步骤363确定检测到骑者(例如,骑者仍合适地定位在电动交通工具上),则环路620可返回到步骤622,并且环路620可重复。 [0107] However, if the rider is detected 363 determines in step (for example, the rider remains properly positioned on the electric vehicle), then loop 620 returns to step 622, and Loop 620 may be repeated. 例如,在环路620的随后的重复中, 骑者可已经将板104移动到具有俯仰角Θ2(参见图9)的取向。 For example, the loop 620 is then repeated, the rider may have moved to a plate 104 having a pitch angle Θ2 (refer to FIG. 9) orientation. 俯仰角Θ2可对应于板104相对于图9所示的板104的取向围绕俯仰轴线Α1的进一步枢转,使得板面部分116已经进一步移动到低于水平取向,并且板面部分120已经进一步移动到高于水平取向。 It may correspond to a pitch angle Θ2 plate 104 relative to the orientation shown in FIG. 9 of the plate 104 about the pitch axis Α1 pivots further, so that the plate surface portion 116 has been moved further to below horizontal orientation, and the face plate portion 120 has been moved further above the horizontal orientation. 在环路620的这种随后的重复中,交通工具100的电路可基于俯仰角Θ2以第二速率在顺时针方向上向转子提供功率,以试图将板104移回到水平取向。 In this subsequent iteration of loop 620, the circuit 100 may be based on the vehicle pitch angle Θ2 at a second rate in a clockwise direction to provide power to the rotor plate 104 to attempt to move back to a horizontal orientation. 第二速率可大于第一速率。 The second rate may be greater than the first rate.

[0108] 在环路620的另一个随后的重复中,骑者可已经将板104移动到具有俯仰角Θ3(参见图10)的取向。 [0108] In another subsequent iterations, the rider ring 620 may have moved to a plate 104 having a pitch angle Θ3 (see FIG. 10) orientation. 如所示,俯仰角Θ 3对应于板104围绕俯仰轴线A1的枢转,使得板面部分120 已移动到低于水平取向,并且板面部分116已移动到高于水平取向。 As shown, the pitch angle Θ 3 corresponds to the plate 104 about the pivot axis A1 of the pitch, so that the plate 120 has been moved to the surface portion below horizontal orientation, and the plate 116 has been moved to the surface portion above the horizontal orientation. 在环路620的这种随后的重复中,交通工具100的电路可基于俯仰角Θ3以第三速率在逆时针方向上(如图10中所指示)向马达144提供功率来旋转,以试图将板104移回到水平取向。 In the loop 620 such subsequent iterations, the circuit 100 may be based on the vehicle pitch angle Θ3 at the third rate in a counterclockwise direction (as indicated in FIG. 10) to provide power to the motor 144 to rotate in an attempt to plate 104 is moved back to a horizontal orientation. 如果骑者将向下压力保持在板面部分120上,则马达144的转子的逆时针方向旋转可导致图10中交通工具100的向左推进。 If the rider to downward pressure on the board holding portion 120, the motor 144 counterclockwise rotation of the rotor can cause the vehicle to the left in FIG 10 100 advance. 因为所示的图10中的角Θ3具有大于图9中的角Θ1的量值,所以第三速率的绝对值可对应于大于第一速率的绝对值的速率。 As shown in FIG. 10 Θ3 angle greater than in FIG. 9 angle Θ1 magnitude, so the absolute value of the third rate may correspond to the first rate is greater than the absolute value of the rate. 类似地,因为所示的角Θ3具有小于图9中的角Θ2的量值,所以第三速率的绝对值可对应于小于第二速率的绝对值的速率。 Similarly, since the angle Θ3 as shown in FIG. 9 less than the magnitude of the angle Θ2, it can correspond to the absolute value of the third rate less than the absolute value of the rate to the second rate.

[0109] 如上所述,当交通工具100反转方向时,灯组件可切换颜色。 [0109] As described above, when the vehicle 100 reverses direction, the lamp assembly can switch colors. 例如,如图10所示,当交通工具100向左移动时,响应于交通工具100反转的移动反向(相对于图9所示的移动方向),联接到板面部分116的照明器278可从发出白光切换到发射红光RL,并且联接到板面部分120的照明器278可从发射红光切换到发射白光WL。 For example, as shown in FIG. 10, when the vehicle 100 moves to the left, in response to the inversion of the vehicle 100 moving backward (with respect to the moving direction shown in FIG. 9), coupled to the surface of the plate portion 116 of the luminaire 278 switch to the red light RL emitted from a white light, and coupled to the plate surface lighting portion 120 can be switched from 278 to emit red light emitting white light WL.

[0110] 具体地,当板104大致在第一方向上(例如,在图9中指示为右)推进时,第一灯组件的照明器278(例如,设置在图9的右手侧上在板104的第一端部处)可配置为输出第一颜色(例如,白色)的光,并且当板104大致在第二方向上(例如,在图10中为左)推进时,所述第一灯组件的照明器278输出第二颜色(例如,红色)的光。 [0110] In particular, when the plate 104 is substantially in a first direction (for example, instructions for the right in Figure 9) to promote, the first illuminator lamp assembly 278 (for example, provided on the right hand side of the plate of FIG. 9 the first end portion 104) may be configured to output a first color (for example, white) light, and when the plate 104 is substantially in a second direction (for example, in Figure 10, left) forward, the first illuminator lamp assembly 278 outputs the second color (for example, red) light.

[0111] 类似地,当板104大致在第一方向上(例如,在图9中指示为右)推进时,第二灯组件的照明器278(例如,设置在图9的左手侧上在板104的第二端部处)可配置为输出第二颜色(例如,红色)的光,并且当板104大致在第二方向上(例如,在图10中为左)推进时,所述第二灯组件的照明器278输出第一颜色(例如,白色)的光。 [0111] Similarly, when the plate 104 is substantially in a first direction (for example, instructions for the right in Figure 9) when the propulsion, lighting the second lamp assembly 278 (for example, set up on the left hand side of the plate of FIG. 9 the second end portion 104) can be configured to output a second color (for example, red) light, and when the plate 104 is substantially in a second direction (for example, in Figure 10, left) forward, the second illuminator lamp assembly 278 outputs the first color (for example, white) light.

[0112] 交通工具100可包括转弯补偿特征。 [0112] Vehicle 100 may include features turn compensation. 转弯补偿特征可基于板104的侧倾角调节驱动马达144的速率。 Driving motor 144 at a rate of turn-based compensation feature adjustable roll angle plate 104. 例如,通过改变施加到板104的脚跟和/或脚趾压力,骑者可围绕侧倾轴线A2将板104从水平取向枢转到侧倾取向,如图11所示,从而导致侧倾角Θ4,在该情况下,图6 的步骤628可涉及基于来自传感器270的取向信息计算侧倾角Θ4。 For example, by changing the plate 104 is applied to the heel and / or toe pressure, the rider can about the roll axis A2 from the horizontal alignment plate 104 pivoted roll orientation shown in Figure 11, resulting roll angle Θ4, in in this case, in step 628 of FIG. 6 can be based on calculations involving roll angle Θ4 orientation information from the sensor 270. 如果板104也围绕俯仰轴线枢转(例如,具有如图9和图10分别所示的俯仰角Θ1或Θ3),则在图6的步骤634,电路可基于侧倾角Θ4向马达144传送增加量的功率,以增加转子以及因此轮胎132的旋转速率。 If the plate 104 to pivot about the pitch axis (for example, with a 9 and 10, respectively, as shown in the pitch angle Θ1 or Θ3), the 634, the circuit can be transmitted in the step of FIG. 6 based on the roll angle of the motor 144 to increase the amount of Θ4 power, in order to increase the rate of rotation of the rotor 132 and thus the tire. 增大量的功率的量值可基于侧倾角的量值,其中较大的侧倾角量值对应于较大的功率增加,并且较小的侧倾角量值对应于较小的功率增加。 Increased amount of power can be based on the magnitude of the roll angle value, the larger the magnitude of the roll angle corresponding to a large increase in power, and the smaller the magnitude of the roll angle corresponding to a small increase in power.

[0113] 类似地,转弯补偿特征可基于板104的偏航角的改变来调节驱动马达144的速率。 [0113] Similarly, the turning yaw angle compensation characteristics can be changed based on the plate 104 to adjust the rate of the driving motor 144. 例如,骑者可围绕偏航轴线A3将板104从第一取向(如图12中双点划线所示)枢转到第二取向(如图12中实线所示),从而导致偏航角变化Θ5。 For example, the rider is rotatable about a yaw axis A3 plate 104 from the first orientation (two-dot chain line in FIG. 12 shown) pivoted to the second orientation (shown in solid line in FIG. 12), resulting in yaw angle change Θ5. 如果在该第二取向中,板104也取向成具有俯仰角,则在图6的步骤634,电路可基于偏航角变化Θ5向马达144传送增加量的功率,以增加转子以及因此轮胎132的旋转速率。 If the second orientation, the alignment plate 104 also has a pitch angle, then step 634 in FIG. 6, the circuit may be based on the yaw angle of the motor 144 to change Θ5 increased amount of power transmitted to the rotor is increased, and thus the tire 132 rotation rate.

[0114] 图7-12示出操作交通工具100的过程。 [0114] Figure 7-12 shows the process of operating the vehicle 100. 图7示出在处于起始取向的板104上的骑者。 Figure 7 shows on in the initial orientation of the plate 104 rider. 起始取向可对应于骑者的一只脚向下按压在板面部分120上以将板面部分120靠在地面上, 并且骑者的另一只脚定位在板面部分116上。 It may correspond to the initial orientation of the rider's feet press down to the surface portion of the upper plate 120 against the ground portion 120 board, and the other rider's foot portion 116 positioned on the board. 如所示,骑者的右脚向下按压在板面部分120 上,并且骑者的左脚接触板面部分116。 As shown, the rider's right foot presses down on the plate surface portion 120, and the rider's left foot contacting the plate surface portion 116. 然而,板104可配置为允许骑者以"切换"的站姿操作交通工具100,其中骑者的左脚在板面部分120上,并且他们的右脚在板面部分116上。 However, the plate 104 can be configured to allow the rider to the "handover" standing operating vehicle 100, where the rider's left foot on the surface of the plate section 120 and section 116 of their right foot on the plate surface. 在起始位置中(或在起始位置之前),骑者可通过按压开关266(参见图4)使交通工具100通电。 In the initial position (or prior to the starting position), the rider can make the vehicle 100 is powered by pressing a switch 266 (see Figure 4). 在起始位置中,例如,通过用相对强的和大体连续的恒定电流(并且/或者在转子和定子之间机械地锁定和/或产生增大的摩擦)给电线圈提供功率,交通工具100的电路可防止或阻碍转子相对于定子的旋转(参见图3),这可帮助骑者将板104移动到水平取向。 In the starting position, for example, by a relatively strong and substantially continuous constant current (and / or mechanically locking and / or generate increased friction between the rotor and the stator) coil to provide power, transport 100 the circuit may prevent or hinder the rotation of the rotor relative to the stator (see Figure 3), which can help the rider to move the plate 104 to the horizontal orientation. 当来自传感器的取向信息指示板104已经移动到水平取向时,交通工具100的电路可配置为去除该旋转阻碍。 When the information from the sensor indicating the orientation of the plate 104 has been moved to a horizontal orientation, the circuit of the vehicle 100 may be configured to remove the hindered rotation.

[0115] 如图8所示,通过转移骑者自身的重量来使板104围绕俯仰轴线A1枢转,骑者可将板104移动到水平取向。 [0115] shown in Figure 8, the transfer by the rider's own weight to the plate 104 to pivot about the pitch axis A1, the rider board 104 can be moved to a horizontal orientation. 板104至水平取向的移动可经由控制环路620(参见图6)初始化交通工具100的主动平衡。 The moving plate 104 to be oriented horizontally (see Fig. 6) initializes the vehicle via active control loop balance of 620,100. 在一些实施例中,在已将板104保持在水平取向上(或接近水平取向的取向范围)预先确定的持续时间(例如,1秒)(其可提供足够的延迟以用于确保骑者控制交通工具100)之后,交通工具100的电路可配置为初始化(或前进到)环路620。 In some embodiments, the duration of the holding plate 104 has a horizontal orientation at (or near horizontal orientation is the range) of a predetermined (e.g., one second) (which may be used to provide sufficient delay to ensure that the rider's control of the vehicle 100), the circuit of the vehicle 100 can be configured to initialize (or forward) loop 620.

[0116] 如图9所指示,骑者可将板104围绕俯仰轴线A1枢转角01,以经由马达144提供的顺时针方向旋转"向前"(即在图9中为右)移动交通工具100。 [0116] FIG. 9 indicates, the rider can tilt the plate 104 about the axis A1 of the pivot angle 01, in a clockwise direction via rotary motor 144 "forward" (i.e., the right of FIG. 9) to move the vehicle 100 . 通过在顺时针方向上进一步枢转板104以例如产生俯仰角Θ2,骑者可增加马达144的顺时针方向旋转,并且因此增加交通工具100的前进速度。 In the clockwise direction by further pivoting plates 104 to produce e.g. pitch angle Θ2, the rider can increase the rotation of the motor 144 in the clockwise direction, and thus increase the forward speed of the vehicle 100.

