WO2017117746A1 - Method to control scooter based on tilting posture of human body, and scooter - Google Patents

Method to control scooter based on tilting posture of human body, and scooter Download PDF

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Publication number
WO2017117746A1
WO2017117746A1 PCT/CN2016/070290 CN2016070290W WO2017117746A1 WO 2017117746 A1 WO2017117746 A1 WO 2017117746A1 CN 2016070290 W CN2016070290 W CN 2016070290W WO 2017117746 A1 WO2017117746 A1 WO 2017117746A1
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scooter
information
posture
tilt
human body
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PCT/CN2016/070290
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French (fr)
Chinese (zh)
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蒋孝富
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蒋孝富
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Priority to PCT/CN2016/070290 priority Critical patent/WO2017117746A1/en
Publication of WO2017117746A1 publication Critical patent/WO2017117746A1/en

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    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63CSKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00Roller skates; Skate-boards
    • A63C17/01Skateboards
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63CSKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00Roller skates; Skate-boards
    • A63C17/12Roller skates; Skate-boards with driving mechanisms
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63CSKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00Roller skates; Skate-boards
    • A63C17/14Roller skates; Skate-boards with brakes, e.g. toe stoppers, freewheel roller clutches

Definitions

  • the present invention relates to a method of controlling a scooter based on a tilting posture of a human body and a scooter.
  • the posture of the scooter can be divided into three situations: the forward tilt of the car body, the level of the car body and the back tilt of the car body.
  • the forward tilt of the car body will give the driver a feeling of falling forward, so the forward tilt of the car body is not allowed.
  • the car body level ensures the normal operation of the scooter.
  • the driver can perform forward tilt, backward tilt, left tilt, right tilt and horizontal posture on the scooter, so it is feasible to make corresponding acceleration, deceleration, left turn, right turn and constant speed according to the driver's current control of the scooter.
  • Embodiments of the present invention provide a method for controlling a scooter based on a tilt posture of a human body, and a scooter, which controls different states of travel of the scooter according to the current posture of the human body.
  • the embodiment of the present invention provides a method for controlling a scooter based on a tilt posture of a human body, and an inductor and a control system for detecting a posture of a human body are disposed on the scooter, and the following steps are included:
  • the posture information includes forward tilt information, backward tilt information, left tilt information, right tilt information, and balance information;
  • the control system issues a corresponding control command based on the current posture information, and outputs an acceleration control command when the posture information is forward tilt information to make the scooter accelerate; when the posture information is the backward tilt information, the scooter output deceleration control command makes the scooter present Deceleration state:
  • the scooter When the attitude information is left tilt information, the scooter outputs a left turn control command to make the scooter turn left; when the posture information is right tilt information, the scooter outputs a right turn control command to make the scooter turn right;
  • the scooter outputs a uniform speed control command to make the scooter at a constant speed.
  • the posture information further includes current level information of the scooter, and the control system issues a balance command according to the current level information to control the scooter to maintain the horizontal posture.
  • the posture information includes current offset information of a position of a person's center of gravity, and the control system generates a corresponding running state by acquiring current offset information.
  • a scooter for controlling a scooter based on a human body tilt attitude comprising an inductor and a controller, the inductor comprising a plurality of sensing units distributed in a pedal area of the scooter, the sensing unit collecting forward tilt of a current posture of the human body
  • the information, the backward tilt information, the left tilt information, the right tilt information, and the balance information are obtained by the controller to issue corresponding acceleration, deceleration, left turn, right turn, and constant speed control commands to obtain the current state of the scooter.
  • the following beneficial effects are obtained: acquiring the current standing posture information of the human body on the scooter and the scooter, and controlling the scooter to generate corresponding acceleration, deceleration, left turn, right turn, and uniform driving state by the control system.
  • Figure 1 is a structural view of the present invention.
  • Embodiments of the present invention provide a method for controlling a scooter based on a tilt posture of a human body, and a method for controlling a scooter based on a tilt posture of a human body, and an inductor and a control system for detecting a posture of a human body on a scooter include the following steps:
  • the posture information includes forward tilt information, backward tilt information, left tilt information, right tilt information, and balance information;
  • the control system issues a corresponding control command based on the current posture information, and outputs an acceleration control command when the posture information is forward tilt information to make the scooter accelerate; when the posture information is the backward tilt information, the scooter output deceleration control command makes the scooter present Deceleration state:
  • the scooter When the attitude information is left tilt information, the scooter outputs a left turn control command to make the scooter turn left; when the posture information is right tilt information, the scooter loses The right turn control command causes the scooter to turn to the right state; when the posture information is balance information, the scooter outputs a uniform speed control command to make the scooter reach a uniform speed state.
  • the posture information further includes current level information of the scooter, and the control system issues a balance command according to the current level information to control the scooter to maintain the horizontal posture.
  • the posture information includes current offset information of a position of a person's center of gravity
  • the sensor collects a current offset information based on a center of gravity of the human foot
  • the control system generates a corresponding operation by acquiring the current offset information. status. For example, when the human body leans forward, the center of gravity moves forward, and the anchorage of the human foot is offset from the middle to the front end of the foot. The sensor is pressed to obtain the information of the center of gravity or the offset of the anchorage. By calculating the offset position of the center of gravity, the center of gravity is obtained. Forward shifting forward tilt information, the control system generates the corresponding acceleration state by acquiring the forward tilt information.
  • the operating state includes an acceleration state caused by the forward tilt information, a deceleration state caused by the backward tilt information, a left turn state caused by the left tilt information, and a right turn state caused by the right tilt information.
  • a scooter for controlling a scooter based on a human body tilt posture is provided with a sensor and a controller on a pedal 1 for a human body standing on a scooter, wherein the sensor includes a plurality of sensors disposed on the scooter foot.
  • the sensing unit 3 of the stepping area the sensing unit 3 collects forward tilt information, backward tilt information, left tilt information, right tilt information, and balance information of the current posture of the human body and sends corresponding acceleration, deceleration, left turn, right turn, and uniform speed through the controller.
  • the control command gets the current driving status of the scooter.
  • the sensor comprises a pressure sensor, a direction sensor and the like for collecting a human body's heart-weight deviation sensing device, and the sensor is used as a base point of the posture information collection area in the human body standing area or the center of the foot and the vehicle body contact area, and is distributed to the human body before and after, Forming a forward tilt information acquisition area, a backward tilt information acquisition area, a left tilt information collection area, and a right tilt information collection area for acquiring the current posture information of the human body, when the weight center of the person is shifted, the final point of the center of gravity shift is located in the posture information collection area.
  • the attitude information collection area acquires the current posture information and sends the current posture information to the controller, and the controller controls the driving motor to issue a corresponding running state action according to the current posture information received by the controller, including causing the scooter to accelerate, decelerate, turn left, Turn right and run at a constant speed.

