CN106054891A - Electrical-monocycle-based wing-spreading type balancing puppet - Google Patents
Electrical-monocycle-based wing-spreading type balancing puppet Download PDFInfo
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- CN106054891A CN106054891A CN201610510044.8A CN201610510044A CN106054891A CN 106054891 A CN106054891 A CN 106054891A CN 201610510044 A CN201610510044 A CN 201610510044A CN 106054891 A CN106054891 A CN 106054891A
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- motor
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- 230000002159 abnormal effect Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 238000005034 decoration Methods 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Toys (AREA)
Abstract
The invention provides an electrical-monocycle-based wing-spreading type balancing puppet comprising a puppet body (3), a fixed rack (4), a puppet head (5), a balancing module, a puppet leg and foot module (10), a forward and backward tilting module, and an electric control module. Left tilting, right tilting, and balancing of the balancing puppet can be realized by controlling the balancing module and the forward tilting, backward leaning, and upright standing of the balancing puppet are realized by controlling the forward and backward tilting module, so that the electrical monocycle can be drive to move forward or backward or stand upright.
Description
Technical field
The present invention relates to balanced robot's technical field, a kind of spreading wing-type based on electric unicycle balance puppet
Device.
Background technology
The Self-balancing electronic wheelbarrow sold on current market is called for short: electric unicycle, is that a kind of driver stands in electronic
The walking wheelbarrow of ability on wheelbarrow, when driver does not stands onboard, electric unicycle cannot be walked, say, that when
Electric unicycle before although have certain before and after balanced capacity but not there is left-right balance ability, the most current electronic solely
Wheel car does not have unmanned automatic driving function.Typically demonstrated by people when selling electric unicycle and demonstrating to client and how to ride,
And needing certain skill, when special client is more, the demonstration of a time a time is also the most arduous, is one for salesman
Plant burden.A kind of based on electric unicycle the spreading wing-type balance puppet that this patent provides has left-right balance and automatic Pilot merit
People can be replaced to carry out riding electric unicycle by remote control, significantly alleviate burden when salesman is demonstrated；Should be based on electricity
The formula that the sways one's hips balance puppet of dynamic wheelbarrow can show unpiloted auto-steering, automatic Pilot, has amusement function；If joined
Close charging socket and can also realize automatic charging function.
Summary of the invention
The technical problem to be solved in the present invention is to overcome the existing electric unicycle can not the problem of automatic running, it is provided that a kind of
The balance puppet that can drive electric unicycle with automatic balance function.
In order to solve the problems referred to above the technical solution used in the present invention it is: a kind of spreading wing-type based on electric unicycle is provided
Balance puppet, it is characterised in that: include puppet body 3, fixed mount 4, balance module, the legs and feet module 10 of puppet, anteversion and retroversion mould
Block, electronic control module, described fixed mount 4 is fixed on puppet body 3.
The further technical scheme that the present invention uses is: described balance module includes left balance module 1 and right balance mould
Block 2, described left balance module 1 is by bearing 1, connecting rod 1, bearing 2 2.3, connecting rod 2 2.4, hinge 1, connecting rod
3 2.6, slide block 1, hinge 2 2.8, hinge 3 2.9, connecting rod 4 2.10, connecting rod 5 2.11, hinge 4 2.12, bearing three
2.13, connecting rod 6 2.14, slide block 2 2.15, left balance weight 2.16, motor 1, screw mandrel 2.18, slide block 3 2.19, connecting rod seven
2.20, hinge 5 2.21, upper limit sensor 2.22 and lower limit sensor 2.23 form, connecting rod 2 2.4 and connecting rod 3 2.6 hinge
Being connected to hinge 1, connecting rod 1 is fixedly mounted on fixed mount 4, and connecting rod 1 one end is equipped with slide block 1, slide block
One 2.7 is hinged with connecting rod 3 2.6, and connecting rod 2 2.4 is arranged on fixed mount 4 by bearing 1, connecting rod 4 2.10 and connecting rod five
2.11 are articulated with hinge 3 2.9, and connecting rod 4 2.10 and connecting rod 3 2.6 are articulated with hinge 2 2.8, connecting rod 5 2.11 and connecting rod two
2.4 are articulated with hinge 4 2.12, and connecting rod 4 2.10 is hinged with slide block 2 2.15, and connecting rod 5 2.11 is hinged on by bearing 3 2.13
On left balance weight 2.16, equipped with slide block 2 2.15 on connecting rod 6 2.14, connecting rod 6 2.14 is fixed on left balance weight 2.16, slide block
2 2.15 is hinged with connecting rod 4 2.10, and connecting rod 1, upper limit sensor 2.22 and lower limit sensor 2.23 are fixedly mounted on
On fixed mount 4, screw mandrel 2.18 is arranged on fixed mount 4 by bearing 1 and bearing 2 2.3, connecting rod 7 2.20 and connecting rod two
2.4 are articulated with a hinge 5 2.21, and connecting rod 7 2.20 is hinged with slide block 3 2.19, and the axle of motor 1 is fixed with screw mandrel 2.18
Connecting, motor 1 is fixedly mounted on fixed mount 4；Described right balance module 2 is identical with left balance module 1 structure.