[0117] 当骑者通过将板面部分116进一步朝向地面按压(例如,至俯仰角Θ2)来增加交通工具100的速度时,马达144的功率输出可接近最大功率输出。 When [0117] When the rider through the plate surface portion 116 is pressed further towards the ground (for example, to pitch angle Θ2) to increase the speed of the vehicle 100, the motor 144 may approach the maximum power output of the power output. 在马达144的最大输出处,将板面部分116进一步朝向地面按压可导致板的前端以相对高的速度接触地面,这可导致出现事故。 The maximum output of the motor 144 at the surface of the plate portion 116 is further pressed toward the surface can cause the front end plate to a relatively high speed contact with the ground, which may lead to an accident. 为了防止此类事故的可能性,交通工具100可包括功率裕度指示特征,所述功率裕度指示特征配置为向骑者指示马达144的当前功率输出和马达144的最大功率输出之间的裕度。 In order to prevent the possibility of such an accident, the vehicle 100 may include a power margin indicates feature, the power margin indicates characterized configured to indicate to the rider's current power output of the motor 144 and the motor 144 of the margin between the maximum power output degree. 例如,当马达144的当前功率输出达到接近最大功率输出的预先确定的净空阈值时(例如,如果以相对高的速度或速率驱动马达144并且骑者将板104枢转到俯仰角Θ2),交通工具100的电路可配置为向马达144传送增加的功率脉冲(例如,超过净空阈值,但小于或等于最大功率输出),以将骑者向后推并且将板104朝向(和/或至)水平取向向后移动(或在一些实施例中,甚至进一步向后)。 For example, when the motor 144 of the current power output of headroom threshold near the maximum power output of the pre-determined (for example, if a relatively high velocity or speed of the drive motor 144 and the rider will plate 104 pivoted to the pitch angle Θ2), transportation circuit tools 100 can be configured to motor 144 transmit the increased power pulses (for example, more than the headroom threshold but less than or equal to the maximum power output) to the rider pushed back and the plate 104 toward (and / or to) level oriented backward (or in some embodiments even further backwards). 在一些实施例中,功率裕度指示器可通过发射音频信号(例如,从蜂鸣器)或视觉信号(例如,从转速计)传达当前功率输出和最大功率输出之间的关系。 In some embodiments, the power margin indicator can be (for example, from the buzzer) or visual signal (for example, from a tachometer) to convey the relationship between the current power output and maximum power output by between transmit audio signals. 在一些实施例中,如图10所示,当反向推进交通工具100时,功率裕度指示器可配置为类似地指示当前功率输出和最大功率输出之间的裕度(或比率)。 In some embodiments, shown in Figure 10, when the reverse propulsion vehicle 100, the power margin indicator can be configured similarly indicates the current margin of power output and maximum power output between (or ratio).

[0118] 当枢转板104以具有相对于水平取向的俯仰角时,如图9和图10所示,骑者可围绕侧倾轴线A2枢转板104,如图11所示,以调整至马达的功率。 [01] When the pivot plate 104 with respect to horizontal orientation when the pitch angle, 9 and 10, the rider roll rotatable about an axis A2 pivot plate 104, shown in Figure 11, to adjust to motor power.

[0119] 类似地,当枢转板104以具有相对于水平取向的俯仰角时,骑者可围绕偏航轴线A3 枢转板104,如图12所示,以调整至马达的功率。 [0119] Similarly, when the pivot plate 104 with respect to the horizontal orientation when the pitch angle, the rider can pivot about a yaw axis A3 plate 104, shown in Figure 12, in order to adjust the power of the motor.

[0120] 在一些实施例中,通过一个或多个外围装置可监视、改变和/或控制一个或多个电动交通工具,所述一个或多个电动交通工具可各自类似于和/或包括交通工具1〇〇。 [0120] In some embodiments, one or more peripheral devices can monitor, change and / or control one or more electric vehicles, said one or more of their electric vehicle can be similar to and / or including transportation tools 1〇〇. 此类系统和部件的其示例在图13-23中示出。 Such systems and components which are illustrated in Figure 13-23.

[0121] 图13示出通常以700表示的说明性系统。 [0121] FIG. 13 shows an illustrative system 700 generally expressed. 系统700可包括与无线电子装置710通信的交通工具100。 The vehicle system 700 may include wireless electronic devices 710 and 100 communicate. 装置710可以是包括传送器TX和/或接收器RX的任何合适的无线电子装置。 Device 710 may comprise any suitable transmitter TX wireless electronic devices and / or the receiver RX. 例如,装置710可以是智能电话、平板电脑或能够无线地传送和/接收数据的任何其他无线电子装置。 For example, device 710 may be a smart phone, tablet, or any other wireless electronic devices capable of wirelessly transmitting and / or receiving data.

[0122] 装置710可配置为无线地升级和/或改变交通工具100的(例如,微控制器269的)固件。 [0122] 710 may be configured to wirelessly update and / or change the vehicle 100 (for example, the microcontroller 269) firmware. 例如,装置710可通过网络诸如云网络从服务器720下载加密的固件程序包。 For example, device 710 may be encrypted, such as cloud Download the firmware package from the server 720 via the network. 装置710可将该程序包从装置710的传送器TX传送到交通工具100的接收器RX。 The device 710 may be a package from the conveyor means 710 transmits TX to the receiver RX 100 of the vehicle. 在一些实施例中,交通工具1〇〇可包括用于将关于交通工具1〇〇的操作状态的数据传送到装置710的接收器RX的传送器TX。 In some embodiments, the vehicle may comprise 1〇〇 data on the operational state of the vehicle 1〇〇 transmitted to the receiver device 710. RX transmitter TX. 通过装置710接收数据可促使装置710从服务器720下载程序包。 710 receives data via device from the server device 710 may promote 720 download package.

[0123] 装置710可包括处理器(或处理器单元一参见图23)、存储装置(参见图23)和包括存储在存储装置中的多个指令的程序(或软件应用程序)800。 [0123] Device 710 may include a processor (or a processing unit see Fig. 23), storage means (see FIG. 23) and includes a plurality of instructions stored in a program storage device (or software application) 800. 所述多个指令可由处理器执行,以接收从交通工具100传送的数据,在装置710的图形用户界面(GUI)上显示从交通工具100所接收的数据,在装置710的⑶I上显示交通工具100的部件配置,将数据传送到交通工具1〇〇,重新配置(或改变)交通工具1〇〇的一个或多个部件,控制交通工具1〇〇的一个或多个部件,并且/或者执行图14-20所示的特征中的一个或多个。 Said plurality of instructions executable by the processor to receive data transmitted from the vehicle 100, the display device 710 a graphical user interface (GUI) on the data received from the vehicle 100, the vehicle display device 710 on the ⑶I 100 parts of the configuration, to transmit data to a vehicle 1〇〇 reconfigure (or change) of a vehicle 1〇〇 or more components, vehicle control 1〇〇 of one or more components, and / or execution characteristics shown in Fig. 14 to 20 to one or more.

[0124] 图14描绘了可包括在应用程序800中的各种特征的示意性方框图。 [0124] Figure 14 depicts a schematic block diagram of the various features may include the application of the 800. 应用程序800可包括骑乘模式选择器特征802。 Application 800 may include a ride characteristics mode selector 802. 特征802可配置为允许骑者(或其他用户)选择和/或改变交通工具100的骑乘模式。 Feature 802 may be configured to allow the rider (or other user) to select and / or change the riding mode of transport 100. 例如,特征802可包括最高速度限制选择器804、最高加速度限制选择器806、控制环路增益选择器808和/或转弯补偿参数选择器810。 For example, it features 802 may include a maximum speed limit selector 804, the maximum acceleration limit selector 806, the control loop gain selector 808 and / or turns compensation parameter selector 810. 选择器804可允许选择(和/或设定)交通工具100的(例如,转子相对于定子的)最高速度限制。 Selector 804 allows the selection (and / or set up) a vehicle (for example, the rotor relative to the stator) maximum speed limit of 100. 例如,骑者可能是新手,在该情况下,选择器804可用于将最高速度限制设定为相对低的速度,诸如2英里每小时(MPH)。 For example, a novice rider may, in this case, the selector 804 may be used to the maximum speed limit is set to a relatively low speed, such as 2 mph (MPH). 在稍后的时间和/或当骑者对操作电动交通工具变得更加熟练时,骑者可使用选择器804增加最高速度限制(例如,至8MPH)。 At a later time and / or when the rider to operate the electric vehicle becomes more proficient, the rider can use the selector 804 increases the maximum speed limit (for example, to 8MPH). 在另一个示例中,电动交通工具可由多个用户使用,所述多个用户中的至少一个可能是新手,并且所述用户中的至少一个可能是比较有经验的。 In another example, the electric vehicle can be used by multiple users, the plurality of users may be at least a novice, and at least one may be more experienced users of. 选择器804可用于为新手将最高速度限制设定为较低速度,并且为更有经验的骑者将最高速度限制设定为较高速度。 Selector 804 can be used for novices to maximum speed limit is set to a lower speed, and for the more experienced rider maximum speed limit will be set to a higher speed. 类似地,选择器806可用于选择电动交通工具的(例如,转子相对于定子的)最高加速度限制。 Maximum acceleration limiting Similarly, the selector 806 can be used to select the electric vehicle (for example, the rotor relative to the stator).

[0125] 选择器808可配置为允许减小、增大或以其他方式调整电动交通工具的控制环路(例如,参见图6中的反馈控制环路620)的增益。 [0125] Selector 808 can be configured to allow Increase or decrease or otherwise adjust the electric vehicle control loop (for example, see Figure 6, the feedback control loop 620) gain. 例如,基于板104的倾斜角(例如,俯仰角)已经改变的程度,该增益可确定马达144的转子的旋转速率改变的速率。 For example, based on the inclination angle of the plate 104 (e.g., pitch angle) has been changed, the gain of the rate of rotation of the motor 144 determines the rate of change of the rotor. 通过使用选择器808 将该增益设定为较低水平,俯仰角的第一变化可对应于电动交通工具的较小加速度。 By using this gain selector 808 is set to a low level, the first change in the pitch angle may correspond to a small electric vehicle acceleration. 通过使用选择器将该增益设定为较高水平,俯仰角的第一变化可对应于电动交通工具的较大加速度。 The gain by using the selector set to a high level, the first change in the pitch angle may correspond to large electric vehicle acceleration. 设定增益可包括改变PID控制环路的一个或多个增益,诸如比例增益(Kp)、积分增益(Ki)和/或微分增益(Kd)。 May include changing a gain setting PID control loop or a plurality of gain, such as a proportional gain (Kp of), integral gain (Ki) and / or differential gain (Kd). 然而,与改变积分增益和/或微分增益相比较,改变比例增益可更加显著地改变交通工具的骑乘感觉。 However, changing the integration gain and / or differential gain compared to the proportional gain can be changed more significantly alter the ride feeling of the vehicle.

[0126] 选择器810可配置为允许选择和/或设定一个或多个转弯补偿参数。 [0126] Selector 810 can be configured to allow selection and / or one or more turns setting compensation parameters. 例如,选择器810可允许用户选择侧倾角是否用于调整马达命令,并且/或者设定对应于侧倾角和马达命令调整之间的关系的增益。 For example, the selector 810 may allow the user to select the roll angle is used to adjust motor commands and / or setting corresponding to the relationship between the roll angle and the motor command to adjust the gain between. 类似地,选择器810可允许用户选择偏航角变化是否用于调整马达命令,并且/或者设定对应于偏航角变化和马达命令调整之间的关系的增益。 Similarly, the selector 810 may allow the user to select whether to change the yaw angle adjusting motor commands and / or setting corresponding to the yaw angle changes and motor commands to adjust the gain of the relationship between.

[0127] 应用程序800可包括电池状态特征812。 [0127] Applications 800 may include a battery status feature 812. 特征812可在GUI上显示,或以其他方式将剩余在电动交通工具的电源(例如,所述一个或多个电池)中的可用功率量传达给用户。 812 may feature on the GUI display, or otherwise remaining in the electric vehicle power supply (for example, the one or more batteries) in the amount of available power to convey to the user. 例如,特征812可将剩余的电池功率显示为百分比和/或对应于剩余功率可将电动交通工具推进多远的距离。 For example, it features 812 remaining battery power can be displayed as a percentage and / or corresponding to the remaining power of the electric vehicle propulsion may be far away. 如果电动交通工具插入再充电装置中以用于给电源再充电,则特征812可显示(或传达)持续时间直到电源被再充满电。 If the electric vehicle recharging device is inserted to the power supply for recharging, the feature 812 may display (or convey) the duration until the power is re-charged.

[0128] 应用程序800可包括里程表特征814。 [0128] Applications 800 may include odometer features 814. 特征814可显示(或以其他方式传达)电动交通工具已经被骑乘或操作的总距离。 Feature 814 can display (or otherwise communicated) has been riding the electric vehicle operation or the total distance. 例如,电动交通工具的电路可将表示电动交通工具轮胎的总转数的数据传送给无线电子装置。 For example, the electric vehicle may represent a data transfer circuit electric vehicle tire of the total number of revolutions to the wireless electronic device. 然后,无线电子装置可基于所传送的数据显示(或更新)由特征814传达的距离。 Then, the wireless electronic devices may be based on the transmitted data is displayed (or updated) by the feature 814 conveying distance.