Abstract

The present invention provides a method to control a scooter based on an inclined posture of the human body and further provides a scooter. A sensor is arranged on a scooter to ascertain whether a person is on the scooter and the current scooter standing posture, and a control system controls the scooter to generate the corresponding operation states of acceleration, deceleration, turning left, turning right or steady speed. By sensing the standing posture of a human body on the scooter, both hands can be freed, operation difficulty reduced and safety of operation guaranteed.

Description

基于人体倾斜姿态控制滑板车的方法以及滑板车Method for controlling scooter based on human body tilt posture and scooter 技术领域Technical field
本发明涉及一种基于人体倾斜姿态控制滑板车的方法以及滑板车。The present invention relates to a method of controlling a scooter based on a tilting posture of a human body and a scooter.
背景技术Background technique
滑板车的姿态可分为车体前倾、车体水平及车体后仰三种情况,车体前倾会让驾驶者有向前摔倒的感觉,因而车体前倾的情况是不允许出现的,车体水平保证了滑板车正常运行。而驾驶者在滑板车可以做前倾、后倾、左倾、右倾以及水平的姿态,所以根据驾驶者当前控制滑板车作出相应加速、减速、左转、右转以及匀速行驶状态是可行的。The posture of the scooter can be divided into three situations: the forward tilt of the car body, the level of the car body and the back tilt of the car body. The forward tilt of the car body will give the driver a feeling of falling forward, so the forward tilt of the car body is not allowed. Appeared, the car body level ensures the normal operation of the scooter. The driver can perform forward tilt, backward tilt, left tilt, right tilt and horizontal posture on the scooter, so it is feasible to make corresponding acceleration, deceleration, left turn, right turn and constant speed according to the driver's current control of the scooter.
发明内容Summary of the invention
本发明实施例提供一种基于人体倾斜姿态控制滑板车的方法以及滑板车,根据人体当前姿态控制滑板车产生不同的行驶状态。Embodiments of the present invention provide a method for controlling a scooter based on a tilt posture of a human body, and a scooter, which controls different states of travel of the scooter according to the current posture of the human body.
具体的,本发明实施例提供了一种基于人体倾斜姿态控制滑板车的方法,在滑板车上设置检测人体姿态的感应器以及控制系统,包括以下步骤:Specifically, the embodiment of the present invention provides a method for controlling a scooter based on a tilt posture of a human body, and an inductor and a control system for detecting a posture of a human body are disposed on the scooter, and the following steps are included:
1)通过感应器检测人体当前在滑板车上的姿态信息并输出姿态信息,姿态信息包括前倾信息、后倾信息、左倾信息、右倾信息以及平衡信息;1) detecting the posture information of the human body on the scooter through the sensor and outputting the posture information, and the posture information includes forward tilt information, backward tilt information, left tilt information, right tilt information, and balance information;
2)控制系统基于当前姿态信息发出相应控制指令,得到姿态信息为前倾信息时输出加速控制指令使滑板车呈加速状态;得到姿态信息为后倾信息时滑板车输出减速控制指令使滑板车呈减速状态:得到姿态信息为左倾信息时滑板车输出左转控制指令使滑板车呈左转状态;得到姿态信息为右倾信息时滑板车输出右转控制指令使滑板车呈右转状态;得到姿态信息为平衡信息时滑板车输出匀速控制指令使滑板车呈匀速状态。2) The control system issues a corresponding control command based on the current posture information, and outputs an acceleration control command when the posture information is forward tilt information to make the scooter accelerate; when the posture information is the backward tilt information, the scooter output deceleration control command makes the scooter present Deceleration state: When the attitude information is left tilt information, the scooter outputs a left turn control command to make the scooter turn left; when the posture information is right tilt information, the scooter outputs a right turn control command to make the scooter turn right; In order to balance the information, the scooter outputs a uniform speed control command to make the scooter at a constant speed.
进一步的,所述姿态信息还包括滑板车当前水平信息,控制系统根据当前水平信息发出平衡指令控制滑板车保持水平姿态。Further, the posture information further includes current level information of the scooter, and the control system issues a balance command according to the current level information to control the scooter to maintain the horizontal posture.
