# US 11,440,402 B2 · Control method, vehicle frame, power driving assembly and vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,402 B2 - Document ID: US11440402B2 - Status: Granted - Kind: B2 - Application number: 16/610,926 - Filed: 2018-04-09 - Published: 2020-02-20 - Granted: 2022-09-13 - Earliest claimed: 2017-05-09 - Assignees: Ninebot (Beijing) Tech. Co., Ltd - Applicants: Ninebot (Beijing) Tech Co., Ltd. - Inventors: Ji Lin; Xingle Li; Yi Lou - Web page: https://patentgrep.com/patent/US11440402B2 ## CPC - B60K 1/00: Arrangement or mounting of electrical propulsion units (B60K7/00 takes precedence; arrangement or mounting of plural diverse prime-movers for mutual or common propulsion B60K6/00) - B60K 17/28: characterised by arrangement, location, or type of power take-off - B60K 1/04: of the electric storage means for propulsion - B60K 17/34: for driving both front and rear wheels, e.g. four wheel drive vehicles - B60K 28/16: responsive to, or preventing, spinning or skidding of wheels - B60K 2001/001: {one motor mounted on a propulsion axle for rotating right and left wheels of this axle} - B60K 2001/0438: {Arrangement under the floor} - B60K 2001/0455: {Removal or replacement of the energy storages} - B60L 15/40: Adaptation of control equipment on vehicle for remote actuation from a stationary place (devices along the route for controlling devices on rail vehicles B61L3/00; central rail-traffic control systems B61L27/00) - B60L 2200/16: Single-axle vehicles - B60L 2200/20: Vehicles specially adapted for children, e.g. toy vehicles - B60L 2250/28: Accelerator pedal thresholds - B60L 2260/34: Stabilising upright position of vehicles, e.g. of single axle vehicles - B60R 16/0231: {Circuits relating to the driving or the functioning of the vehicle (monitoring tyres B60C23/00; indicating overspeed B60K31/00; for dash boards B60K37/00, B60Q3/10; for indicating emergencies B60Q1/52; brake control systems B60T; registering or indicating the working of vehicles G07C5/00; measuring distance G01C, e.g. combinations of speed and distance G01C23/00; engine indicators G01L; measuring speed or acceleration G01P)} - B60Y 2200/114: Racing vehicles, e.g. Formula one, Karts - B60Y 2200/80: Other vehicles not covered by groups B60Y2200/10 - B60Y2200/60 - B62K 5/01: Motorcycles with four or more wheels (specially adapted for disabled riders B62K5/003) - B62K 11/007: {Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider} - B62K 2202/00: Motorised scooters - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY - B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE ## Abstract Provided are a control method, a vehicle frame, a power driving assembly and a vehicle. The vehicle frame is configured to be connected with the power driving assembly, and the vehicle frame is provided with a manipulation assembly and a controller for controlling the power driving assembly. The control method includes that: after the vehicle frame is connected to the power driving assembly and a communication connection is established between the controller and the power driving assembly, the controller detects a manipulation instruction from the manipulation assembly; and in response to detecting the manipulation instruction from the manipulation assembly and determining that the manipulation instruction corresponds to the power driving assembly, the controller generates, according to the manipulation instruction, a control instruction for controlling the power driving assembly, and sends the control instruction to the power driving assembly. ## Claims ### Claim 1 A control method, being applied to a vehicle frame, wherein the vehicle frame is configured to be connected with a power driving assembly, and the vehicle frame is provided with a manipulation assembly and a controller for controlling the power driving assembly, the control method comprises: after the vehicle frame is connected with the power driving assembly and a communication connection is established between the controller and the power driving assembly, detecting, by the controller, a manipulation instruction from the manipulation assembly; and in response to detecting the manipulation instruction from the manipulation assembly and determining that the manipulation instruction corresponds to the power driving assembly, generating, by the controller according to the manipulation instruction, a control instruction for controlling the power driving assembly, and sending, by the controller, the control instruction to the power driving assembly, wherein the vehicle frame is of a frame structure in bridge connection to the front and rear of a vehicle, and is in detachable connection with the power driving assembly which has a self-balancing system; when the power driving assembly is connected with the vehicle frame, the controller is in wired connection or wireless connection with the power driving assembly, the self-balancing system of the power driving assembly does not operate, and the vehicle is used as a kart; when the power driving assembly is disconnected from the vehicle frame, the self-balancing system of the power driving assembly operates, and the power driving assembly is used as a self-balancing scooter. ### Claim 2 (depends on 1) The control method as claimed in claim 1, wherein the manipulation