The present invention use further technical scheme be: described anteversion and retroversion module by bearing 46, bearing 58, rotary shaft 7,
Motor 29 forms, and rotary shaft 7 is fixing with puppet body 3 to be connected, and rotary shaft 7 is fixing with the axle of motor 29 to be connected, and rotary shaft 7 is led to
Cross bearing 46, bearing 58 is connected with the legs and feet module 10 of puppet, the legs and feet module 10 of motor 29 and puppet is fixing be connected and with
Electronic control module electrically connects.
The further technical scheme that the present invention uses is: described electronic control module includes: controller 14, battery 13, charging
Mouth 12, attitude transducer 15, wireless remote control module 16；Wireless remote control module 16 includes wireless receiver and remote controller, described
Controller 14 and attitude transducer 15, upper limit sensor 2.22 and lower limit sensor 2.23, motor 1, motor 29,
The wireless receiver of wireless remote control module 16, battery 13, electrically connect and be fixedly mounted on puppet body 10；Charging inlet 12 with
Battery 13 electrically connects and is fixedly mounted on puppet body 10, described attitude transducer 15 includes that gyroscope and/or gravity add
Velocity sensor, described remote controller includes wireless transmitter, screen, starting key, shutdown button, button of standing, automatic running
Button, forward key, Reverse keys, left-hand rotation button, right-hand rotation button, turbo and/or deceleration button, described button is machinery
Formula, touch and/or touch screen；The wireless signal of described wireless receiver and wireless transmitter is infrared, ultrasound wave, bluetooth
And/or radio frequency.
The further technical scheme that the present invention uses is: also includes puppet head 5, plays decoration function.
The further technical scheme that the present invention uses is: described controller 14 is by following steps realization control function:
Step one, initializes detection and arranges, including upper limit of detection level sensor 2.22 and lower limit sensor 2.23 the most just
Often, the value of test pose sensor 15 is the most normal, if abnormal, reports to the police；If normal, adjust balance puppet attitude upright, make
Electric unicycle balances entrance step 2 of standing；
Step 2: wait the information that remote controller is sent, processes the information content that remote controller is sent；
Step 3: if the information content sent of remote controller is for advancing, then controller 14 controls motor 29 and makes balance puppet lean forward；
If the information content that remote controller is sent is for retreating, then controller 14 controls motor 29 and makes balance puppet hypsokinesis；If remote controller is sent
Information content for standing, then controller 14 controls balance module and makes balance puppet be kept upright；If the information that remote controller is sent
Content is for turning left, then controller 14 controls motor 1 and makes left balance weight 2.16 be moved to the left；If the information that remote controller is sent
Content is for turning right, then controller 14 controls motor 1 and makes left balance weight 2.16 move right；If the information that remote controller is sent
Content for accelerate, then controller 14 control motor 29 increase puppet body 3 lean forward or hypsokinesis angle make electric unicycle accelerate fortune
Dynamic；If the information content that remote controller is sent for slow down, then controller 14 control motor 29 reduce puppet body 3 lean forward or hypsokinesis
Angle makes electric unicycle retarded motion；If the information content that remote controller is sent is automatic running, then controller 14 controls motor
1 and motor 29 adjustment puppet make electric unicycle turn left, turn right, advance, retreat right standing activities；
Step 4: the value of test pose sensor is the most normal, if normally returning step 2, if abnormal, shows electric single-wheel
Car is fallen down, and carries out reporting to the police and entering step 5；
Step 5, the value continuing test pose sensor is the most normal, if abnormal, show that electric unicycle is fallen down, reports
Alert, return step 5, if normally returning step one.
