CN103770873A - Intelligent self-balancing traffic robot - Google Patents

Intelligent self-balancing traffic robot Download PDF

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Publication number
CN103770873A
CN103770873A CN201210400048.2A CN201210400048A CN103770873A CN 103770873 A CN103770873 A CN 103770873A CN 201210400048 A CN201210400048 A CN 201210400048A CN 103770873 A CN103770873 A CN 103770873A
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China
Prior art keywords
wheel
handle
earth
intelligent self
main drive
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Pending
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CN201210400048.2A
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Chinese (zh)
Inventor
吴海林
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XIANJU WEILONGNENG POWER TECHNOLOGY Co Ltd
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XIANJU WEILONGNENG POWER TECHNOLOGY Co Ltd
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Priority to CN201210400048.2A priority Critical patent/CN103770873A/en
Publication of CN103770873A publication Critical patent/CN103770873A/en
Pending legal-status Critical Current

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Abstract

The invention discloses an intelligent self-balancing traffic robot. The intelligent self-balancing traffic robot comprises a base frame body, a movement executing mechanism, a driving system, a control system, a signal sensing system and a power supply system; the power supply system is used for supplying power for every mechanism system; the base frame body comprises a chassis frame and a pedal plate which is fixedly connected with the chassis frame; the movement executing mechanism comprises a grounding device which is in rotating connection with the chassis frame through a rotating main shaft; the driving system is used for driving at least one motor and driving the displacement between the grounding device and the ground; the signal sensing system comprises a robot posture sensor and is used for performing real-time feedback and transmission on signals of angles of forward and backward inclination of the base frame body; the movement executing mechanism comprises an inertial element which is used for maintaining the left and right balance of the grounding device; the inertial element is in rotating connection with the chassis frame through a core shaft which is parallel to the axis of the rotating main shaft; the core shaft is driven by the motor and accordingly the inertial element is driven to rotate at the high speed. The intelligent self-balancing traffic robot is simple in structure, strong in flexibility, rapid in response, easy to operate and safe and stable.

Description

A kind of Intelligent self-balancing traffic robot
Technical field
The present invention relates to a kind of robot, particularly one and can automatically realize front and back and left right balanced traffic robot, belonging to can be due to the vehicle of riding instead of walk.
Background technology
The land crafts such as bicycle, motor bike, automobile are developed so far, and except the application of power resources and material, there is no larger breakthrough in principle.Self-Balancing vehicle, has broken traditional Thought, for new road has been opened up in birth, development and the application of the new vehicle.Utilize gravity force energy, can provide actv. technical solution more for people carry out safe, steady, green transportation on land.
At the end of last century, American inventor Di grace. toll bar (Dean Kamen) has designed a kind of driven by power with his team of DEKA research and development company (DEKA Research and Development Corp.) invention, has had the personal transport carrier of homeostasis ability, can allow people ride its and move without barrier at city the inside milli, and be referred to as " thinking car ".The inventive concept of thinking car is to be based upon in " dynamic stability " groundwork (DynamicStabilization), the namely self-equalizing ability based on vehicle itself.Judge the residing posture state of vehicle body with built-in accurate solid-state gyroscope (Solid-StateGyroscopes), see through central microprocessor accurate and high speed and calculate after suitable instruction, CD-ROM drive motor is accomplished the effect of balance.
Structure on thinking car comprises four large major parts: wheel and powerplant module, sensing system, computerized control system and operator control system.Main sensing system is one group of gyroscope, keeps the constant characteristic of direction of its S. A. indication to carry out data acquisition accurately to the attitude data of thinking car by utilizing gyroscope to have.Thinking car is equipped with 3~5 gyro sensors, in order to complete degree of dip and the inclination degree of surveying front and rear direction.Due to the system complexity of thinking car, and need to adopt multiple gyroscopes, manufacturing cost is high, has also significantly increased the cost of the maintenance of its software and hardware simultaneously.