assembly comprises an accelerator assembly; and generating, according to the manipulation instruction, the control instruction for controlling the power driving assembly comprises: generating, according to an accelerator manipulation instruction from the accelerator assembly, a first control instruction used for controlling power output of the power driving assembly, wherein the first control instruction is used for instructing the power driving assembly to increase the power output; or, the manipulation assembly comprises a brake assembly; and generating, according to the manipulation instruction, the control instruction for controlling the power driving assembly comprises: generating, according to a brake instruction from the brake assembly, a second control instruction used for controlling power output of the power driving assembly, wherein the second control instruction is used for instructing the power driving assembly to reduce the power output; or, the manipulation assembly comprises a direction manipulation assembly; and generating, according to the manipulation instruction, the control instruction for controlling the power driving assembly comprises: generating, according to a direction manipulation instruction from the direction manipulation assembly, a third control instruction used for controlling power output of the power driving assembly, wherein the third control instruction is used for instructing different drive units in the power driving assembly to provide differential power outputs. ### Claim 3 A control method, being applied to a power driving assembly, wherein the power driving assembly is configured to be connected with a vehicle frame, the vehicle frame is provided with a manipulation assembly, and a controller for controlling the power driving assembly is set on the vehicle frame or on the power driving assembly, the method comprises: after the power driving assembly is connected to the vehicle frame, entering, by the power driving assembly, a first operating mode; after a communication connection is established between the power driving assembly in the first operating mode and the controller, receiving, by the power driving assembly in the first operating mode, a control instruction from the controller; and controlling, by the power driving assembly, power output of the power driving assembly according to the received control instruction, wherein the vehicle frame is of a frame structure in bridge connection to the front and rear of a vehicle, and is in detachable connection with the power driving assembly which has a self-balancing system; when the power driving assembly is connected with the vehicle frame, the controller is in wired connection or wireless connection with the power driving assembly, the self-balancing system of the power driving assembly does not operate, and the vehicle is used as a kart; when the power driving assembly is disconnected from the vehicle frame, the self-balancing system of the power driving assembly operates, and the power driving assembly is used as a self-balancing scooter. ### Claim 4 (depends on 3) The control method as claimed in claim 3, further comprising: after the power driving assembly is disconnected from the vehicle frame, entering, by the power driving assembly, a second operating mode, wherein the second operating mode is different from the first operating mode, and in the second operating mode, the power driving assembly does not provide power output for the vehicle frame. ### Claim 5 (depends on 4) The control method as claimed in claim 4, wherein the power driving assembly has a self-balancing system; in the first operating mode, the self-balancing system of the power driving assembly does not operate, and the power driving assembly provides power output for the vehicle frame; and in the second operating mode, the self-balancing system of the power driving assembly operates. ### Claim 6 (depends on 3) The control method as claimed in claim 3, wherein the manipulation assembly comprises an accelerator assembly; and controlling, by the power driving assembly, power output of the power driving assembly according to the received control instruction comprises: receiving, by the power driving assembly, a first control instruction from the controller, wherein the first control instruction is used for instructing the power driving assembly to increase the power output; and determining, according to the first control instruction, a power increase strategy of the power driving assembly, and controlling, by the power driving assembly, to increase the power output of the power driving assembly based on the power increase strategy; or, the manipulation assembly comprises a brake assembly; and controlling, by the power driving assembly, power output of the power driving assembly according to the received control instruction comprises: receiving, by the power driving assembly, a second control instruction from the controller, wherein the second control instruction is used for instructing the power driving assembly to reduce the power output; and determining, according to the second control instruction, a power reduction strategy of the power driving assembly, and controlling, by the power driving assembly, to reduce the power output of the power driving assembly based on the