The invention have the advantages that: the present invention is controlled by left balance module 1, right balance module 2 and controller 14
The final control realization of step that motor 1 processed realizes balances the center of gravity "Left"-deviationist of puppet, Right deviation and then realizes electric unicycle
Turn left, the function turning right and keep straight on, controller 14 control motor 29 make the center of gravity of balance puppet lean forward, swing back, upright and then
Realize the function that electric unicycle advances, retreats and stand, make balance puppet to consolidate by the legs and feet module of balance puppet
It is scheduled on electric unicycle；Receive the information sent of remote controller by electronic control module and control balance module, it is achieved remote control balances
The purpose of electric unicycle driven by puppet.
Accompanying drawing explanation
Fig. 1 is that a kind of spreading wing-type based on electric unicycle of the present invention balances puppet structural representation.
Fig. 2 is left balance module 1 structural representation of a kind of spreading wing-type based on electric unicycle of present invention balance puppet.
Detailed description of the invention
Be illustrated in figure 1 a kind of spreading wing-type based on electric unicycle balance puppet, including puppet body 3, fixed mount 4,
Balance module, the legs and feet module 10 of puppet, anteversion and retroversion module, electronic control module, described fixed mount 4 is fixed on puppet body 3.
Balance module includes left balance module 1 and right balance module 2, and described left balance module 1 is by bearing 1, company
Bar 1, bearing 2 2.3, connecting rod 2 2.4, hinge 1, connecting rod 3 2.6, slide block 1, hinge 2 2.8, hinge three
2.9, connecting rod 4 2.10, connecting rod 5 2.11, hinge 4 2.12, bearing 3 2.13, connecting rod 6 2.14, slide block 2 2.15, left balance
Block 2.16, motor 1, screw mandrel 2.18, slide block 3 2.19, connecting rod 7 2.20, hinge 5 2.21, upper limit sensor 2.22
Forming with lower limit sensor 2.23, connecting rod 2 2.4 and connecting rod 3 2.6 are articulated with hinge 1, and connecting rod 1 fixedly mounts
On fixed mount 4, connecting rod 1 one end is equipped with slide block 1, and slide block 1 is hinged with connecting rod 3 2.6, and connecting rod 2 2.4 leads to
Crossing bearing 1 to be arranged on fixed mount 4, connecting rod 2 2.4 and connecting rod 3 2.6 form ground floor scissor mechanism, connecting rod 4 2.10
Being articulated with hinge 3 2.9 with connecting rod 5 2.11, connecting rod 4 2.10 and connecting rod 3 2.6 are articulated with hinge 2 2.8, connecting rod 5 2.11 with
Connecting rod 2 2.4 is articulated with hinge 4 2.12, and connecting rod 4 2.10 is hinged with slide block 2 2.15, and connecting rod 5 2.11 is by bearing 3 2.13
Being hinged on left balance weight 2.16, connecting rod 4 2.10 and connecting rod 5 2.11 form second layer scissor mechanism, and connecting rod 6 2.14 fills
Having slide block 2 2.15, connecting rod 6 2.14 to be fixed on left balance weight 2.16, slide block 2 2.15 is hinged with connecting rod 4 2.10, connecting rod one
2.2, upper limit sensor 2.22 and lower limit sensor 2.23 are fixedly mounted on fixed mount 4, and screw mandrel 2.18 is by bearing one
2.1 and bearing 2 2.3 be arranged on fixed mount 4, connecting rod 7 2.20 and connecting rod 2 2.4 are articulated with a hinge 5 2.21, connecting rod seven
2.20 is hinged with slide block 3 2.19, and the axle of motor 1 is fixing with screw mandrel 2.18 to be connected, and motor 1 is fixedly mounted on solid
Determine on frame 4；Described right balance module 2 is identical with left balance module 1 structure.
Anteversion and retroversion module is made up of bearing 46, bearing 58, rotary shaft 7, motor 29, and rotary shaft 7 is solid with puppet body 3
Fixed connection, rotary shaft 7 is fixing with the axle of motor 29 to be connected, and rotary shaft 7 is by bearing 46, bearing 58 and the legs and feet mould of puppet
Block 10 connects, and motor 29 is fixing with the legs and feet module 10 of puppet to be connected and electrically connects with electronic control module.