The patent No. of Beijing University of Technology is that the patent of invention of ZL201020650188.1 discloses a kind of Self-balance manned monocycle system, comprises walking unit and control unit; The road wheel of walking unit is arranged on the below of system, and the top of road wheel is provided with frame, and the top of frame is provided with balance wheel, and the top of balance wheel is provided with controls the seesaw control handle of speed of wheelbarrow; In frame, be provided with power supply and motion control unit, control handle is connected on sensor module; Control unit comprises: motion control unit, and the control handle being connected with motion control unit, the sensor module being formed by obliquity sensor, inertial sensor, and balance wheel is taken turns firm electric-motor drive unit and road wheel is taken turns firm electric-motor drive unit; The axis of balance wheel is vertical with the axis of road wheel and non-intersect.Although these innovation and creation have realized the balance control at fore-and-aft direction and left and right directions under the different gait of march of wheelbarrow, complex structure, manufacturing cost is high.
In a word, and for some short range and without the situation of bearing overweight transportation burden, conventional traffic robot is because volume is large, all larger for the consumption of the energy and the area that takes up room, very not environmental protection.Traditional traffic robot, also exists following shortcoming: manpower traffic robot effort and efficiency are low; And the traffic robot of traditional electric power or other power is because volume is large, quality is large, therefore larger for energy demand, seem very uneconomical for some short range and without the situation of bearing overweight transportation burden.
Summary of the invention
The object of the present invention is to provide a kind of Intelligent self-balancing traffic robot, anterior-posterior balance and left and right balance for robot have adopted respectively different intelligent balance technical schemes, adopt the inventive concept of lower cost, the equilibrium problem of transport solution robot, and provide a kind of and have that simple in structure, alerting ability is strong, response rapidly, the Practical Intelligent traffic robot of processing ease and safety and stability.
For achieving the above object, the invention provides following technical scheme: a kind of Intelligent self-balancing traffic robot, comprise pedestal body, movement executing mechanism, drive system, control system, signal sensing system and be the power-supply system of described each train of mechanism power supply, described power-supply system is also equipped with battery isolator control, described pedestal body comprises sole and the pedal being fixedly connected with it, described control system is installed on described sole, described movement executing mechanism comprises the earth system being subjected to displacement with ground, described earth system is at least one, described earth system is rotationally connected by live spindle and described sole, described earth system is fixedly connected with live spindle, described sole and live spindle form the one-level inverted pendulum of balance, described drive systems comprises at least one motor, described motor is carried out the rotating instruction of described control system output, described live spindle is driven by described motor, and then drive described earth system and ground to be subjected to displacement, described signal sensing system comprises at least one robot pose sensor, described attitude sensor transmits to described control system Real-time Feedback the angle signal that described pedestal body tilts forward and back, described movement executing mechanism also comprises and maintains the left right balanced inertance element of described earth system, described inertance element is also rotationally connected by mandrel and described sole, described inertance element is also fixedly connected with described mandrel, and described mandrel is parallel with the axis of described live spindle, described mandrel is also driven by a described motor, and then drive described inertance element High Rotation Speed.
Further, described inertance element is circular quality dish, and described quality dish carries out inertia High Rotation Speed take its mandrel as axle; Described pedal is provided with cushion software thin-film switch, and the signal pig-tail wire of described thin-film switch is connected with the initializing signal receiving end of described control system.
The scheme one of earth system of the present invention is: described earth system is two coaxial main drive wheel, two coaxial main drive wheel respectively side by side interval be installed on the left and right sides of sole, the movement executing mechanism that forms long wheelbase, described pedal is on the upper surface of the described sole between two described main drive wheel.
The scheme two of earth system of the present invention is: described earth system is pedrail mechanism, and the driving wheel of described pedrail mechanism and live spindle form rotation pendulum.
The scheme three of earth system of the present invention is: described earth system is pedipulator, and described pedipulator and live spindle form to support to be put.
Further, described attitude sensor is angular transducer.
Further, described main drive wheel combines with described quality dish, in described quality dish, be contained in the wheel hub outer ring of described main drive wheel, and around identical pivot axis, described main drive wheel shares a motor with described quality dish, between the turning cylinder of described quality dish and the wheel hub transmission main shaft of described main drive wheel, install big speed ratio mechanism additional, the sub-phase specific mass of described main drive wheel dish is low-speed motion part, described big speed ratio mechanism has one degree of freedom, the transmission shaft of described motor directly drives the driving link of described big speed ratio mechanism, quality dish and described main drive wheel described in the driven executive item indirect drive of described big speed ratio mechanism, described big speed ratio mechanism is train, and the driving link of described train and driven executive item are gear, friction wheel or sprocket wheel, described wheel is planet circular system, and the transmission shaft of the sun wheel of described planet circular system is directly fixedly connected with the live spindle of described main drive wheel, and the driven executive item of described planet circular system is fixedly connected with described inertance element.