[0129] 应用程序800可包括照明模式选择器816。 [0129] Applications 800 may include a lighting mode selector 816. 电动交通工具可包括多个照明模式,诸如第一照明模式、第二照明模式、第三照明模式、第四照明模式和第五照明模式。 Electric vehicle may comprise a plurality of illumination modes, such as the first lighting mode, the second illumination pattern, the third pattern illumination, the fourth and the fifth illumination pattern illumination pattern. 第一照明模式可配置为可逆地照亮头灯/尾灯组件(例如,基于电动交通工具的移动方向切换所述组件的照明器的颜色)。 The first mode of illumination may be configured to reversibly illuminated headlights / taillights components (e.g., based on the moving direction of the electric vehicle switch assembly of the luminaire color). 第二照明模式可配置为不可逆地照亮头灯/尾灯组件(例如,不基于移动方向切换颜色)。 The second mode of illumination may be configured to illuminate the irreversible headlamp / tail components (e.g., not based on the moving direction of the switching colors). 第三照明模式可配置为从头灯/尾灯组件发射较明亮的光(例如,用于夜间骑乘)。 The third mode can be configured to emit light from the headlight / taillight assembly brighter light (for example, for night riding). 第四照明模式可配置为从头灯/尾灯组件发射较昏暗的光(例如,用于白天骑乘)。 The fourth mode can be configured to emit light from the headlight / taillight assembly relatively dim light (for example, for daytime riding). 第五照明模式可配置为使头灯/尾灯组件中的一者或两者的照明器发出闪光(例如,以增加电动交通工具的可见度)。 Fifth lighting mode can be configured to make the headlight / taillight assembly in one or both of the light emitted by the flash (for example, to increase the visibility of the electric vehicle).

[0130] 选择器816可允许选择多个照明模式中的一个或多个模式。 [0130] Selector 816 can allow multiple lighting modes in one or more modes. 例如,骑者可使用选择器816选择第一照明模式和第三照明模式,从而导致头灯/尾灯组件被可逆地照亮并且发射较大量的光。 For example, the rider can use the selector 816 selects the first illumination pattern and the third pattern illumination, causing the headlights / taillights assembly is reversibly illuminated and emit a larger amount of light. 随后骑者可使用选择器816取消选择第三照明模式,并且选择第四照明模式, 以减少电动交通工具的功率消耗。 Then the rider can use the selector 816 deselect the third illumination mode, and selects the fourth lighting mode to reduce power consumption of the electric vehicle. 在一些实施例中,选择器816可用于在打开(0N)模式和关闭(OFF)模式之间切换头灯/尾灯组件。 In some embodiments, the selector 816 may be used between open (0N) mode on and off (OFF) mode switching headlight / taillight assembly.

[0131] 应用程序800可包括信息特征818。 [0131] Applications 800 may include information about features 818. 特征818可配置为从电动交通工具获得诊断、维修、误差和/或调试信息,并且向用户显示(或以其他方式传达)该信息。 Feature 818 can be configured to obtain the diagnosis, maintenance, errors and / or debugging information from the electric vehicle, and displayed to the user (or otherwise communicated) the information. 例如,特征818可获得和/或显示表示、指示、对应于和/或与其相关联的电池电压、电流安培数、总安培小时、再生或重生安培小时(例如,通过再生制动恢复的电能的量)、板的当前倾斜角、安全裕度(例如,表示相对于马达最大功率输出的马达当前功率输出,诸如表示为最大功率输出的百分比的当前功率输出)、当前马达温度、马达温度的历史记录、总电池周期和/或前述事项中任何一项的操作状态的指示的信息(或数据)。 For example, features 818 can be obtained and / or displayed, said instructions corresponding to and / or associated with the battery voltage, amperage, ampere hours total, regeneration or rebirth ampere hours (for example, by regenerative braking energy recovery volume), the current tilt angle plate margin of safety (e.g., expressed with respect to the maximum power output of the motor current of the motor power output, such as a percentage of the maximum power output of the current power output), the history of temperature of the motor current, motor temperature record total cell cycle and / or operating state of matter in any one of the preceding instruction information (or data).

[0132] 应用程序800可包括安全特征820。 [0132] Applications 800 may include security features 820. 特征820可配置为防止电动交通工具的未授权使用。 Feature 820 can be configured to prevent unauthorized electric vehicle use. 例如,特征820可配置为使电动交通工具在启用模式和禁用模式之间转换。 For example, it features 820 can be configured to make the electric vehicle mode between enabled and disabled modes. 启用模式可允许向电动交通工具的马达被提供功率。 Enable mode allows power to be supplied electric vehicle motors. 禁用模式可防止向电动交通工具的马达提供功率(并且/或者将转子相对于定子电气地和/或机械地锁定)。 Disable mode prevents providing power (and / or the rotor relative to the stator electrically and / or mechanically locked) to the electric vehicle motor.

[0133] 在一些实施例中,可向特定电动交通工具(或电动交通工具组)的所有者和/或授权骑者发出对应该特定电动交通工具(或电动交通工具组)的个人识别号码(PIN),在该情况下,特征820可允许所有者和/或授权骑者输入PIN以将电动交通工具在启用模式和禁用模式之间转换。 [0133] In some embodiments, may be given to the owner of the electric vehicle (electric vehicle or group) and / or authorized rider should issue specific to electric vehicles (electric vehicle or group) personal identification number ( PIN), in this case, the feature 820 may allow the owner and / or authorized rider to enter the PIN to electric vehicle mode between enabled and disabled modes. 在一些实施例中,具有授权PIN的无线电子装置与对应的电动交通工具的预定相对紧密的接近度可将电动交通工具转换到启用模式。 In some embodiments, the PIN has authorized wireless electronic device and the corresponding motor vehicle predetermined relatively close proximity can be converted to electric vehicle mode is enabled. 在一些实施例中,具有授权PIN的无线电子装置从预定相对紧密的接近度的移去可将电动交通工具转换到禁用模式。 In some embodiments, the PIN has authorized a wireless electronic device may be an electric vehicle conversion from a predetermined relatively close proximity to remove the disabled mode.

[0134]特征820可允许调节预定相对紧密的接近度。 [0134] 820 may allow adjustment of a predetermined characteristic in relatively close proximity. 例如,特征820可允许授权用户在相对短距离(例如,5米)和相对长距离(例如,50米)之间切换接近度。 For example, it features 820 may allow authorized users in a relatively short distance (for example, 5 m) and a relatively long distance (for example, 50 meters) between the proximity switch. 设定短距离的接近度可适合于个人使用。 Setting short-distance proximity may be suitable for personal use. 设定长距离的接近度可适合于电动交通工具由另一方诸如租赁人或朋友使用的情况。 Setting long-distance proximity may be adapted to the case of the electric vehicle by another party such as a lease or friends use the. 在一些实施例中,当无线电子装置与电动交通工具之间的测量距离指示电动交通工具的骑者未携带无线电子装置时,特征820可将电动交通工具转换到禁用模式。 In some embodiments, when measured from the wireless electronic devices and electric vehicles is indicative of the electric vehicle rider wireless electronic device is not portable, feature 820 may be converted to electric vehicle mode disabled. 无线电子装置的接近度(或其之间的距离)可由任何合适的设备、机构、装置或系统诸如全球定位系统(GPS)或一个或多个其他合适的接近传感器测量或估计。 Proximity (or distance between) may be any suitable device, mechanism, device or system, global positioning system other appropriate measure or estimate, such as a proximity sensor (GPS) or one or more wireless electronic device.

[0135] 应用程序800可包括通知特征822。 [0135] Applications 800 may include a notification feature 822. 特征822可从电动交通工具接收电动交通工具已被接通(或被上电)的通知。 Feature 822 may be received from the electric vehicle electric vehicle it has been turned on (or power) of the notice. 当电源中的电力已达到预定水平诸如处于或低于20%时,特征822可从电动交通工具接收通知。 When the power supply has reached a predetermined level, such as at or below 20%, it features 822 may receive a notification from the electric vehicle. 特征822可向用户显示(或以其他方式传)达这些通知中的一个或多个。 822 features the user can be displayed (or otherwise transfer) of these notifications to one or more.

[0136] 应用程序可800可包括导航特征824。 [0136] Applications can 800 may include navigation features 824. 特征824可显示电动交通工具行经的路线图。 Feature 824 may display electric vehicle passing through the road map. 该图可包括交通工具统计值,诸如针对路线中的一个或多个路线的平均速度、针对路线中的一个或多个路线的最高速度、针对路线中的一个或多个路线的最高转弯速度和/或针对路线中的一个或多个路线的最高加速度。 The figure may include traffic statistics tool, such as a route to one or more directions average speed, maximum speed route for one or more routes, routes for maximum turning speed of one or more routes and / or a route to one or more route highest acceleration. 所述路线可至少部分地基于交通工具或无线电子装置中任一个的GPS追踪或经由另一个合适系统的追踪被识别。 The route may be at least partially based on the vehicle or a wireless electronic device of any GPS tracking or other suitable tracking system to be identified by. 交通工具统计值可至少部分地基于从交通工具传送到无线电子装置的马达控制器信息被确定。 Vehicle statistics based at least in part transferred from the vehicle to the motor controller information for the wireless electronic device is determined.

[0137] 特征8 2 4可允许用户经由一个或多个社交网络诸如FACEBOOK®或TWITTER®与其他的一方或多方分享图、一个或多个特定路线和/或与其对应的数据。 [0137] features 824 may allow a user such as FACEBOOK® TWITTER® or other party or parties to share maps, one or more specific route and / or data corresponding thereto via one or more social networks. 特征824可显示用户当前位置的图,并且,特征824可覆盖在鉴于电源的当前电力水平指示电动交通工具可行驶多远(例如,交通可行驶里程)的圆(或其他形状)的图上。 Features 824 displays the user's current location map and, features 824 can be overlaid on the view of the current power level of the power supply indicates the electric vehicle can travel far (for example, traffic can travel miles) circle (or other shape) of FIG. 该图可示出附近充电站的位置。 This graph shows the location of nearby charging stations. 充电站可包括公共电动交通工具充电站和/或此前已被确定为允许他人在其各自的家中或公司中插入电插座中的个人电动交通工具爱好者的位置。 Charging station may include a public electric vehicle charging station and / or have been previously determined to allow another person or company plugged into an electrical socket in their respective personal electric vehicle enthusiasts home position.

[0138] 应用程序800可包括训练特征826。 [0138] Applications 800 may include training features 826. 特征826可配置为通过关于电动交通工具的各种特征的学习进程来指导骑者。 Feature 826 can be configured through the various features of electric vehicles on the learning process to guide the rider. 学习进程可包括一系列的教学视频。 Learning process may include a series of instructional videos. 教学视频中的每个可关于电动交通工具的不同特征。 Each feature may be different on electric vehicle instructional video. 每个视频之后可以是一个或多个指导练习。 After each video may be one or more guide practice. 如果骑者顺利完成了所述一个或多个指导练习,则特征826可以解锁电动交通工具的新特征。 If the rider successfully completed one or more guide practice, the feature 826 can unlock new features of electric vehicles. 新特征可以是骑者先前不可获得的特征。 The new features can be characterized by the rider previously unobtainable.

[0139] 图15示出软件应用程序的主屏幕900的示例性屏幕截图。 [0139] FIG. 15 illustrates the software application's main screen an exemplary screen shot 900. 如所示,屏幕900可包括域902。 As shown, screen 900 may include a field 902. 域902可显示剩余电池电量的百分比(在该示例中为88%),并且可以以柱状图描绘该百分比。 The percentage of remaining battery power (in this example 88%), and may be a bar graph depicting the percentage field 902 can display. 屏幕900可以包括域904,该域904基于剩余电池电量的百分比显示估计的电动车辆可行驶的车辆可行驶里程(在该情况下为5.3英里)。 Screen 900 may include a field 904, the field 904 based on the percentage of remaining battery power display electric vehicle can travel an estimated vehicle driving range (in this case 5.3 miles). 域902和/或904可以是特征812的示例。 Domain 902 and / or 904 may be a feature of an example 812.

[0140] 屏幕900可以包括骑乘模式选择器域906。 [0140] Screen 900 may include riding mode selector field 906. 域906可以是特征802的示例。 Domain 906 may be an example characteristic 802. 域906可允许用户选择多个骑乘模式诸如学习模式、速度模式或特技模式中的一个。 Field 906 may allow the user to select multiple riding modes such as learning mode, speed mode or a trick mode. 学习模式可适合于新手骑者在学习如何操作电动交通工具时使用。 Learning mode is suitable for novice rider to use when learning how to operate the electric vehicle. 例如,学习模式可对应于较低的最高速度限制、较低的最高加速度限制和/或相对低的(或没有)转弯补偿。 For example, the learning mode may correspond to a lower maximum speed limit, the lower limit of the maximum acceleration and / or relatively low (or no) turn compensation. 速度(或通勤)模式可适合于期望在电动交通工具上快速从一个地方行驶到另一个地方的骑者。 Speed (or commuting) mode can be quickly adapted to the desired driving on the electric vehicle from one place to another place rider. 例如,速度模式可对应于较高的最高速度限制、较高的最高加速度限制和/或中等的转弯补偿。 For example, the speed mode may correspond to a higher maximum speed limit, a higher maximum limit acceleration and / or moderate turn compensation. 特技模式可适合于期望在电动交通工具上执行各种特技的骑者。 Trick mode may be adapted to perform a variety of stunts on a desired electric vehicle rider. 例如,特技模式可对应于中等的最高速度限制、较高的最高加速度限制和/或较高的转弯补偿。 For example, the trick mode may correspond to a moderate maximum speed limit higher maximum acceleration limit and / or turn higher compensation.