Electronic control module includes: controller 14, battery 13, charging inlet 12, attitude transducer 15, wireless remote control module 16；
Wireless remote control module 16 includes wireless receiver and remote controller, described controller 14 and attitude transducer 15, upper limit sensing
Device 2.22 and lower limit sensor 2.23, motor 1, motor 29, the wireless receiver of wireless remote control module 16, battery
13, electrically connect and be fixedly mounted on puppet body 10；Charging inlet 12 electrically connects with battery 13 and is fixedly mounted on puppet originally
On body 10, described attitude transducer 15 include that gyroscope and/or Gravity accelerometer, described remote controller include wireless
Emitter, screen, starting key, shutdown button, button of standing, automatic running button, forward key, Reverse keys, left-hand rotation button,
Right-hand rotation button, turbo and/or deceleration button, described button is mechanical type, touch and/or touch screen；Described wireless connect
The wireless signal receiving device and wireless transmitter is infrared, ultrasound wave, bluetooth and/or radio frequency.
Controller 14 is by following steps realization control function:
Step one, initializes detection and arranges, including upper limit of detection level sensor 2.22 and lower limit sensor 2.23 the most just
Often, the value of test pose sensor 15 is the most normal, if abnormal, reports to the police；If normal, adjust balance puppet attitude upright, make
Electric unicycle balances entrance step 2 of standing；
Step 2: wait the information that remote controller is sent, processes the information content that remote controller is sent；
Step 3: if the information content sent of remote controller is for advancing, then controller 14 controls motor 29 and makes balance puppet lean forward；
If the information content that remote controller is sent is for retreating, then controller 14 controls motor 29 and makes balance puppet hypsokinesis；If remote controller is sent
Information content for standing, then controller 14 controls balance module and makes balance puppet be kept upright；If the information that remote controller is sent
Content is for turning left, then controller 14 controls motor 1 and makes left balance weight 2.16 be moved to the left；If the information that remote controller is sent
Content is for turning right, then controller 14 controls motor 1 and makes left balance weight 2.16 move right；If the information that remote controller is sent
Content for accelerate, then controller 14 control motor 29 increase puppet body 3 lean forward or hypsokinesis angle make electric unicycle accelerate fortune
Dynamic；If the information content that remote controller is sent for slow down, then controller 14 control motor 29 reduce puppet body 3 lean forward or hypsokinesis
Angle makes electric unicycle retarded motion；If the information content that remote controller is sent is automatic running, then controller 14 controls motor
1 and motor 29 adjustment puppet make electric unicycle turn left, turn right, advance, retreat right standing activities；
Step 4: the value of test pose sensor is the most normal, if normally returning step 2, if abnormal, shows electric single-wheel
Car is fallen down, and carries out reporting to the police and entering step 5；
Step 5, the value continuing test pose sensor is the most normal, if abnormal, show that electric unicycle is fallen down, reports
Alert, return step 5, if normally returning step one.
Claims (6)
1. spreading wing-type based on an electric unicycle balance puppet, it is characterised in that: include puppet body (3), fixed mount
(4), the legs and feet module (10) of balance module, puppet, anteversion and retroversion module, electronic control module, described fixed mount (4) be fixed on puppet this
On body (3).