Further, on described pedestal body, be fixedly connected with direction joystick, the top of described direction joystick fixed installation handle, the bottom of described direction joystick with turn to the end of center shaft of wheel hinged, and to described center shaft transfer of torque, turn to wheel to swing thereby drive.
Further, the middle part of described handle is flexibly connected with direction joystick by coaxial cylindricality short sleeve, described cylindricality short sleeve is fixedly connected with the top of described direction joystick, described handle and described cylindricality short sleeve free-running fit, described handle carries out the slippage of fine motion straight line along the inner chamber of described cylindricality short sleeve, the outer wall corresponding position of the inwall of described cylindricality short sleeve and described handle is by concavo-convex joint portion mutual chimeric formation sliding and position limitation mechanism, between the flange both sides of handle axle described concavo-convex joint portion upwards and groove limit, in space, be provided with elastic body, the outer wall area of the inwall of described cylindricality short sleeve or described handle is corresponding thereto provided with the displacement pickup that detects described handle slippage, described displacement pickup transmits displacement signal to control system,
The scheme one of displacement pickup of the present invention is: described displacement pickup is Hall displacement transducer, the magnet of Hall displacement transducer and Hall element are installed on respectively on the outer wall of described handle on the inwall of described cylindricality short sleeve or corresponding thereto, and the signal output part of Hall element is connected with the signal receiving end of described control system.
The scheme two of displacement pickup of the present invention is: described displacement pickup is resistor type displacement sensor, the resistive element of resistor type displacement sensor and movably brush are installed on respectively on the outer wall of described handle on the inwall of described cylindricality short sleeve or corresponding thereto, and the signal output part of described resistor type displacement sensor is connected with the signal receiving end of described control system.
Further, on described sole, seat is installed.
Further, the left and right sides of described sole is all provided with mud guard, and extend to the top of corresponding main drive wheel on the top of mud guard; Described direction joystick comprises outer bar and interior bar, and interior bar is plugged in outer bar and fixes by locking knob.
The present invention's beneficial effect is compared to existing technology:
Traffic robot's of the present invention balance adopts the technical scheme of combination balancing: traffic robot's left and right balance realizes by the controlled high speed rotating of quality dish; coasting body based on High Rotation Speed has the dead axle characteristic that keeps its axis of rotation attitude, and centnifugal force when quality dish rotates can make himself to keep balance; Traffic robot's anterior-posterior balance carries out tilt parameters collection by angular transducer, carries out data processing through control system, and final injunction motor drives earth system to advance or retreat and realized.According to traffic robot's attitude loading characteristic in different directions of advancing, adopt different stable equilibrium's schemes, can more effectively realize traffic robot's self-balancing.
2. adopt the hunchbacked spiral shell effect of quality dish High Rotation Speed, in the right balanced while of a left side of realizing traffic robot, quality dish High Rotation Speed also can produce precession, also can move by auxiliary earthing apparatus, quality dish becomes energy storage energy storage and can release energy discontinuously, optimizes the efficiency of movement of movement executing mechanism.
3. the present invention is provided with cushion software thin-film switch on pedal; in the time starting source switch to system power-up; traffic robot can not keep balance; only set foot on pedal; start after cushion software thin-film switch; control system just starts initialization, makes traffic robot keep balance, prevents that traffic robot from powering up rapid balance and causing the user that damages; In addition,, can also prevent from starting traffic robot suddenly on the slope time, slip slope and cause Peril Incident.
4. heading control loop of the present invention adopts the handle that can twitch, band dynamic sensor, and simple structure, can realize handling maneuver well.
5. because quality dish rotates in ground contact device inner high speed, can effectively keep left and right balance, volume is small and exquisite, can make this traffic robot realize pivot stud function in minimum space, overcome common two-wheeled balance truck car body compared with the deficiency that causes greatly space hold, simple to operate, safe and reliable, be applicable to crowd widely.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of first embodiment of the invention.