[0141] 用户可通过轻击学习域908选择学习模式,用户可通过轻击速度域910选择速度模式,并且用户可通过轻击特技域912选择特技模式。 [0141] The user can click through the light-learning field 908 to select the learning mode, the user can tap the Speed field, select the speed mode 910, and the user can click to select stunt trick mode field 912 by light. 所述模式中的一个模式的选择可对应于其他模式中的一个或多个模式的取消选择。 Select the mode of a pattern may correspond to other modes of one or more modes of deselected.

[0142] 骑乘模式的选择可导致域914的显示。 Select [0142] riding mode can result in a display field 914. 域914可显示所选择的骑乘模式的一个或多个操作参数。 Field 914 can display one or more operating parameters of the selected riding mode. 例如,如果选择速度模式,如图15所示,则域914可显示最高速度域916、加速度域918、转弯域920和行驶里程域922。 For example, if you select speed mode, as shown in Figure 15, the domain 914 can display a maximum speed of 916 domain, 918 domain acceleration, cornering domain 920 and 922 with mileage domain. 域916可描绘速度模式的最高速度限制,并且/或者使用户能够设定速度模式的最高速度限制。 Domain 916 can be depicted maximum speed limit speed mode, and / or enables the user to set the maximum speed limit speed mode. 域918可描绘速度模式的最高加速度限制,并且/ 或者使用户能够设定速度模式的最高加速度限制。 Domain 918 can be depicted maximum acceleration limiting speed mode, and / or speed mode enables the user to set the maximum acceleration limit. 域920可描绘和/或使用户能够设定将侧倾角和/或偏航角的调整分解成转子围绕俯仰轴线的旋转速率的调整的速率。 Domain 920 can be depicted and / or enables the user to set the adjustment roll angle and / or yaw angle down into the rotor rotational speed adjustment around the pitch axis rate. 域922可描绘速度模式的一个或多个操作参数(或设置)可如何影响电动交通工具可以行使的里程。 Domain 922 can be depicted speed mode, one or more operating parameters (or sets) may affect how electric vehicles can be exercised mileage. 例如,如果操作参数消耗更大量的能量,则域922可指示较短的可行驶里程,如所示的。 For example, if the operating parameters consume a greater amount of energy, the field 922 may indicate a short driving range, as shown in FIG. 类似地,域914可描绘和/或实现针对学习模式和特技模式设定一个或多个类似的操作参数。 Similarly, field 914 can be depicted and / or implement a similar set of one or more operational parameters for the learning mode and trick modes.

[0143] 屏幕900可包括照明模式域924。 [0143] Screen 900 may include a lighting mode field 924. 域924可以是特征816的示例。 Domain 924 may be an example of feature 816. 域924可使用户能够将头灯/尾灯组件在两个或更多个照明模式诸如关闭模式和打开模式之间转换。 Domain 924 allows the user to headlight / taillight assembly in two or more lighting modes such as off mode and switch between open mode. 关闭模式可对应于头灯/尾灯组件的照明器不发射光。 Off mode may correspond to the headlight / taillight assembly illuminator does not emit light. 打开模式可对应于头灯/尾灯组件的照明器发射光。 Open mode can correspond luminaire headlamp / tail light emission component.

[0144] 屏幕900可包括指示器926。 [0144] Screen 900 may include an indicator 926. 指示器926可指示装置710如何连接到交通工具100或者装置710通过什么协议连接到交通工具100(参见图13)。 Indicator 926 may indicate how the device 710 is connected to a vehicle apparatus 100 or 710 is connected to a vehicle 100 (see FIG. 13) by any agreement. 如图15所指示,装置710可经由蓝牙协议连接到交通工具1〇〇(例如,与交通工具100通信)。 FIG 15 indicating apparatus 710 may be connected to the vehicle via a Bluetooth protocol 1〇〇 (e.g., 100 in communication with the vehicle). 然而,在其他实施例中,无线电子装置可经由适合于将数据从一个电路优选地无线地传送到另一个电路的另一个协议连接到电动交通工具。 However, in other embodiments, to wireless electronic devices may be connected to a data circuit is preferably transmitted wirelessly to another protocol from another circuit to the electric vehicle via suitable.

[0145] 屏幕900(和应用程序800的其他屏幕)可包括允许用户在应用程序800的各种特征之间切换的一个或多个图标。 [0145] Screen 900 (and the rest of the application screen 800) may include allowing users between applications of the various features of the switch 800 to one or more icons. 例如,应用程序800的屏幕可包括图标928、930、932、934。 For example, the application screen 800 may include icons 928,930,932,934. 图标928可以是骑乘模式/主屏幕图标,其在被用户轻击(或以其他方式选择)时可将应用程序800切换到屏幕900。 Icon 928 may be riding mode / main screen icons, which users tap (or otherwise select) when the application 800 may switch to the screen 900. 图标930可以是导航图标,其在被用户选择时可将应用程序800切换到一个或多个导航屏幕。 Icon 930 may be a navigation icon, which when selected user applications can be 800 or more to switch to a navigation screen. 例如,图标930的选择可导致显示允许用户选择屏幕1000或屏幕1100 (参见图16和图17)中任一个的菜单。 For example, the selection icon 930 may cause the display screen allows the user to select screen 1000 or 1100 (see FIG. 16 and FIG. 17) according to any one of the menus. 图标932可以是配置图标,其在被用户选择时可在屏幕1200(参见图18)上显示特征818和/或820(参见图14)。 Icon 932 may be configured icons that can be displayed on the screen when the user select 1200 (see Figure 18) features 818 and / or 820 (see Figure 14). 图标934可以是训练图标,其在被用户选择时可将应用程序800切换到一个或多个训练屏幕。 Icon 934 icon can be trained, it can switch to the application 800 is selected by a user in one or more training screen. 所述一个或多个训练屏幕可通过一个或多个操作进行,其示例在图19和图20中示出。 Said one or more training screen through one or more operations, which are illustrated in Figures 19 and 20.

[0146] 在图16中,屏幕1000描绘导航特征824(参见图14)的示例。 [0146] In FIG. 16, the screen 1000 depicted navigation features 824 (see FIG. 14) of the sample. 如图16所示,屏幕1000 可显示通常以1004表示的图。 As shown in Figure 16, display screen 1000 may be generally represented by 1004 in FIG. 图1004可显示交通工具100行驶的一个或多个路线,诸如第一路线1008(以双点划线示出)、第二路线1012(以点划线示出)和第三路线1016(以短划线示出)。 1004 can display a vehicle traveling 100 or more routes, such as the first route 1008 (two-dot chain line shown), and the second route 1012 (shown in dashed line) and the third route 1016 (short shown in phantom). 对于所述路线中的一个或多个,图1004可显示电动交通工具沿相应路线的一个或多个统计值。 For the route to one or more of 1004 electric vehicle can be displayed in one or more statistical value of the corresponding line. 例如,图1004可以显示电动交通工具沿路线1008的平均速度统计值(例如, 6MPH)、电动交通工具达到最高(或最大)转弯速度的位置、电动交通工具达到最高加速度的位置以及电动交通工具达到最高速度的位置。 For example, FIG 1004 may display the electric vehicle along the route, the average speed statistics 1008 (e.g., 6 MPH), the electric vehicle reaches the highest position (or maximum) turning speed, the electric vehicle to achieve the highest acceleration of the position and the electric vehicle reaches position of maximum speed. 最高转弯速度、加速度和速度的值可显示在图1004上(例如,邻近相关联的位置)。 Maximum turning speed, acceleration and velocity values can be displayed on the map in 1004 (for example, the position of the neighboring associated). 类似地,图1004可显示路线1012、1016的统计值。 Similarly, the 1004 can display statistics of 1012,1016 route. 在一些实施例中,图1004可同时显示所示的所有路线的统计值。 In some embodiments, the 1004 statistics can be shown in all directions simultaneously displayed. 在一些实施例中,图1004可显示可由用户选择的仅路线的子集的统计值。 In some embodiments, the 1004 statistics can be displayed by the user to select only a subset of the route. 在一些实施例中,图1004可允许具体路线的选择性显示和/或共享(例如,通过轻击具体路线以访问该具体路线的显示器和/或共享控件)。 Selective In some embodiments, the 1004 allows specific route display and / or shared (for example, by tapping the specific route to access the specific route display and / or shared control).

[0147] 在图17中,屏幕1100描绘导航特征824(参见图14)的另一个示例。 [0147] In FIG. 17, the screen 1100 depicted navigation features 824 (see FIG. 14) is another example. 如图17所示,屏幕1100可显示通常以1104表示的图。 As shown in Figure 17, display screen 1100 may be generally represented by 1104 in FIG. 图1104可显示电动交通工具的当前位置。 Figure 1104 can display the current location of the electric vehicle. 特征824可在图1104上覆盖圆1108(或其他形状、轮廓或周边),以基于电动交通工具的电源中的当前电力水平指示电动交通工具可行驶多远(例如,电动交通工具的可行驶里程)。 Feature 824 may cover round 1108 (or other shape, contour or perimeter) in 1104 on the map, based on the electric vehicle power supply current level indicates how far an electric vehicle can travel (for example, an electric vehicle driving range ). 图1104可描绘一个或多个充电站的位置(和/或接近度)。 Fig 1104 can be depicted position (and / or proximity) one or more charging stations. 例如,图1104示出位于圆1108内的两个充电站和位于圆1108之外的一个充电站。 For example, Figure 1104 shows the circle within two charging stations 1108 and 1108 charging station is located in a circle outside. 显示电动交通工具的当前位置、充电站和/或圆1108的位置可帮助用户确定行驶的方向和/或是否去特定的充电站给电动交通工具的电源再充电。 Display the current location of the electric vehicle charging station and / or location of the circle 1108 can help users determine the direction of travel and / or whether to go to a specific charging station for electric vehicle recharging power. 例如,基于图1104,用户可决定行驶到位于圆1108内的充电站中的一个。 For example, based on the FIG 1104, the user can decide to travel round the charging station is located within a 1108.

[0148] 在一些实施例中,图17的图1104可包括图16的图1004。 [0148] In some embodiments, FIG 17 FIG 16 FIG 1104 may include 1004 of FIG. 例如,图1104可包括电动交通工具行经的路线显示和这些路线的统计值。 For example, Figure 1104 may include electric vehicle passing through these routes and route display statistics.

[0149] 图18是包括特征818、820的屏幕1200的示意图。 [0149] FIG. 18 is a schematic view of the screen features 818,820 in 1200. 屏幕1200(和/或应用程序的其他屏幕)可包括图像1204,图像1204可基于电动交通工具的倾斜角(例如,枢转角、侧倾角和/ 或偏航角)旋转。 Screen 1200 (and / or other screen applications) may include an image 1204, an image 1204 may be based on the electric vehicle inclination angle (for example, pivot angle, roll angle and / or yaw angle) rotation. 例如,图像1204的旋转可基于来自电动交通工具陀螺仪和加速计的传感器信息(或取向信息)。 For example, rotating the image 1204 may be based on the vehicle from the electric gyroscope and accelerometer sensor information (or orientation information). 例如,软件应用程序可接收指示对应于电动交通工具从图7所示的取向移动到图8所示的取向的传感器信息的信号。 For example, the software application may receive a corresponding electric vehicle moves from the orientation shown in Figure 7 to the orientation shown in Fig. 8 sensor signal indicative of the information. 响应于该信号,软件应用程序可相应地将图像1204的显示从第一位置(以实线示出)旋转到第二位置(以双点划线示出)。 In response to this signal, the software application may accordingly display image 1204 from a first position (shown in solid lines) to a second rotational position (two-dot chain line shown). 软件应用程序可类似地旋转图像1204,以指示围绕侧倾轴线和/或偏航轴线的移动。 Software applications can similarly rotate the image 1204, to indicate movement around the axis of the roll and / or yaw axis. 如图18所示,图像1204 是电动交通工具的图像。 18, image 1204 is the image of the electric vehicle. 然而,在其他实施例中,图像可以是另一个物体或形状的图像或纹理的图像。 However, in other embodiments, the image may be an image of another object or a shape or texture of an image.

[0150] 图像1204的旋转可使用户能够远程观看电动交通工具的移动,并且/或者便利地使传感器信息的准确性可视化。 Rotate [0150] Image 1204 allows users to remotely watch mobile electric vehicle, and / or convenient to enable the accuracy of the sensor information visualization. 例如,图像1204的旋转可使用户能够证实和/或以其他方式解释特征818所提供的信息。 For example, rotating the image 1204 enable a user to confirm and / or otherwise explain the features provided 818 information. 如上所述,特征818可向用户显示诊断、维修、误差和/或调试信息。 As described above, features 818 may be displayed to the user diagnostics, maintenance, errors and / or debugging information. 例如,用户可手动倾斜电动交通工具,并且通过视觉地将图像1204的倾斜与实际电动交通工具相比较,视觉地证实电动交通工具中的电路准确地计算倾斜角。 For example, a user can manually tilt the electric vehicle, and the image visually inclined and 1204 compared to the actual motor vehicle by visually confirmed that the electric vehicle in the circuit to accurately calculate the tilt angle.