进一步的,所述姿态信息包括人体重心位置的当前偏移信息,控制系统通过获取当前偏移信息使滑板车产生相应的运行状态。 Further, the posture information includes current offset information of a position of a person's center of gravity, and the control system generates a corresponding running state by acquiring current offset information.
一种上述基于人体倾斜姿态控制滑板车方法的滑板车,包括感应器和控制器,所述感应器包括若干分布于滑板车脚踏区域的感应单元,所述感应单元收集人体当前姿态的前倾信息、后倾信息、左倾信息、右倾信息以及平衡信息并通过控制器发出相应加速、减速、左转、右转以及匀速的控制指令得到滑板车当前状态。A scooter for controlling a scooter based on a human body tilt attitude, comprising an inductor and a controller, the inductor comprising a plurality of sensing units distributed in a pedal area of the scooter, the sensing unit collecting forward tilt of a current posture of the human body The information, the backward tilt information, the left tilt information, the right tilt information, and the balance information are obtained by the controller to issue corresponding acceleration, deceleration, left turn, right turn, and constant speed control commands to obtain the current state of the scooter.
本发明实施例中,具有以下有益效果:获取人体在滑板车以及滑板车的当前站立姿态信息通过控制系统控制滑板车产生相应的加速、减速、左转、右转以及匀速的行驶状态。In the embodiment of the present invention, the following beneficial effects are obtained: acquiring the current standing posture information of the human body on the scooter and the scooter, and controlling the scooter to generate corresponding acceleration, deceleration, left turn, right turn, and uniform driving state by the control system.
附图说明DRAWINGS
为了更清楚地说明本发明实施例的技术方案,下面将对实施例中所需要使用的附图作简单的介绍,显而易见地,下面描述中的附图是本发明实施例的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without paying any creative work.
图1为本发明的结构图。Figure 1 is a structural view of the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
本发明实施例提供一种基于人体倾斜姿态控制滑板车的方法,基于人体倾斜姿态控制滑板车的方法,在滑板车上设置检测人体姿态的感应器以及控制系统,包括以下步骤:Embodiments of the present invention provide a method for controlling a scooter based on a tilt posture of a human body, and a method for controlling a scooter based on a tilt posture of a human body, and an inductor and a control system for detecting a posture of a human body on a scooter include the following steps:
1)通过感应器检测人体当前在滑板车上的姿态信息并输出姿态信息,姿态信息包括前倾信息、后倾信息、左倾信息、右倾信息以及平衡信息;1) detecting the posture information of the human body on the scooter through the sensor and outputting the posture information, and the posture information includes forward tilt information, backward tilt information, left tilt information, right tilt information, and balance information;
2)控制系统基于当前姿态信息发出相应控制指令,得到姿态信息为前倾信息时输出加速控制指令使滑板车呈加速状态;得到姿态信息为后倾信息时滑板车输出减速控制指令使滑板车呈减速状态:得到姿态信息为左倾信息时滑板车输出左转控制指令使滑板车呈左转状态;得到姿态信息为右倾信息时滑板车输 出右转控制指令使滑板车呈右转状态;得到姿态信息为平衡信息时滑板车输出匀速控制指令使滑板车呈匀速状态。2) The control system issues a corresponding control command based on the current posture information, and outputs an acceleration control command when the posture information is forward tilt information to make the scooter accelerate; when the posture information is the backward tilt information, the scooter output deceleration control command makes the scooter present Deceleration state: When the attitude information is left tilt information, the scooter outputs a left turn control command to make the scooter turn left; when the posture information is right tilt information, the scooter loses The right turn control command causes the scooter to turn to the right state; when the posture information is balance information, the scooter outputs a uniform speed control command to make the scooter reach a uniform speed state.
进一步的,所述姿态信息还包括滑板车当前水平信息,控制系统根据当前水平信息发出平衡指令控制滑板车保持水平姿态。Further, the posture information further includes current level information of the scooter, and the control system issues a balance command according to the current level information to control the scooter to maintain the horizontal posture.