Fig. 2 is the schematic diagram of first embodiment of the invention.
Fig. 3 is the structural representation that joystick of the present invention is installed Hall displacement transducer.
Fig. 4 is the structural representation that direction joystick of the present invention is installed resistor type displacement sensor.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for illustrating the present invention, but are not used for limiting the scope of the invention.
Embodiment 1: as Figure 1-3, a kind of Intelligent self-balancing traffic robot, comprise pedestal body, movement executing mechanism, drive system, control system 4, signal sensing system and be the power-supply system 5 of described each train of mechanism power supply, described power-supply system is also equipped with battery isolator control, described pedestal body comprises sole 13 and the pedal being fixedly connected with it, described control system 4 is installed on described sole 13, described movement executing mechanism comprises the earth system being subjected to displacement with ground, described earth system is at least one, described earth system is rotationally connected by live spindle and described sole 13, described earth system is fixedly connected with live spindle, described sole 13 and live spindle form the one-level inverted pendulum of balance, described drive systems comprises at least one motor 6, described motor 6 is carried out the rotating instruction that described control system 4 is exported, described live spindle is driven by described motor 6, and then drive described earth system and ground to be subjected to displacement, described signal sensing system comprises at least one robot pose sensor 1, described attitude sensor 1 transmits to described control system 4 Real-time Feedbacks the angle signal that described pedestal body tilts forward and back, described movement executing mechanism also comprises and maintains the left right balanced inertance element of described earth system, described inertance element is also rotationally connected by mandrel and described sole 3, described inertance element is also fixedly connected with described mandrel, and described mandrel is parallel with the axis of described live spindle, described mandrel is also driven by a described motor 6, and then drive described inertance element High Rotation Speed.
Further, described inertance element is circular quality dish, and described quality dish carries out inertia High Rotation Speed take its mandrel as axle; Described pedal is provided with cushion software thin-film switch 2, and the signal pig-tail wire of described thin-film switch 2 is connected with the initializing signal receiving end of described control system 4.
Further, described earth system is two coaxial main drive wheel 12, two coaxial main drive wheel 12 respectively side by side interval be installed on the left and right sides of sole 13, the movement executing mechanism that forms long wheelbase, described pedal is on the upper surface of the described sole 13 between two described main drive wheel 12 sons.
Further, described attitude sensor 1 is angular transducer.
Further, described main drive wheel 12 combines with described quality dish, in described quality dish, be contained in the wheel hub outer ring of described main drive wheel 12, and around identical pivot axis, described main drive wheel shares a motor with described quality dish, between the turning cylinder of described quality dish and the wheel hub transmission main shaft of described main drive wheel, install big speed ratio mechanism additional, the sub-phase specific mass of described main drive wheel dish is low-speed motion part, described big speed ratio mechanism has one degree of freedom, the transmission shaft of described motor 6 directly drives the driving link of described big speed ratio mechanism, quality dish and described main drive wheel described in the driven executive item indirect drive of described big speed ratio mechanism, described big speed ratio mechanism is train, and the driving link of described train and driven executive item are gear, friction wheel or sprocket wheel, described wheel is planet circular system, and the transmission shaft of the sun wheel of described planet circular system is directly fixedly connected with the live spindle of described main drive wheel, and the driven executive item of described planet circular system is fixedly connected with described inertance element.
Further, on described pedestal body, be fixedly connected with direction joystick, the top of described direction joystick fixed installation handle 7, the bottom of described direction joystick with turn to the end of center shaft of wheel hinged, and to described center shaft transfer of torque, turn to wheel to swing thereby drive.
Further, the middle part of described handle 7 is flexibly connected with direction joystick by coaxial cylindricality short sleeve 14, described cylindricality short sleeve 14 is fixedly connected with the top of described direction joystick, described handle 7 and described cylindricality short sleeve 14 free-running fits, described handle 7 carries out the slippage of fine motion straight line along the inner chamber of described cylindricality short sleeve 14, the outer wall corresponding position of the inwall of described cylindricality short sleeve 17 and described handle is by concavo-convex joint portion mutual chimeric formation sliding and position limitation mechanism, between the flange both sides of handle axle described concavo-convex joint portion upwards and groove limit, in space, be provided with elastic body 15, the outer wall area of the inwall of described cylindricality short sleeve or described handle is corresponding thereto provided with the displacement pickup 5 that detects described handle slippage, described displacement pickup 5 is to control system transmission displacement signal,
Described displacement pickup is Hall displacement transducer, the magnet 16 of Hall displacement transducer and Hall element 17 are installed on respectively on the outer wall of described handle 7 on the inwall of described cylindricality short sleeve 14 or corresponding thereto, and the signal output part of Hall element 17 is connected with the signal receiving end of described control system 4.