[0151] 图像1204的旋转可提高电动交通工具的安全性。 Turn the [0151] image can be increased by 1204 electric vehicle safety. 例如,图像1204的旋转可指示未授权方正移动电动交通工具,在该情况下,用户可访问特征820以将电动交通工具从启用模式转换到禁用模式,以防止电动交通工具的未授权使用。 For example, rotating the image 1204 may indicate unauthorized Founder mobile electric vehicle, in this case, the user can access the feature 820 to electric vehicle mode to enable the transition from disabled mode to prevent unauthorized electric vehicle use.

[0152] 在一些实施例中,图像1204可以是软件应用程序的背景图像。 [0152] In some embodiments, an image 1204 may be a background image software applications. 例如,图像1204可以在特征818、820中任一个的"后面"显示。 For example, an image 1204 may be displayed in any of a feature of 818,820 "behind." 在一些实施例中,当软件应用程序接收指示电动交通工具已被通电的信号时,图像1204可出现在软件应用程序的屏幕中的一个或多个上,这可提高电动交通工具的安全性。 In some embodiments, when the electric vehicle is powered software application receives a signal indicating the image 1204 may be one or more of the screen in the software application, this can improve the electric vehicle safety. 在一些实施例中,当软件应用程序接收指示电动交通工具已被断电的信号时,图像1204可从软件应用程序的屏幕中的一个或多个上消失。 In some embodiments, when the software application receives a signal indicating an electric vehicle has been switched off, the image may disappear from the screen 1204 software applications on one or more.

[0153] 图19描绘了通常以1300表示的方法的多个步骤,其可由软件应用程序诸如由训练特征826(参见图14)执行。 [0153] FIG. 19 illustrates a plurality of steps of the method generally indicated 1300, which may be executed by software applications such as training features 826 (see Figure 14). 虽然方法1300的各种步骤在下面进行描述并且在图19中进行描绘,但所述步骤不必被全部执行,并且在一些情况下可以按与所示顺序不同的顺序执行。 Although the various steps of the method 1300 is described below and depicted in FIG. 19, but all the steps need not be performed, and may be performed in the order shown in different orders in some cases.

[0154] 方法1300可包括向用户提供第一指令集的步骤1302。 [0154] The method 1300 may include the step of providing a first user 1302 instruction set. 第一指令集可与电动交通工具的第一产品特征有关,诸如基本平衡。 The first set of instructions with the first electric vehicle product characteristics related to such balance. 第一指令集可包括在无线电子装置上由软件应用程序向用户提供的文本、音频和/或视频指令。 The first set of instructions may be included in the wireless electronic devices to provide users with software applications by text, audio and / or video instructions. 例如,提供第一指令集可涉及向用户显示教学视频,以教导用户如何执行关于基本平衡的第一过程,诸如将板从板的一端在地面上的起始位置(参见图7)枢转到水平取向(参见图8),以激活反馈控制环路。 For example, a first set of instructions can relate to the user instructional videos to teach users how to perform the first procedure on the basic balance, such as the plates from one end of the plate on the ground starting position (see Figure 7) pivoted horizontal orientation (see FIG. 8), to activate the feedback control loop.

[0155] 方法1300可包括通过与第一产品特征有关的第一练习来指导用户的步骤1304。 [0155] The method may include 1300 through the first practice with the first product characteristics related to guide the user step 1304. 例如,在步骤1304,软件应用程序可(通过文本、音频和/或视频)引导用户执行第一过程。 For example, in step 1304, a software application (via text, audio and / or video) to guide the user to perform the first procedure. 例如,在步骤1304,软件应用程序可配置为通过无线电子装置中的扬声器发出声音指令。 For example, in step 1304, the software application can be configured to sound through wireless electronic devices in the speaker instruction. 声音指令可引导用户将板定位在起始位置,将他们的脚放置在第一脚踏板和第二脚踏板上,并且/或者将板移动到水平取向。 Voice commands can direct users to the plate was positioned at the starting position, their feet placed in the first and second footrest footrests, and / or the plate is moved to a horizontal orientation.

[0156] 方法1300可包括确定是否成功执行(或完成)第一练习的步骤1306。 [0156] The method 1300 may include determining whether the successful execution of the steps (or completion of) the first practice of 1306. 在步骤1306, 可从电动交通工具向无线电子装置发送信号。 In step 1306, it may send a signal to the wireless electronic devices from the electric vehicle. 该信号可包括软件应用程序可从其确定是否成功执行第一练习的信息,诸如传感器信息和/或来自电动交通工具的微控制器的其他信息。 The signal may include software application information from the sensors to determine and / or other information such as the electric vehicle from the microcontroller first exercise information is successfully executed. 基于该信号,软件应用程序可确定是否成功执行第一练习。 Based on this signal, the software application may determine whether the successful implementation of the first exercise.

[0157] 在步骤1306,如果确定未成功执行第一练习(例如,板没有移动到水平取向),则方法1300可返回到步骤1302,并且第一指令集和/或与第一指令集类似的指令集可通过软件应用程序在无线电子装置上被提供给用户。 [0157] In step 1306, if it is determined to execute successfully practice the first (e.g., horizontal orientation to the plate is not moved), the method 1300 returns to step 1302, and the first set of instructions and / or instruction set similar to the first instruction set by software application is provided to the user on a wireless electronic device.

[0158] 然而,如果在步骤1306确定成功执行第一练习,则方法1300可前进到解锁电动交通工具的第二产品特征的步骤1308。 Step [0158] If, however, the successful implementation of 1306 to determine the first step in the exercise, the method 1300 may proceed to the second unlock product features an electric vehicle in 1308. 第二产品特征可以是电动交通工具的先前禁用的特征。 The second product features may be previously disabled features electric vehicle. 第二产品特征通常可比第一产品特征更难以操作,并且/或者可以是更复杂的和/或建立在第一产品特征的功能上的产品特征。 The second product features usually more difficult than the first product features operation, and / or may be more complex and / or the establishment of the first characteristics of the product features product features. 例如,第二产品特征可以是涉及保持板的俯仰角以向前推进板的持续前进运动特征,如图9所示。 For example, the second feature may be involved in maintaining the product pitch angle plate advancing continuous forward movement to the characteristics of the plate, as shown in FIG.

[0159] 如图19所示,方法1300可包括向用户提供第二指令集的步骤1310。 Shown in [0159] 19, the method 1300 may include step 1310 providing a user of the second instruction set. 第二指令集可与第二产品特征有关。 The second set of instructions with a second product characteristics related. 例如,在步骤1310,软件应用程序可在无线电子装置上提供教学视频,其示出用户如何使前脚踏板保持向下以向前驱动电动交通工具,以及如何允许板返回到水平取向以使电动交通工具停止。 For example, in step 1310, the software application provides instructional videos on wireless electronic devices, which shows users how to keep the pedal down to the front foot forward drive motor vehicles, as well as how to allow the board to return to the horizontal orientation so that the electric vehicle tool stops.

[0160]类似于相应的步骤1304、1306,方法1300可包括通过与第二产品特征有关的第二练习来指导用户的步骤1312,以及确定是否成功执行第二练习的步骤1314。 [0160] similar to the corresponding steps 1304, 1306, 1300 The method may include the step through the second practice characteristics associated with a second product to guide the user's 1312, 1314 and the step of determining whether the successful execution of the second practice. 在步骤1314,如果确定未成功执行第二练习,则方法1300可返回到步骤1310。 In step 1314, if it is determined to execute successfully practice the second, then the method 1300 returns to step 1310. 然而,如果在步骤1314确定成功执行第二练习,则方法1300可前进到解锁第三产品特征的步骤1316。 However, if it is determined the successful implementation of the second exercise in step 1314, the method 1300 may proceed to unlock the third product features step 1316. 第三产品特征可比第一产品特征和第二产品特征更复杂,并且/或者可需要第一产品特征和/或第二产品特征的操作知识以便安全执行。 The third product characteristics than the first and second product features product features are more complex and / or product features may require a first and / or second operational knowledge of product characteristics for safe execution.

[0161] 图20A和图20B是流程图的相应的第一部分和第二部分,并且可被共同地称为图20 〇 [0161] FIG. 20A and 20B are respective first and second portions of the flowchart, and may be collectively referred to as 20 billion

[0162] 图20描绘通常以1400表示的方法的多个步骤,其可由软件应用程序诸如由训练特征826(参见图14)执行。 [0162] FIG. 20 illustrates a plurality of steps of the method generally indicated 1400, which may be executed by software applications such as training features 826 (see Figure 14). 例如,方法1400可以是图19的方法1300的实施例。 For example, the method 1400 may be the method of Example 19 1300. 虽然方法1400的各种步骤在下面进行描述并且在图20中进行描绘,但所述步骤不必被全部执行,并且在一些情况下可以按与所示顺序不同的顺序执行。 Although the various steps of the method 1400 described below and depicted in FIG. 20, but all the steps need not be performed, and may be performed in the order shown in different orders in some cases.

[0163] 如所示,方法1400可包括显示基本平衡教学视频的步骤1402。 [0163] As shown, the method 1400 may include a display of the basic balance of instructional videos step 1402. 在步骤1402,基本平衡教学视频可通过软件应用程序在无线电子装置上向骑者(或用户)显示。 In step 1402, the basic balance of instructional videos can be displayed to the rider (or user) on wireless electronic devices through software applications.

[0164] 方法1400可包括通过基本平衡练习来指导骑者的步骤1404。 [0164] The method may include the steps by 1400 the basic balance exercises to guide the rider in 1404. 例如,在步骤1404,软件应用程序可引导骑者在电动交通工具上执行基本平衡练习。 For example, in step 1404, the software application guides the rider to perform basic balance exercises on the electric vehicle. 在一些实施例中,软件应用程序可确定是否成功执行基本平衡练习。 In some embodiments, the software application may determine whether the successful implementation of the basic balance exercises.

[0165] 方法1400可包括解锁低速(例如,2MPH)前进运动特征和停止特征的步骤1406。 [0165] Method 1400 may include unlock low speed (for example, 2MPH) features and steps to stop forward movement characteristic of 1406. 在一些实施例中,在(或只有在)已经确定成功执行(或完成)基本平衡练习之后,软件应用程序可解锁低速前进运动特征。 In some embodiments, at (or only) it has been determined successfully executed (or complete) balance after exercise, the software application can unlock feature low forward motion.

[0166] 方法1400可包括显示前进运动和停止教学视频的步骤1408以及通过前进运动和停止练习来指导骑者的步骤1410。 [0166] The method may include a display 1400 through 1408 and a step forward and stop motion exercises to guide the rider steps to stop the forward movement and instructional videos of 1410. 在一些实施例中,软件应用程序可确定是否成功执行前进运动和停止练习。 In some embodiments, the software application may determine whether the successful implementation of forward movement and stop practicing.

[0167] 方法1400可包括解锁脚趾侧转弯特征的步骤1412,诸如基于在与图11所示方向相反的方向上板围绕侧倾轴线的枢转来调整马达的转子的旋转速率。 [0167] Method 1400 may include steps of unlocking the toe side turning features 1412, such as on the pivot 11 in a direction shown with the opposite direction about the roll axis of rotation plate to adjust the rate of rotation of the rotor of the motor. 在一些实施例中,在(或只有在)已经确定成功执行前进运动和停止练习之后,软件应用程序可解锁脚趾侧转弯特征。 In some embodiments, at (or only) it has been determined that the successful implementation of forward movement and stop the exercises, the software application can unlock the toe side turn features.

[0168] 方法1400可包括显示脚趾侧转弯教学视频的步骤1414和通过脚趾侧转弯练习来指导骑者的步骤1416。 [0168] Method 1400 may include a display toe side turn steps instructional video by 1414 and toe-side turn exercises to guide the rider steps 1416. 在一些实施例中,软件应用程序可确定是否成功执行脚趾侧转弯练习。 In some embodiments, the software application may determine whether the successful implementation of the toe side turn exercises.

[0169] 方法1400可包括解锁较高速度特征的步骤1418,诸如在多至8MPH的速度下的前进运动。 [0169] The method 1400 may include the step of unlocking the higher speed characteristic 1418, such as the forward movement at a speed up to 8MPH. 在一些实施例中,在(或只有在)已经确定成功执行脚趾侧转弯练习之后,软件应用程序可解锁较高速度特征。 In some embodiments, at (or only) has been determined that the successful implementation of the toe side turns the exercises, the software application can unlock a higher speed characteristics.

[0170]方法1400可包括显示速度调整教学视频的步骤1420。 [0170] The method may include the step of displaying 1400 to adjust the speed of video teaching 1420. 例如,速度调整教学视频可向骑者示出增大俯仰角以增加电动交通工具速度以及减小俯仰角以减小电动交通工具速度的速度调整过程。 For example, the speed can be adjusted to the rider instructional video shows the pitch angle is increased to increase the speed and reduce the electric vehicle pitch angle to reduce the speed of the electric vehicle speed adjustment process.

[0171] 方法1400可包括通过速度调整练习来指导骑者的步骤1422。 [0171] The method may include the steps by 1400 to adjust the speed of practice to guide the rider in 1422. 例如,在步骤1422,软件应用程序可引导骑者执行速度调整过程的一个或多个步骤。 For example, in step 1422, the software application guides the rider to perform a process speed or more steps of adjustment.