进一步的,所述姿态信息包括人体重心位置的当前偏移信息,感应器采集到基于人体足部的重心偏移生成当前偏移信息,控制系统通过获取当前偏移信息使滑板车产生相应的运行状态。如,人体前倾时,重心前移,人体足部的承重点由中部偏移到脚掌前端,感应器受压得到该重心或承重点偏移轨迹信息,通过计算重心的偏移位置,得到重心向前偏移的前倾信息,控制系统通过获取前倾信息使滑板车产生相应的加速状态。Further, the posture information includes current offset information of a position of a person's center of gravity, and the sensor collects a current offset information based on a center of gravity of the human foot, and the control system generates a corresponding operation by acquiring the current offset information. status. For example, when the human body leans forward, the center of gravity moves forward, and the anchorage of the human foot is offset from the middle to the front end of the foot. The sensor is pressed to obtain the information of the center of gravity or the offset of the anchorage. By calculating the offset position of the center of gravity, the center of gravity is obtained. Forward shifting forward tilt information, the control system generates the corresponding acceleration state by acquiring the forward tilt information.
其中,运行状态包括由前倾信息引起的加速状态;由后倾信息引起的减速状态;由左倾信息引起的左转状态;由右倾信息引起的右转状态。The operating state includes an acceleration state caused by the forward tilt information, a deceleration state caused by the backward tilt information, a left turn state caused by the left tilt information, and a right turn state caused by the right tilt information.
参见图1所示,一种基于人体倾斜姿态控制滑板车方法的滑板车,在滑板车供人体站立踩踏的踏板1上设置感应器和控制器,其中所述感应器包括若干分布于滑板车脚踏区域的感应单元3,所述感应单元3收集人体当前姿态的前倾信息、后倾信息、左倾信息、右倾信息以及平衡信息并通过控制器发出相应加速、减速、左转、右转以及匀速的控制指令得到滑板车当前行驶状态。Referring to FIG. 1 , a scooter for controlling a scooter based on a human body tilt posture is provided with a sensor and a controller on a pedal 1 for a human body standing on a scooter, wherein the sensor includes a plurality of sensors disposed on the scooter foot. a sensing unit 3 of the stepping area, the sensing unit 3 collects forward tilt information, backward tilt information, left tilt information, right tilt information, and balance information of the current posture of the human body and sends corresponding acceleration, deceleration, left turn, right turn, and uniform speed through the controller. The control command gets the current driving status of the scooter.
其中,感应器包括压力传感器、方向传感器等用于采集人体重心偏移的感应装置,感应器以人体站立区或脚掌与车体接触区域的中心为姿态信息采集区基点,向人体前后左右分布,形成偏移采集人体当前姿态信息的前倾信息采集区、后倾信息采集区、左倾信息采集区、右倾信息采集区,当人体重心发生偏移,重心偏移的最终点位于的姿态信息采集区时,该姿态信息采集区获取到当前姿态信息并向控制器发送,控制器控制驱动电机根据控制器接收到当前姿态信息发出相应的运行状态动作,包括使滑板车作出加速、减速、左转、右转以及匀速的行驶运行状态。The sensor comprises a pressure sensor, a direction sensor and the like for collecting a human body's heart-weight deviation sensing device, and the sensor is used as a base point of the posture information collection area in the human body standing area or the center of the foot and the vehicle body contact area, and is distributed to the human body before and after, Forming a forward tilt information acquisition area, a backward tilt information acquisition area, a left tilt information collection area, and a right tilt information collection area for acquiring the current posture information of the human body, when the weight center of the person is shifted, the final point of the center of gravity shift is located in the posture information collection area. The attitude information collection area acquires the current posture information and sends the current posture information to the controller, and the controller controls the driving motor to issue a corresponding running state action according to the current posture information received by the controller, including causing the scooter to accelerate, decelerate, turn left, Turn right and run at a constant speed.
以上所揭露的仅为本发明较佳实施例而已,当然不能以此来限定本发明之权利范围,因此依本发明权利要求所作的等同变化,仍属本发明所涵盖的范围。 The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, and thus equivalent changes made in the claims of the present invention are still within the scope of the present invention.