Further, on described sole 13, seat is installed.
Further, the left and right sides of described sole 13 is all provided with mud guard 11, and extend to the top of corresponding main drive wheel 12 on the top of mud guard 11; Described direction joystick comprises outer bar 10 and interior bar 8, interior bar 8 is plugged in outer bar 10 and by locking knob 8 and fixes, the design of mud guard makes the present invention also be difficult for adhesional wetting clothing through ponding road surface, operating personal can be adjusted by unscrewing or screw described locking knob the height of direction joystick simultaneously, to adapt to different crowds.
Embodiment 2: the present embodiment is substantially the same manner as Example 1, its difference is: described earth system is pedrail mechanism, the driving wheel of described pedrail mechanism and live spindle form rotation pendulum.
Embodiment 3: the present embodiment is substantially the same manner as Example 1, its difference is: described earth system is pedipulator, described pedipulator and live spindle form to support to be put.
Embodiment 4: as shown in Fig. 1,2,4, the present embodiment is substantially the same manner as Example 1, its difference is: described displacement pickup is resistor type displacement sensor, the resistive element 18 of resistor type displacement sensor and movably brush 19 are installed on respectively on the outer wall of described handle 7 on the inwall of described cylindricality short sleeve 14 or corresponding thereto, and the signal output part of described resistor type displacement sensor is connected with the signal receiving end of described control system 4.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.

Claims (10)

1. an Intelligent self-balancing traffic robot, comprise pedestal body, movement executing mechanism, drive system, control system, signal sensing system and be the power-supply system of described each train of mechanism power supply, described power-supply system is also equipped with battery isolator control, described pedestal body comprises sole and the pedal being fixedly connected with it, described control system is installed on described sole, described movement executing mechanism comprises the earth system being subjected to displacement with ground, described earth system is at least one, described earth system is rotationally connected by live spindle and described sole, described earth system is fixedly connected with live spindle, described sole and live spindle form the one-level inverted pendulum of balance, described drive systems comprises at least one motor, described motor is carried out the rotating instruction of described control system output, described live spindle is driven by described motor, and then drive described earth system and ground to be subjected to displacement, described signal sensing system comprises at least one robot pose sensor, described attitude sensor transmits to described control system Real-time Feedback the angle signal that described pedestal body tilts forward and back, it is characterized in that: described movement executing mechanism also comprises and maintains the left right balanced inertance element of described earth system, described inertance element is also rotationally connected by mandrel and described sole, described inertance element is also fixedly connected with described mandrel, and described mandrel is parallel with the axis of described live spindle, described mandrel is also driven by a described motor, and then drive described inertance element High Rotation Speed.
2. a kind of Intelligent self-balancing traffic robot according to claim 1, is characterized in that: described inertance element is circular quality dish, and described quality dish carries out inertia High Rotation Speed take its mandrel as axle; Described pedal is provided with cushion software thin-film switch, and the signal pig-tail wire of described thin-film switch is connected with the initializing signal receiving end of described control system.
3. a kind of Intelligent self-balancing traffic robot according to claim 2, it is characterized in that: described earth system is two coaxial main drive wheel, two coaxial main drive wheel respectively side by side interval be installed on the left and right sides of sole, the movement executing mechanism that forms long wheelbase, described pedal is on the upper surface of the described sole between two described main drive wheel.
4. a kind of Intelligent self-balancing traffic robot according to claim 2, is characterized in that: described earth system is pedrail mechanism, and the driving wheel of described pedrail mechanism and live spindle form rotation pendulum; Or,
Described earth system is pedipulator, and described pedipulator and live spindle form to support to be put.
5. according to a kind of Intelligent self-balancing traffic robot described in any one in claim 1~4, it is characterized in that: described attitude sensor is angular transducer.