[0172] 方法1400可包括解锁反向特征的步骤1424,诸如由于将后脚踏板保持低于水平取向所致的反向运动,如图10所示。 [0172] Method 1400 may include steps 1424, such as the reverse movement of the pedal is kept below since the rear horizontal orientation due to the reverse characteristic of unlocking, as shown in Fig. 在一些实施例中,在(或只有在)已经确定成功执行速度调整练习之后,软件应用程序可解锁反向运动特征。 In some embodiments, at (or only) has been determined after successful execution speed adjustment exercise, the software application can unlock the reverse movement characteristics.

[0173] 方法1400可包括显示反向教学视频的步骤1426和通过反向练习来指导骑者的步骤1428。 [0173] Method 1400 may include a display reverse steps instructional video by 1426 and reverse exercises to guide the rider steps in 1428. 在一些实施例中,软件应用程序可确定是否成功执行反向练习。 In some embodiments, the software application may determine whether the successful implementation of a reverse exercise.

[0174] 类似于步骤1412、1414、1416,方法1400可包括解锁脚跟侧转弯特征的步骤1430、 显示脚跟侧转弯教学视频的步骤1432以及通过脚跟侧转弯练习来指导骑者的步骤1434,其示例在图11中示出。 Step [0174] similar to step 1412,1414,1416, method 1400 may include a heel-side turn unlock feature of 1430, showing the heel side turns instructional videos and a step by step 1432 heel side turns to guide the exercise rider in 1434, an example of in Figure 11 is shown.

[0175] 方法1400可包括解锁全速特征的步骤1436,诸如在多至12MPH的速度下的前进运动和/或反向运动。 [0175] Method 1400 may include steps 1436 to unlock the full features, such as forward movement at the speed of up to 12MPH and / or reverse motion. 在一些实施例中,在(或只有在)已经确定成功执行脚跟侧转弯练习之后,软件应用程序可解锁全速特征。 In some embodiments, at (or only) has been determined that the successful implementation of the heel side turns the exercises, the software application can unlock the full features.

[0176]方法1400可包括显示走刃教学视频的步骤1438,其可向骑者示出如何利用侧倾角和偏航角中的一个或多个的调整来调整转子相对于定子的旋转速率而进行高速转弯。 [0176] Method 1400 may include a display instructional videos walk edge of the step 1438, it may apply to the rider shows how to use the roll angle and yaw angle of one or more of the adjustment to adjust the rate of rotation of the rotor relative to the stator performed high-speed cornering.

[0177] 方法1400可包括通过走刃练习来指导骑者的步骤1440,其中可指导骑者通过调整侧倾角和/或偏航角以相对高的速度完成多个转弯。 [0177] The method may include the step of 1400 walking through the blade to guide the exercise rider of 1440, which can guide the rider by adjusting the roll angle and / or yaw angle with a relatively high speed through several turns.

[0178] 方法1400可包括向骑者颁发训练完成证书(或虚拟证书)的步骤1442。 [0178] The method may include the steps 1400 to 1442 to complete the training certificate issued by the rider (or virtual certificate) of. 颁发证书可基于软件应用程序是否确定成功完成走刃练习和/或其他练习中的任何一个。 Certificates may be issued based software application to determine whether the successful completion of exercise walking the edge and / or other exercise of any or. 在一些实施例中,方法1400可包括基于成功执行在步骤1404、1410、1416、1422、1428、1434中任何一个步骤处的先前执行的练习中的一个或多个练习来颁发证书。 In some embodiments, the method may include 1400 based on the successful implementation of the exercise in step 1404,1410,1416,1422,1428,1434 any previously executed one step at one or more of practice to issue the certificate. 例如,步骤1418可包括解锁较高速度特征以及基于成功完成脚趾侧转弯练习来颁发证书。 For example, step 1418 may include unlocking higher speed characteristics and based on the successful completion of the toe side turn practice to issue the certificate.

[0179] 图21示出通常以1500表示的系统。 [0179] FIG. 21 shows a system generally indicated by 1500. 系统1500可包括与无线电子装置710通信的电动交通工具100和与交通工具100类似的电动交通工具1502。 710 System 1500 may include wireless electronic devices to communicate electric vehicle 100 and a vehicle 100 similar electric vehicle 1502. 例如,交通工具1502可包括与交通工具100的传送器和接收器(参见图13)类似的传送器和接收器,所述传送器和接收器能够在装置710和交通工具1502之间建立无线数据通信链路。 For example, a vehicle 1502 may include a vehicle transmitter and receiver 100 (see FIG. 13) is similar to the transmitter and the receiver, the transmitter and receiver can transport between 710 and 1502 to establish a wireless data device communication link. 系统1500在一个用户希望无线地连接到交通工具100、1502两者以监视和/或改变交通工具100、1502中任一个的配置的情况下可能是期望的。 1500 system in a user wants to connect wirelessly to a vehicle 100,1502 both to monitor and / or change of transportation at 100,1502 in any case a configuration may be desirable. 例如,所述一个用户可以是可骑乘交通工具100的父母,并且父母的孩子可以骑乘交通工具1502。 For example, the user may be riding a vehicle 100 parents, children and parents can ride the vehicle 1502. 在装置710与交通工具100、1502之间形成的无线数据通信链路可使父母能够在与孩子一起骑乘时改变交通工具1502的骑乘模式以匹配孩子的能力,并且改变交通工具100的骑乘模式以使交通工具100的功率消耗与交通工具1502的功率消耗相匹配。 Wireless data communication link between the device 710 and the vehicle 100,1502 form allows parents to change the mode of transport in 1502 riding when riding with the children to match the child's abilities and change the vehicle 100 ride take the power consumption mode of transport and vehicle power consumption 100 of 1502 matches.

[0180] 系统1500可使装置710能够独立地或大体上同时监视和/或改变交通工具100、 1502的相应配置。 [0180] System 1500 allows the device 710 can be independently or substantially simultaneously monitor and / or change the configuration of the vehicle accordingly 100, 1502. 例如,技术人员可以操作装置710以大体上同时更新交通工具100、1502的相应固件,或可使技术人员能够相继地更新交通工具100、1502。 For example, the technician can operate the device 710 corresponding to substantially simultaneously update the firmware of the vehicle 100,1502, or enable technicians can successively update the transport 100,1502.

[0181] 在一些实施例中,系统1500可使技术人员或其他用户能够重新配置交通工具1502 的电气部件,以匹配交通工具100的电气部件的配置。 [0181] In some embodiments, the system 1500 allows the technician or other user to reconfigure the vehicle electrical components 1502, to match the configuration of the electrical components of the vehicle 100. 例如,交通工具1502的骑者可以是交通工具100的骑者的朋友。 For example, a vehicle 1502 rider can ride the vehicle's 100 friends. 交通工具100可具有交通工具1502的骑者期望应用到交通工具1502的配置(例如,特定增益和/或其他设置),在该情况下,骑者中任一人可使用装置710 读取交通工具100的配置(例如,经由软件应用程序),并且相应地重新配置交通工具1502。 The rider vehicle 100 may have a vehicle 1502 expectations apply to a vehicle configuration (for example, a specific gain and / or other settings) 1502, in this case, the rider in any one person can use the device 710 reads the vehicle 100 the configuration (e.g., via a software application), and reconfigure the vehicle 1502. 在一些实施例中,软件应用程序可包括自动重新配置交通工具1502以匹配交通工具100的配置的特征。 In some embodiments, the software application may include automatic reconfiguration vehicle 1502 100 configured to match the vehicle's characteristics.

[0182] 图22示出通常以1600表示的系统。 [0182] FIG. 22 illustrates a system 1600 generally expressed. 系统1600可包括与装置710和无线电子装置1610通信的交通工具100。 System 1600 may include vehicle electronic device 710 and a wireless communication device 100 1610. 第一无线数据通信链路可在装置710和交通工具100之间形成,并且第二无线数据通信链路可在装置1610和交通工具100之间形成。 A first wireless data communication link may be between 100 and 710 formed in the means of transport, and the second wireless data communications link 1610 may be formed between the apparatus 100 and the vehicle. 装置1610可类似于装置710。 1610 may be similar to device 710. 例如,装置1610可运行与应用程序800(参见图14)类似的软件应用程序。 For example, 1610 means you can run the application 800 (see FIG. 14) similar software applications.

[0183] 系统1600可用于训练交通工具100的骑者。 [0183] System 1600 can be used for training the vehicle rider 100. 例如,受训者可持有装置710并且可定位在交通工具100上,并且教练员可持有装置1610并且可远离交通工具100定位。 For example, the trainee may hold device 710 and may be positioned on the vehicle 100, and coaches can hold 1610 and may be positioned away from the vehicle 100. 受训者可使用在装置710上运行的软件应用程序监视和/或改变交通工具100的配置并且/或者经由特征826(参见图14)接收训练信息。 Trainees can use the device 710 running software applications to monitor and / or change the configuration of the vehicle 100 and / or receive information via the training feature 826 (see Figure 14). 教练员可使用在装置1610上运行的软件应用程序类似地监视和/改变交通工具100的配置并且/或者经由交通工具100向装置710发送训练信息。 Coaches can be used on a 1610 run software applications similar to monitor and / or change the configuration of the vehicle 100 and / or 100 via the vehicle information to send training device 710. 在一些实施例中,装置710U610可经由一个或多个无线数据通信链路彼此直接通信,并且受训者和教练员可通过在装置中的一个和电动交通工具之间建立的相互的数据通信链路来监视和/或改变交通工具100的配置,并且/或者相互共享训练信息。 In some embodiments, the devices communicate directly with each other can 710U610 via one or more wireless data communication link, and trainees and trainers through mutual data communication link is established between a device and electric vehicle to monitor and / or change the configuration of the vehicle 100 and / or mutual sharing of training information.

[0184]图23描绘了根据本公开的各方面的数据处理系统2300。 [0184] FIG. 23 depicts various aspects of the present disclosure according to 2300 data processing system. 在该示例中,数据处理系统2300是用于实现图1-22中和/或与其相关描述的操作和/或功能中的一个或多个的说明性数据处理系统。 In this example, the data processing system 2300 for the realization of Figure 1-22 and / or description associated with their operation and / or illustrative data processing system functions to one or more of them.

[0185] 在该说明性示例中,数据处理系统2300包括通信框架2302。 [0185] In this illustrative example, data processing system 2300 includes a communication framework 2302. 通信框架2302在处理器单元2304、存储器2306、永久存储设备2308、通信单元2310、输入/输出(I/O)单元2312和显示器2314之间提供通信。 At 2304, a communication framework 2302, a memory 2306, the permanent storage device 2308, 2310, provides a communication between the input / output (I / O) unit 2312 and a display processor unit 2314 communication unit. 存储器2306、永久存储设备2308、通信单元2310、输入/输出(1/ 0)单元2312和显示器2314是可由处理器单元2304经由通信框架2302可访问的资源的示例。 Memory 2306, the permanent storage device 2308, a communication unit 2310, an input / output (1/0) 2312 and the display unit 2314 is an example of the resource by a processor unit 2304 via a communication framework 2302 can access.

[0186] 处理器单元2304用于运行可下载到存储器2306中的软件的指令。 [0186] The processor unit 2304 for operating the memory 2306 can be downloaded to the software instructions. 处理器单元2304可以是多个处理器、多处理器内核或某种其他类型的处理器,这取决于特定的实施。 The processor unit 2304 may be a plurality of processors, multi-core processor, or some other type of processors, depending on the particular embodiment. 另外,可以使用多个异构处理器系统实现处理器单元2304,其中主处理器与次级处理器一起存在于单芯片上。 In addition, you can use the system to achieve multiple heterogeneous processors processor unit 2304, wherein the main processor and the secondary processor present on a single chip together. 作为另一个说明性示例,处理器单元2304可以是包含多个相同类型处理器的对称的多处理器系统。 As another illustrative example, processor unit 2304 may contain multiple processors of the same type of symmetric multi-processor systems.

[0187] 存储器2306和永久存储设备2308是存储装置2316的示例。 [0187] Memory 2306 and the permanent storage device 2308 is an example of the storage device 2316. 存储装置是能够存储信息诸如例如但不限于数据、函数形式的程序代码和在临时或永久基础上的其他合适信息的任何一件硬件。 Memory device capable of storing information such as any piece of hardware such as, but not limited to code data, functions, and other appropriate forms of information in a temporary or permanent basis.

[0188] 在这些示例中存储装置2316也可被称为计算机可读存储装置。 [0188] In these examples, the storage device 2316 may also be referred to as a computer-readable memory device. 在这些示例中,存储器2306可以是例如随机存取存储器或任何其他合适的易失性或非易失性存储装置。 In these examples, the memory 2306 may be, for example, random access memory or any other suitable volatile or non-volatile memory device. 永久存储设备2308可采取各种形式,这取决于特定的实施。 The permanent storage device 2308 may take various forms, depending on the particular implementation.