Claims (4)

  1. 一种基于人体倾斜姿态控制滑板车的方法,在滑板车上设置检测人体姿态的感应器以及控制系统,其特征在于,包括以下步骤:A method for controlling a scooter based on a tilting posture of a human body, and an inductor and a control system for detecting a posture of a human body on a scooter, characterized in that the method comprises the following steps:
    1)通过感应器检测人体当前在滑板车上的姿态信息并输出姿态信息,姿态信息包括前倾信息、后倾信息、左倾信息、右倾信息以及平衡信息;1) detecting the posture information of the human body on the scooter through the sensor and outputting the posture information, and the posture information includes forward tilt information, backward tilt information, left tilt information, right tilt information, and balance information;
    2)控制系统基于当前姿态信息发出相应控制指令,得到姿态信息为前倾信息时输出加速控制指令使滑板车呈加速状态;得到姿态信息为后倾信息时滑板车输出减速控制指令使滑板车呈减速状态:得到姿态信息为左倾信息时滑板车输出左转控制指令使滑板车呈左转状态;得到姿态信息为右倾信息时滑板车输出右转控制指令使滑板车呈右转状态;得到姿态信息为平衡信息时滑板车输出匀速控制指令使滑板车呈匀速状态。2) The control system issues a corresponding control command based on the current posture information, and outputs an acceleration control command when the posture information is forward tilt information to make the scooter accelerate; when the posture information is the backward tilt information, the scooter output deceleration control command makes the scooter present Deceleration state: When the attitude information is left tilt information, the scooter outputs a left turn control command to make the scooter turn left; when the posture information is right tilt information, the scooter outputs a right turn control command to make the scooter turn right; In order to balance the information, the scooter outputs a uniform speed control command to make the scooter at a constant speed.
  2. 根据权利要求1所述的基于人体倾斜姿态控制滑板车的方法,其特征在于,所述姿态信息还包括滑板车当前水平信息,控制系统根据当前水平信息发出平衡指令控制滑板车保持水平姿态。The method for controlling a scooter based on a tilt posture of a human body according to claim 1, wherein the posture information further comprises current level information of the scooter, and the control system issues a balance command according to the current level information to control the scooter to maintain a horizontal posture.
  3. 根据权利要求1所述的基于人体倾斜姿态控制滑板车的方法,其特征在于,所述姿态信息包括人体重心位置的当前偏移信息,控制系统通过获取当前偏移信息使滑板车产生相应的运行状态。The method for controlling a scooter based on a human body tilt posture according to claim 1, wherein the posture information comprises current offset information of a position of a person's center of gravity, and the control system generates a corresponding operation by acquiring current offset information. status.
  4. 一种滑板车,包括感应器和控制器,其特征在于,所述感应器包括若干分布于滑板车脚踏区域的感应单元,所述感应单元收集人体当前姿态的前倾信息、后倾信息、左倾信息、右倾信息以及平衡信息并通过控制器发出相应加速、减速、左转、右转以及匀速的控制指令得到滑板车当前状态。 A scooter includes an inductor and a controller, wherein the sensor includes a plurality of sensing units distributed in a pedal area of the scooter, and the sensing unit collects forward tilt information, backward tilt information, and The left tilt information, the right tilt information, and the balance information are obtained by the controller to issue corresponding acceleration, deceleration, left turn, right turn, and constant speed control commands to obtain the current state of the scooter.
PCT/CN2016/070290 2016-01-06 2016-01-06 Method to control scooter based on tilting posture of human body, and scooter WO2017117746A1 (en)

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