6. a kind of Intelligent self-balancing traffic robot according to claim 3, it is characterized in that: described main drive wheel combines with described quality dish, in described quality dish, be contained in the wheel hub outer ring of described main drive wheel, and around identical pivot axis, described main drive wheel shares a motor with described quality dish, between the turning cylinder of described quality dish and the wheel hub transmission main shaft of described main drive wheel, install big speed ratio mechanism additional, the sub-phase specific mass of described main drive wheel dish is low-speed motion part, described big speed ratio mechanism has one degree of freedom, the transmission shaft of described motor directly drives the driving link of described big speed ratio mechanism, quality dish and described main drive wheel described in the driven executive item indirect drive of described big speed ratio mechanism, described big speed ratio mechanism is train, and the driving link of described train and driven executive item are gear, friction wheel or sprocket wheel, described wheel is planet circular system, and the transmission shaft of the sun wheel of described planet circular system is directly fixedly connected with the live spindle of described main drive wheel, and the driven executive item of described planet circular system is fixedly connected with described inertance element.
7. a kind of Intelligent self-balancing traffic robot according to claim 3, it is characterized in that: on described pedestal body, be fixedly connected with direction joystick, the top fixed installation handle of described direction joystick, the bottom of described direction joystick with turn to the end of center shaft of wheel hinged, and to described center shaft transfer of torque, turn to wheel to swing thereby drive.
8. a kind of Intelligent self-balancing traffic robot according to claim 7, it is characterized in that: the middle part of described handle is flexibly connected with direction joystick by coaxial cylindricality short sleeve, described cylindricality short sleeve is fixedly connected with the top of described direction joystick, described handle and described cylindricality short sleeve free-running fit, described handle carries out the slippage of fine motion straight line along the inner chamber of described cylindricality short sleeve, the outer wall corresponding position of the inwall of described cylindricality short sleeve and described handle is by concavo-convex joint portion mutual chimeric formation sliding and position limitation mechanism, between the flange both sides of handle axle described concavo-convex joint portion upwards and groove limit, in space, be provided with elastic body, the outer wall area of the inwall of described cylindricality short sleeve or described handle is corresponding thereto provided with the displacement pickup that detects described handle slippage, described displacement pickup transmits displacement signal to control system, wherein, described displacement pickup is Hall displacement transducer, the magnet of Hall displacement transducer and Hall element are installed on respectively on the outer wall of described handle on the inwall of described cylindricality short sleeve or corresponding thereto, the signal output part of Hall element is connected with the signal receiving end of described control system, or, described displacement pickup is resistor type displacement sensor, the resistive element of resistor type displacement sensor and movably brush are installed on respectively on the outer wall of described handle on the inwall of described cylindricality short sleeve or corresponding thereto, and the signal output part of described resistor type displacement sensor is connected with the signal receiving end of described control system.
9. a kind of Intelligent self-balancing traffic robot according to claim 7, is characterized in that: on described sole, seat is installed.
10. a kind of Intelligent self-balancing traffic robot according to claim 7, is characterized in that: the left and right sides of described sole is all provided with mud guard, and extend to the top of corresponding main drive wheel on the top of mud guard; Described direction joystick comprises outer bar and interior bar, and interior bar is plugged in outer bar and fixes by locking knob.
CN201210400048.2A 2012-10-20 2012-10-20 Intelligent self-balancing traffic robot Pending CN103770873A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105223963A (en) * 2015-11-14 2016-01-06 曹巧君 A kind of self-balancing dual-purpose shoe based on Control System of Inverted Pendulum
CN105966516A (en) * 2014-11-04 2016-09-28 李陈 Self-balancing monocycle with pedals convenient to unfold
CN109693747A (en) * 2017-10-20 2019-04-30 深圳市亮点智控科技有限公司 A kind of swing type balanced robot and balanced robot's control method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105966516A (en) * 2014-11-04 2016-09-28 李陈 Self-balancing monocycle with pedals convenient to unfold
CN105223963A (en) * 2015-11-14 2016-01-06 曹巧君 A kind of self-balancing dual-purpose shoe based on Control System of Inverted Pendulum
CN109693747A (en) * 2017-10-20 2019-04-30 深圳市亮点智控科技有限公司 A kind of swing type balanced robot and balanced robot's control method

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