[0189] 例如,永久存储设备2308可包含一个或多个部件或装置。 [0189] For example, the permanent storage device 2308 may comprise one or more components or devices. 例如,永久存储设备2308 可以是硬盘驱动器、闪存存储器、可重写光盘、可重写磁带或上述的某种组合。 For example, the permanent storage device 2308 may be a hard drive, a flash memory, a rewritable optical disk, a rewritable magnetic tape, or some combination thereof. 永久存储设备2308所使用的介质也可以是可移除的。 The permanent storage device 2308 may also be used for medium removable. 例如,可移除硬盘驱动器可用于永久存储设备2308〇 For example, a removable hard disk drive can be used for the permanent storage device 2308〇

[0190]在这些示例中,通信单元2310提供与其他数据处理系统或装置的通信。 [0190] In these examples, the communication unit 2310 provides communication with other data processing systems or devices. 在这些示例中,通信单元2310是网络接口卡。 In these examples, the communication unit 2310 is a network interface card. 通信单元2310可通过物理通信链路和无线通信链路中任一个或两者的使用来提供通信。 The communication unit 2310 may use either or both of the physical communication link and a wireless communication link to provide communications.

[0191]输入/输出(I/O)单元2312利用可连接到数据处理系统2300的其他装置允许数据的输入和输出。 [0191] input / output (I / O) unit 2312 may be connected to the use of other data processing means 2300 system allows the input and output data. ,输入/输出(I/O)单元2312可通过键盘、鼠标和/或一些其他合适的输入装置提供用于用户输入的连接。 , Input / output (I / O) unit 2312 via the keyboard, mouse, and / or some other suitable input devices provide a connection for user input. 另外,输入/输出(I/O)单元2312可向打印机发送输出。 In addition, input / output (I / O) unit 2312 can send output to the printer. 显示器2314可提供向用户显示信息的机构。 Display 2314 can be provided to the user organization's information.

[0192]用于操作系统、应用程序和/或程序的指令可位于存储装置2316中,所述存储装置2316通过通信框架2302与处理器单元2304通信。 [0192] operating system, applications, and / or instructions of the program for 2316 can be located in a storage device, the storage device 2316 via communication frame processor unit 2302 and 2304. 在这些说明性示例中,指令是在永久存储设备2308中的函数形式。 In these illustrative examples, the instructions are in the form of a function in the permanent storage device 2308. 这些指令可下载到存储器2306中以供处理器单元2304执行。 These instructions can be downloaded into the memory 2306 to 2304 for the implementation of the processor unit. 处理器单元2304可使用可位于存储器诸如存储器2306中的计算机实施指令来执行不同实施例的过程。 The processor unit 2304 may be located in a memory such as the memory used in 2306 computer implemented instructions to perform the different embodiments of the process.

[0193]这些指令被称为程序指令、程序代码、计算机可用程序代码或可由处理器单元2304中的处理器读取和执行的计算机可读程序代码。 [0193] These instructions are referred to as program instructions, program code, computer usable program code or the processor unit 2304 may be a processor to read and execute the computer readable program code. 不同实施例中的程序代码可以在不同的物理存储介质或计算机可读存储介质诸如存储器2306或永久存储设备2308上实现。 Different embodiments readable program code can be stored in different physical storage medium or computer media such as a memory implemented on a permanent storage device 2306 or 2308. [0194]程序代码2318以函数形式位于计算机可读介质2320上,所述计算机可读介质2320 可选择性地移除并且可下载到数据处理系统2300上或传输到数据处理系统2300以供处理器单元2304执行。 [0194] as a function of the code 2318 is located on a computer readable medium 2320, the computer readable medium 2320 may be selectively removed and can be downloaded to the data processing system 2300 or transmitted to the data processing system for processors 2300 2304 execution unit. 在这些示例中,程序代码2318和计算机可读介质2320形成计算机程序产品2322。 In these examples, the program code and computer readable media 2318 2320 2322 formed a computer program product. 在一个示例中,计算机可读介质2320可以是计算机可读存储介质2324或计算机可读信号介质2326。 In one example, computer readable media 2320 may be a computer-readable storage medium, a computer readable signal medium 2324 or 2326.

[0195]计算机可读存储介质2324可包括例如插入或放置到是永久存储设备2308的一部分的驱动器或其他装置中的光盘或磁盘,以用于传输到是永久存储设备2308的一部分的存储装置诸如硬盘驱动器上。 [0195] The computer-readable storage medium 2324 may include, for example, inserted or placed into permanent storage device is part of a 2308 drive or other device optical or magnetic disks, for transmission to a permanent storage device is a storage device such as a part of 2308 hard disk drive. 计算机可读存储介质2324也可采取连接到数据处理系统2300的永久存储设备的形式,诸如硬盘驱动器、拇指驱动器或闪存存储器。 A computer-readable storage medium 2324 may also be connected to the data processing system to take the permanent storage device 2300 form, such as a hard drive, a thumb drive, or a flash memory. 在一些情况下,计算机可读存储介质2324不可从数据处理系统2300移除。 In some cases, the computer-readable storage medium 2324 can not be removed from the data processing system 2300.

[0196]在这些示例中,计算机可读存储介质2324是用于存储程序代码2318的物理的或有形的存储装置而不是传送或传输程序代码2318的介质。 [0196] In these examples, a computer-readable storage medium 2324 or a tangible storage means for storing a program code of a physical rather than 2318 or transmit program code 2318 medium. 计算机可读存储介质2324也被称为计算机可读有形存储装置或计算机可读物理存储装置。 A computer-readable storage medium 2324 also called computer-readable tangible storage device or computer-readable physical storage devices. 换句话说,计算机可读存储介质2324是可由人碰触的介质。 In other words, a computer-readable storage medium 2324 is touched by a person in the media.

[0197]可选择地,程序代码2318可以使用计算机可读信号介质2326传输到数据处理系统2300。 [0197] Alternatively, the program code 2318 may use a computer-readable medium 2326 signal transmitted to the data processing system 2300. 计算机可读信号介质2326可以是例如包含程序代码2318的传送的数据信号。 A computer readable signal medium 2326 may comprise, for example, a data signal 2318 transmitted program code. 例如,计算机可读信号介质2326可以是电磁信号、光信号和/或任何其他合适类型的信号。 For example, a computer readable signal medium 2326 may be an electromagnetic signal, an optical signal, and / or any other suitable type of signal. 这些信号可以通过通信链路诸如无线通信链路、光纤电缆、同轴电缆、线和/或任何其他合适类型的通信链路传输。 These signals may be a wireless communication link, fiber optic cable, coaxial cable and / or any other suitable type of communication link transmission through the communication link, such as. 换句话说,在说明性示例中,通信链路和/或连接可以是物理的或无线的。 In other words, in the illustrative example, the communication link and / or the connection may be physical or wireless. [0198]在一些说明性实施例中,程序代码2318可以通过用在数据处理系统2300内的计算机可读信号介质2326从另一个装置或数据处理系统经网络下载到永久存储设备2308。 [0198] In some illustrative embodiments, program code 2318 may be used within the data processing system 2300 from the computer 2326 or another apparatus via a network data processing system to a permanent storage device 2308 downloads readable signal medium. 例如,存储在服务器数据处理系统中的计算机可读存储介质的程序代码可经网络从服务器下载到数据处理系统2300。 For example, computer-readable storage medium of program code stored in the server data processing system can be downloaded via the network from the server to the data processing system 2300. 提供程序代码2318的数据处理系统可以是服务器计算机、客户端计算机或能够存储和传输程序代码2318的某种其他装置。 A data processing system providing program code 2318 may be a server computer, a client computer capable of storing or transmitting the program code and some other apparatus 2318.

[0199]针对数据处理系统2300说明的不同部件并不意味着提供可实现不同实施例的方式的结构限制。 [0199] The data processing system for different members 2300 described is not meant to provide architectural limitations to implement different embodiments of ways. 不同说明性实施例可在包括除了和/或代替针对数据处理系统2300说明的部件的部件的数据处理系统中实现。 Various illustrative embodiments may include components in addition to the data processing system and / or in lieu of instructions for a data processing system 2300 is implemented in the member. 图23所示的其他部件可不同于所示的说明性示例。 Other components shown in FIG. 23 may be different from the illustrative example shown. 使用能够运行程序代码的任何硬件装置或系统可实现不同实施例。 Using any hardware device or system capable of running the program code can be implemented in different embodiments. 作为一个示例,数据处理系统2300可包括与无机部件整合的有机部件,并且/或者可完全包括排除人类的有机部件。 As one example, data processing system 2300 may include an inorganic component and an organic component integration, and / or may comprise entirely exclude humans organic components. 例如,存储装置可以包括有机半导体。 For example, the storage means may comprise an organic semiconductor.

[0200] 在另一个说明性示例中,处理器单元2304可采取硬件单元的形式,所述硬件单元具有制造或配置用于特定用途的电路。 [0200] In another illustrative example, processor unit 2304 may take the form of a hardware unit, the unit has a hardware manufacturer or configured for a particular purpose circuits. 该类型的硬件可执行操作而不需要从待配置为执行操作的存储装置下载到存储器中的程序代码。 This type of hardware can perform operations without the need to be configured to perform operations from the storage device to download the program code in memory.

[0201 ] 例如,当处理器单元2304采取硬件单元的形式时,处理器单元2304可以是电路系统、特定应用集成电路(ASIC)、可编程逻辑装置或配置为执行多个操作的某种其他合适类型的硬件。 [0201] For example, when a processor unit 2304 in the form of hardware units, the processor unit 2304 may be a circuit system, application specific integrated circuit (ASIC), programmable logic device configured to perform multiple operations or some other suitable type of hardware. 利用可编程逻辑装置,该装置配置为执行多个操作。 The programmable logic device, the apparatus is configured to perform multiple operations. 该装置可在稍后的时间重新配置或可永久地配置成执行多个操作。 The device can be reconfigured or may be permanently configured to perform multiple operations at a later time. 可编程逻辑装置的示例包括例如可编程逻辑阵列、 可编程阵列逻辑、现场可编程逻辑阵列、现场可编程门阵列和其他合适的硬件装置。 Example of a programmable logic device such as a programmable logic includes arrays, programmable array logic, field programmable gate arrays, field programmable gate arrays and other suitable hardware devices. 利用该类型的实施,可以省略程序代码2318,因为用于不同实施例的过程在硬件单元中实现。 With this type of embodiment, the program code 2318 may be omitted, because the process used in different embodiments implemented in hardware unit. [0202]在另一个说明性示例中,可使用存在于计算机和硬件单元中发现的处理器的组合来实现处理器单元2304。 [0202] In another illustrative example, can be used to exist in the computer hardware units and found the combination to achieve processor processor unit 2304. 处理器单元2304可具有配置为运行程序代码2318的多个硬件单元和多个处理器。 The processor unit 2304 can be configured to run code having a plurality of hardware units 2318 and a plurality of processors. 利用该描绘的示例,所述过程中的一些可在多个硬件单元中实现,而其他过程可在多个处理器中实现。 The depicted exemplary use, some of the processes may be implemented in multiple hardware units, while other processes may be implemented in multiple processors.

[0203]在另一个示例中,总线系统可用于实现通信框架2302,并且可包括一个或多个总线,诸如系统总线或输入/输出总线。 [0203] In another example, a bus system may be used to implement communication framework 2302, and may include one or more buses, such as a system bus or an input / output bus. 当然,可使用在附接到总线系统的不同部件或装置之间提供数据的传输的任何合适类型的结构来实现总线系统。 Of course, the data provided may be used between different components or devices attached to the bus system for the transmission of any suitable type of structure to achieve a bus system.

[0204]另外,通信单元2310可包括传送数据、接收数据或既传送数据又接收数据的多个装置。 [0204] Further, the communication unit 2310 may include a transmit data, receive data, or both transmit data and receive data to a plurality of devices. 通信单元2310可以是例如调制解调器或网络适配器、两个网络适配器或其某种组合。 The communication unit 2310 may be a modem or a network adapter, for example, two network adapters or some combination thereof. 另外,存储器可以是例如存储器2306,或缓冲存储器,诸如存在于接口和存储控制器中枢中的缓冲存储器,所述接口和存储控制器中枢可存在于通信框架2302中。 Further, memory may be a memory 2306, for example, a buffer or memory, such as in the presence of an interface and memory controller hub in the buffer memory, said interface and memory controller hub that may be present within a communication frame 2302.

[0205]本文所述的流程图和方框图说明了根据各个说明性实施例的系统、方法和计算机程序产品的可能的具体实施的结构、功能性和操作。 [0205] The flowchart and block diagrams of the herein described embodiment of the system according to various illustrative embodiments, the structure, functions and methods may be implemented in a computer program product specific and operate. 就这一点而言,流程图或方框图中的每个方框可表示代码的模块、片段或部分,其包括用于实现所指定的逻辑功能的一个或多个可执行指令。 In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one for implementing the specified logical function or more executable instructions. 还应当注意到,在一些可选择的具体实施中,方框中所指出的功能可以不按照图中所指出的顺序发生。 It should also be noted that in some alternative specific embodiment, the functions noted in the block may not follow the order indicated in the figure occurs. 例如,连续示出的两个方框的功能可大体上同时执行,或者方框的功能有时可以按相反的顺序执行,这取决于所涉及的功能性。 For example, two consecutive functional blocks shown may be executed substantially concurrently, or the blocks may sometimes be executed functions in the reverse order, depending upon the functionality involved.