power reduction strategy; or, the manipulation assembly comprises a direction manipulation assembly; and controlling, by the power driving assembly, power output of the power driving assembly according to the received control instruction comprises: receiving, by the power driving assembly, a third control instruction from the controller, wherein the third control instruction is used for instructing different drive units in the power driving assembly to provide differential power outputs; and determining, according to the third control instruction, a differential power output strategy of the power driving assembly, and controlling the different drive units in the power driving assembly to provide the differential power outputs based on the differential power output strategy. ### Claim 7 (depends on 3) The control method as claimed in claim 3, wherein the power driving assembly is only connected to a front end of the vehicle frame, and serves as a front driving power assembly of the vehicle frame; or, the power driving assembly is only connected to a rear end of the vehicle frame, and serves as a rear driving power assembly of the vehicle frame; or, the power driving assembly connected to the front end of the vehicle frame serves as the front driving power assembly of the vehicle frame, and the power driving assembly connected to the rear end of the vehicle frame serves as the rear driving power assembly of the vehicle frame. ### Claim 8 A vehicle frame, being configured to be connected with a power driving assembly, and provided with a manipulation assembly and a controller for controlling the power driving assembly, wherein after the vehicle frame is connected with the power driving assembly and a communication connection is established between the controller and the power driving assembly, the controller is configured to detect a manipulation instruction from the manipulation assembly, and in response to detecting the manipulation instruction from the manipulation assembly and determining that the manipulation instruction corresponds to the power driving assembly, generate, according to the manipulation instruction, a control instruction for controlling the power driving assembly, and send the control instruction to the power driving assembly, wherein the vehicle frame is of a frame structure in bridge connection to the front and rear of a vehicle, and is in detachable connection with the power driving assembly which has a self-balancing system; when the power driving assembly is connected with the vehicle frame, the controller is in wired connection or wireless connection with the power driving assembly, the self-balancing system of the power driving assembly does not operate, and the vehicle is used as a kart; when the power driving assembly is disconnected from the vehicle frame, the self-balancing system of the power driving assembly operates, and the power driving assembly is used as a self-balancing scooter. ### Claim 9 (depends on 8) The vehicle frame as claimed in claim 8, wherein the manipulation assembly comprises an accelerator assembly; the accelerator assembly is connected with the controller; the controller is configured to generate, according to an accelerator manipulation instruction from the accelerator assembly, a first control instruction used for controlling power output of the power driving assembly, wherein the first control instruction is used for instructing the power driving assembly to increase the power output; or, the manipulation assembly comprises a brake assembly; the brake assembly is connected with the controller; the controller is configured to generate, according to a brake instruction from the brake assembly, a second control instruction used for controlling power output of the power driving assembly, wherein the second control instruction is used for instructing the power driving assembly to reduce the power output; or, the manipulation assembly comprises a direction manipulation assembly; the direction manipulation assembly is connected with the controller; the controller is configured to generate, according to a direction manipulation instruction from the direction manipulation assembly, a third control instruction used for controlling power output of the power driving assembly, wherein the third control instruction is used for instructing different drive units in the power driving assembly to provide differential power outputs. ### Claim 10 (depends on 8) The vehicle frame as claimed in claim 8, wherein the power driving assembly is only connected to a front end of the vehicle frame, and serves as a front driving power assembly of the vehicle frame; or, the power driving assembly is only connected to a rear end of the vehicle frame, and serves as a rear driving power assembly of the vehicle frame; or, the power driving assembly connected to the front end of the vehicle frame serves as the front driving power assembly of the vehicle frame, and the power driving assembly connected to the rear end of the vehicle frame serves as the rear driving power assembly of the vehicle frame. ### Claim 11 (depends on 8) A vehicle, comprising a vehicle frame as claimed in claim 8 and a power driving assembly, wherein the power driving assembly is configured to be connected with a vehicle frame; the vehicle frame is