[0206] 下面描述了所公开的实施例的另外的方面和特征,其非限制地呈现为一系列编号的段落。 [0206] The following describes additional aspects of the disclosed embodiments and features, it presents a series of non-limiting numbered paragraphs. 这些段落中的每个段落可以以任何合适的方式与一个或多个其他段落结合,和/或与本申请中其他部分的公开内容结合,包括以引用方式并入交叉引用中的材料。 These paragraphs with each paragraph can be combined with one or more other paragraphs in any suitable manner, binding and / or disclosure of the present application in other parts, including cross-references are incorporated by reference in the material. 以下段落中的一些明确参考并且进一步限制其他段落,从而非限制地提供合适组合中的一些的示例。 The following paragraphs refer to some clear and further restrict other passages, which provides non-limiting examples of suitable combinations of some.

[0207] A.-种电动交通工具,其包括板,该板包括第一板面部分和第二板面部分,所述第一板面部分和第二板面部分各自配置为接收骑者的左脚或右脚;轮子组件,该轮子组件设置在第一板面部分和第二板面部分之间并且包括地面接触元件;马达组件,该马达组件安装到板并且配置为使地面接触元件围绕轴旋转,以推进电动交通工具;至少一个传感器,所述至少一个传感器配置为测量板的取向信息;以及马达控制器,该马达控制器配置为接收由传感器测量的取向信息,并且基于该取向信息使马达组件推进电动交通工具;其中电动交通工具包括恰好一个地面接触元件。 [0207] A.- kinds of electric vehicle, comprising a plate which includes a first portion and a second plate face board portion, the first side plate and the second plate surface portion configured to receive a portion of each rider's left or right; wheel assembly, the wheel assembly disposed between the first plate and the second plate portion side face portion and includes a ground-contacting element; motor assembly, the motor assembly is mounted to the plate and configured to make the ground-contacting element about axes to advance electric vehicle; at least one sensor, said at least one sensor is configured to measure sheet orientation information; and a motor controller, the motor controller is configured to receive orientation information measured by the sensor, and based on the orientation information the motor assembly to promote electric vehicles; electric vehicle which includes a ground-contacting element exactly.

[0208] A1.根据段落A所述的交通工具,其中马达组件包括轮毂马达。 [0208] A1. The vehicle according to paragraph A, wherein the motor assembly includes a hub motor.

[0209] A2.根据段落A1所述的交通工具,其中轮毂马达是内装齿轮型的。 [0209] A2. The vehicle described in paragraph A1, wherein the hub motor is built gear type.

[0210] A3.根据段落A1所述的交通工具,其中轮毂马达是直接驱动型的。 [0210] A3. The vehicle according to paragraph A1, wherein the hub motor is a direct drive type.

[0211 ] A4.根据段落A所述的交通工具,还包括:设置在板的第一端部处的第一灯组件;以及设置在板的第二端部处的第二灯组件;其中当板大致在第一方向上被推进时,第一灯组件配置为输出第一颜色的光,并且当板大致在第二方向上被推进时,第一灯组件配置为输出第二颜色的光;以及其中当板大致在第一方向上被推进时,第二灯组件配置为输出第二颜色的光,并且当板大致在第二方向上被推进时,第二灯组件配置为输出第一颜色的光。 . [0211] A4 in accordance with paragraph A of the vehicle, further comprising: a first plate disposed on a first end portion of the lamp assembly; and a second plate disposed at the second end lamp assembly; and wherein when when the plate is advanced substantially in the first direction, the first lamp assembly configured to output a first color of light, and when the plate is advanced substantially in the second direction, the first lamp assembly configured to output light of the second color; and wherein when the plate is advanced substantially in the first direction, the second lamp assembly configured to output a second color of light, and when the plate is advanced substantially in the second direction, the second lamp assembly configured to output a first color light.

[0212] A5.根据段落A4所述的交通工具,其中第一颜色是白色,并且第二颜色是红色。 [0212] A5. The vehicle according to paragraph A4, wherein the first color is white and the second color is red.

[0213] A6.根据段落A所述的交通工具,其中至少一个传感器包括共同地配置为估计板的倾斜角的陀螺仪和加速计。 [0213] A6. The vehicle described in paragraph A, wherein the at least one sensor configured to include common inclination angle estimation board gyroscopes and accelerometers.

[0214] B. -种电动滑板,其包括:脚板面,该脚板面具有第一板面部分和第二板面部分, 所述第一板面部分和第二板面部分各自配置为支撑骑者的脚;恰好一个地面接触轮子,所述恰好一个地面接触轮子设置在第一板面部分和第二板面部分之间,并且配置为围绕轴旋转以推进滑板;至少一个传感器,所述至少一个传感器配置为测量脚板面的取向;以及电动马达,该电动马达配置为基于脚板面的取向引起轮子的旋转。 [0214] B. - kind of electric scooters, comprising: a foot surface, the surface having a first foot plate surface portion and a second portion of the board, said first plate portion and a second surface portion of each side plate configured to support the ride 's foot; exactly one ground engaging wheel, the ground contact just one wheel is disposed between the first plate and the second plate portion side face portion, and is configured to rotate about the shaft to advance the slide plate; at least one sensor, said at least a sensor configured to measure the orientation of the foot plate surface; and an electric motor of the electric motor causes rotation of the wheel configuration is based on the orientation of the surface of the foot plate.

[0215] B1.根据段落B所述的滑板,其中所述马达是轮毂马达。 [0215] B1. According to the slider of paragraph B, wherein the motor is a hub motor.

[0216] B2.根据段落B所述的滑板,还包括设置在第一板面部分的远端处的第一灯组件; 以及设置在第二板面部分的远端处的第二灯组件;其中当板大致在第一方向上被推进时, 第一灯组件配置为输出第一颜色的光,并且当板大致在第二方向上被推进时,第一灯组件配置为输出第二颜色的光;以及其中当板大致在第一方向上被推进时,第二灯组件配置为输出第二颜色的光,并且当板大致在第二方向上被推进时,第二灯组件配置为输出第一颜色的光。 . [0216] B2 of the slider according to the paragraph B, further comprising a first lamp assembly disposed at a distal end portion of the first plate surface; and a second lamp assembly disposed at the distal end portion of the second plate surface; wherein when the plate is advanced substantially in the first direction, the first lamp assembly configured to output a first color of light, and when the plate is advanced substantially in the second direction, the first lamp assembly configured to output a second color light; and wherein when the plate is advanced substantially in the first direction, the second lamp assembly configured to output a second color of light, and when the plate is advanced substantially in the second direction, the second lamp assembly configured to output a first a color.

[0217] B3.根据段落B所述的滑板,其中至少一个传感器包括配置为测量脚板面围绕俯仰轴线的枢转的陀螺仪。 [0217] B3. Slider according to paragraph B, wherein the at least one sensor configured to measure the foot plate comprises a plane pivoting about the pitch axis gyroscope.

[0218] B4.根据段落B3所述的滑板,其中至少一个传感器还包括加速计,并且其中陀螺仪和加速计共同地配置为测量脚板面围绕俯仰轴线、侧倾轴线和偏航轴线的取向。 [0218] B4. B3 slider according to the paragraph, wherein the at least one sensor further comprises an accelerometer and a gyroscope and accelerometers which collectively configured to measure the orientation of the foot plate surface around the pitch axis and the roll axis and the yaw axis.

[0219] B5.根据段落B所述的滑板,还包括骑者检测装置,骑者检测装置配置为确定骑者的脚是否设置在脚板面上,并且当确定骑者的脚设置在脚板面上时发送使马达进入活动状态的信号。 [0219] B5. According to paragraph B of the slide, further comprising detection means the rider, the rider detection device is configured to determine whether or not the rider's feet set foot on the surface, and when the surface of the foot to determine the rider's feet set when sending the motor into the active state of the signal.

[0220] C. -种自平衡电动交通工具,其包括:界定平面的框架;第一板面部分,所述第一板面部分安装到框架并且配置为支撑骑者的第一只脚;第二板面部分,所述第二板面部分安装到框架并且配置为支撑骑者的第二只脚;轮子,所述轮子在板面部分之间安装到框架, 在平面上方和下方延伸,并且配置为围绕位于平面中的轴线旋转;至少一个传感器,所述至少一个传感器安装到框架并且配置为感测框架的取向信息;马达控制器,所述马达控制器配置为从传感器接收取向信息并且响应于该取向信息生成马达控制信号;以及马达,所述马达配置为从马达控制器接收马达控制信号并且作为回应旋转轮子,因此推进滑板。 [0220] C. - kinds of self balancing electric vehicle, comprising: a frame defining a plane; a first board portion of the surface portion of the first plate is mounted to the frame and configured to support the rider's foot first; the first two face plate portion, the surface portion of the second plate is mounted to the frame and configured to support the second leg of the rider; wheel, said wheel mounting portion between the face plate to the frame, extends above and below the plane, and configured to rotate around an axis lying in a plane; at least one sensor, said at least one sensor is mounted to the frame and configured to sense the orientation information of the frame; a motor controller, the motor controller is configured to receive information from the orientation sensor and responsive information generating motor control signals to the orientation; and a motor, the motor is configured to receive a control signal from the motor and the motor controller in response to a revolving wheel, thus promoting skateboarding.

[0221] C1.根据段落C所述的电动交通工具,其中马达是电直接驱动型轮毂马达。 [0221] C1. According to paragraph C of the electric vehicle, wherein the motor is an electric direct drive wheel motors.

[0222] C2.根据段落C所述的电动交通工具,其中至少一个传感器包括共同地配置为感测足以估计框架的倾斜角(包括围绕俯仰轴线、侧倾轴线和偏航轴线的枢转)的取向信息的陀螺仪和3轴加速计。 [0222] C2. According to the electric vehicle of paragraph C, wherein the at least one sensor comprises a joint configured to sense an inclination angle sufficient to estimate the frame (including around the pitch axis, a yaw axis and a roll axis pivot) of orientation information gyroscope and three-axis accelerometer.

[0223] C3.根据段落C所述的电动交通工具,还包括设置在第一板面部分的远端处的第一防滑垫和第一照明器,以及设置在第二板面部分的远端处的第二防滑垫和第二照明器,其中每个防滑垫包括配置为允许光从对应的照明器照射穿过同时防止照明器接触地面的孔。 [0223] C3. According to paragraph C of the electric vehicle, further comprising a distal end of the first non-slip mats and the first lighting device at the distal end portion of the first side plate and a second plate disposed in face portion the second anti-skid pad and a second illuminator at which each include a non-slip pad is configured to allow light from the corresponding illuminator illuminator illuminated through while preventing contact with the ground hole.

[0224] C4.根据段落C3所述的电动交通工具,其中当框架大致在第一方向上被推进时,第一照明器配置为输出第一颜色的光,并且当框架大致在第二方向上被推进时,第一照明器配置为输出第二颜色的光,并且其中当框架大致在第一方向上被推进时,第二照明器配置为输出第二颜色的光,并且当框架大致在第二方向上被推进时,第二照明器配置为输出第一颜色的光。 [0224] C4. According to paragraph C3 of the electric vehicle, wherein when the frame is substantially in the first direction is forward, the first illuminator configured to output a first color of light, and when the frame is substantially in a second direction when is pushed, the first illuminator configured to output a second color of light, and wherein when the frame is advanced substantially in the first direction, the second illuminator configured to output a second color of light, and when the frame is substantially in the first when the second direction is advanced, the second illuminator configured to output a first color light.

[0225] C5 .根据段落C所述的电动交通工具,还包括挡泥板,所述挡泥板附接到板面部分中的至少一个并且配置为防止轮子横贯的水飞溅到骑者上。 [0225] C5. According to paragraph C of the electric vehicle, further comprising a fender, the fender is attached to the board and at least one portion configured to prevent the wheels across the water splashed on the rider.

[0226] C6.根据段落C5所述的电动交通工具,其中挡泥板附接到第一板面部分和第二板面部分两者,并且大体上将轮子与骑者完全分开。 [0226] C6. According to paragraph C5 electric vehicle, wherein the fender is attached to a first surface portion and a second plate section between the plate surface, and the wheels and the rider is substantially completely separated.

[0227] 以上所阐述的公开内容可涵盖具有独立实用性的多个不同实用新型。 [0227] The disclosure set forth above may encompass a number of different independent practical utility model. 虽然这些实用新型中的每个都以其优选形式公开,但是其在本文所公开和例示的具体实施例不应视为具有限制意义,因为许多变化是可能的。 Although each of these utility model disclosed in its preferred form, but the herein disclosed and illustrated specific embodiments are not considered in a limiting sense, because many variations are possible. 本实用新型的主题包括本文所公开的元件、特征、 功能和/或特性的所有新颖和非显而易见的组合和子组合。 The utility model relating include elements disclosed herein, all novel and non-obvious combinations and sub-combinations of features, functions and / or properties. 以下权利要求特别指出被视为新颖和非显而易见的某些组合和子组合。 The following claims particularly point out certain combinations are regarded as novel and non-obvious combinations and sub. 以各种特征、功能、元件和/或特性的其他组合和子组合实现的实用新型可在要求该申请或相关申请的优先权的申请中来要求保护。 A variety of features, functions, elements, and / or other combinations and sub-combinations of features to achieve utility model may require that the application or a related application filed in the past claimed. 无论涉及不同实用新型或相同实用新型,并且无论在范围上比原始权利要求更宽、更窄、相等或不同,此类权利要求也被视为包括在本公开的实用新型的主题内。 Whether involving different utility models or the same utility models, and narrower than the original claim regardless broader in scope, equal or different, such a claim is also deemed to be included in the utility model relating to disclosure within.

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