provided with a manipulation assembly; a controller for controlling the power driving assembly is set on the vehicle frame or on the power driving assembly; the power driving assembly comprises: a processor and a power output assembly, wherein after the power driving assembly is connected to the vehicle frame, the power driving assembly enters a first operating mode; when the power driving assembly is in the first operating state, the processor is configured to receive, after establishing communication connection with the controller, a control instruction from the controller, and control power output of the power output assembly according to the received control instruction. ### Claim 12 A power driving assembly, being configured to be connected with a vehicle frame; the vehicle frame is provided with a manipulation assembly; a controller for controlling the power driving assembly is set on the vehicle frame or on the power driving assembly; the power driving assembly comprises: a processor and a power output assembly, wherein after the power driving assembly is connected to the vehicle frame, the power driving assembly enters a first operating mode; when the power driving assembly is in the first operating state, the processor is configured to receive, after establishing communication connection with the controller, a control instruction from the controller, and control power output of the power output assembly according to the received control instruction, wherein the vehicle frame is of a frame structure in bridge connection to the front and rear of a vehicle, and is in detachable connection with the power driving assembly; the power driving assembly has a self-balancing system; when the power driving assembly is connected with the vehicle frame, the controller is in wired connection or wireless connection with the power driving assembly, the self-balancing system of the power driving assembly does not operate, and the vehicle is used as a kart; when the power driving assembly is disconnected from the vehicle frame, the self-balancing system of the power driving assembly operates, and the power driving assembly is used as a self-balancing scooter. ### Claim 13 (depends on 12) The power driving assembly as claimed in claim 12, wherein after the power driving assembly is disconnected from the vehicle frame, the power driving assembly enters a second operating mode, wherein the second operating mode is different from the first operating mode, and in the second operating mode, the power output assembly does not provide power output for the vehicle frame. ### Claim 14 (depends on 13) The power driving assembly as claimed in claim 13, wherein the power driving assembly has a self-balancing system; in the first operating mode, the self-balancing system of the power driving assembly does not operate, and the power output assembly provides power output for the vehicle frame; and in the second operating mode, the self-balancing system of the power driving assembly operates. ### Claim 15 (depends on 12) The power driving assembly as claimed in claim 12, wherein the manipulation assembly comprises an accelerator assembly; the processor is configured to receive a first control instruction from the controller, wherein the first control instruction is used for instructing the power output assembly to increase the power output, determine, according to the first control instruction, a power increase strategy of the power output assembly, and control the power output assembly to increase the power output based on the power increase strategy; or, the manipulation assembly comprises a brake assembly; the processor is configured to receive a second control instruction from the controller, wherein the second control instruction is used for instructing the power output assembly to reduce the power output, determine, according to the second control instruction, a power reduction strategy of the power output assembly, and control the power output assembly to reduce the power output based on the power reduction strategy; or, the manipulation assembly comprises a direction manipulation assembly; the processor is configured to receive a third control instruction from the controller, wherein the third control instruction is used for instructing different drive units in the power output assembly to provide differential power outputs, determine, according to the third control instruction, a differential power output strategy of the power output assembly, and control the different drive units in the power output assembly to provide the differential power outputs based on the differential power output strategy. ### Claim 16 (depends on 12) The power driving assembly as claimed in claim 12, wherein, the power driving assembly is only connected to a front end of the vehicle frame, and serves as a front driving power assembly of the vehicle frame; or, the power driving assembly is only connected to a rear end of the vehicle frame, and serves as a rear driving power assembly of the vehicle frame; or, the power driving assembly connected to the front end of the vehicle frame serves as the front driving power assembly of the vehicle frame, and the power driving assembly connected to the rear end of the vehicle frame serves as the rear driving power assembly of the vehicle frame.