A kind of spreading wing-type based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: described
Balance module includes left balance module (1) and right balance module (2), and described left balance module (1) is by bearing one (2.1), company
Bar one (2.2), bearing two (2.3), connecting rod two (2.4), hinge one (2.5), connecting rod three (2.6), slide block one (2.7), hinge two
(2.8), hinge three (2.9), connecting rod four (2.10), connecting rod five (2.11), hinge four (2.12), bearing three (2.13), connecting rod six
(2.14), slide block two (2.15), left balance weight (2.16), motor one (2.17), screw mandrel (2.18), slide block three (2.19), connecting rod
Seven (2.20), hinge five (2.21), upper limit sensor (2.22) and lower limit sensor (2.23) composition, connecting rod two (2.4)
Being articulated with hinge one (2.5) with connecting rod three (2.6), connecting rod one (2.2) is fixedly mounted on fixed mount (4), connecting rod one (2.2)
On hinged with connecting rod three (2.6) equipped with slide block one (2.7), slide block one (2.7), connecting rod two (2.4) is installed by bearing one (2.1)
On fixed mount (4), connecting rod four (2.10) and connecting rod five (2.11) are articulated with hinge three (2.9), connecting rod four (2.10) and connecting rod
Three (2.6) are articulated with hinge two (2.8), and connecting rod five (2.11) and connecting rod two (2.4) are articulated with hinge four (2.12), connecting rod four
(2.10) hinged with slide block two (2.15), connecting rod five (2.11) is hinged on left balance weight (2.16) by bearing three (2.13),
Equipped with slide block two (2.15) on connecting rod six (2.14), connecting rod six (2.14) is fixed on left balance weight (2.16), slide block two
(2.15) hinged with connecting rod four (2.10), connecting rod one (2.2), upper limit sensor (2.22) and lower limit sensor (2.23) are solid
Dingan County is contained on fixed mount (4), and screw mandrel (2.18) is arranged on fixed mount (4) by bearing one (2.1) and bearing two (2.3),
Connecting rod seven (2.20) and connecting rod two (2.4) are articulated with a hinge five (2.21), and connecting rod seven (2.20) is hinged with slide block three (2.19),
The axle of motor one (2.17) is fixing with screw mandrel (2.18) to be connected, and motor one (2.17) is fixedly mounted on fixed mount (4)；The described right side
Balance module (2) is identical with left balance module (1) structure.
A kind of spreading wing-type based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: before described
Hypsokinesis module is made up of bearing four (6), bearing five (8), rotary shaft (7), motor two (9), rotary shaft (7) and puppet body (3)
Fixing connecting, rotary shaft (7) is fixing with the axle of motor two (9) to be connected, rotary shaft (7) pass through bearing four (6), bearing five (8) and
The legs and feet module (10) of puppet connects, and motor two (9) is fixing with the legs and feet module (10) of puppet to be connected and is electrically connected with electronic control module
Connect.
A kind of spreading wing-type based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: described electricity
Control module includes: controller (14), battery (13), charging inlet (12), attitude transducer (15), wireless remote control module (16)；
Wireless remote control module (16) includes wireless receiver and remote controller, described controller (14) and attitude transducer (15), the upper limit
Level sensor (2.22) and lower limit sensor (2.23), motor one (2.17), motor two (9), wireless remote control module (16)
Wireless receiver, battery (13), electrically connect and be fixedly mounted on puppet body (10)；Charging inlet (12) and battery (13) electricity
Connect and be fixedly mounted on puppet body (10), described attitude transducer (15) includes gyroscope and/or acceleration of gravity
Sensor, described remote controller include wireless transmitter, screen, starting key, shutdown button, button of standing, automatic running button,
Forward key, Reverse keys, left-hand rotation button, right-hand rotation button, turbo and/or deceleration button, described button is mechanical type, touches
Touch formula and/or touch screen；The wireless signal of described wireless receiver and wireless transmitter is infrared, ultrasound wave, bluetooth and/or penetrates
Frequently.
A kind of spreading wing-type based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: also include
Puppet head (5), plays decoration function.
A kind of spreading wing-type based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: described control
Device processed (14) is by following steps realization control function:
Step one, initializes detection and arranges, including upper limit of detection level sensor (2.22) and lower limit sensor (2.23) being
No normally the value of test pose sensor (15) is the most normal, if abnormal, reports to the police；If normal, adjust balance puppet attitude straight
Vertical, make electric unicycle balance entrance step 2 of standing；
Step 2: wait the information that remote controller is sent, processes the information content that remote controller is sent；
Step 3: if the information content that remote controller is sent is for advancing, then before controller (14) control motor two (9) makes balance puppet
Incline；If the information content that remote controller is sent is for retreating, then controller (14) control motor two (9) makes balance puppet hypsokinesis；If it is distant
The information content that control device is sent is for standing, then controller (14) control balance module makes balance puppet be kept upright；If remote controller
The information content sent is for turning left, then controller (14) control motor one (2.17) makes left balance weight (2.16) be moved to the left；If
The information content that remote controller is sent is for turning right, then controller (14) control motor one (2.17) makes left balance weight (2.16) move right
Dynamic；If the information content that remote controller is sent is for accelerating, then controller (14) control motor two (9) increase puppet body (3) leans forward
Or hypsokinesis angle makes electric unicycle accelerated motion；If the information content that remote controller is sent is for slowing down, then controller (14) controls
Motor two (9) reduction puppet body (3) leans forward or hypsokinesis angle makes electric unicycle retarded motion；If the information that remote controller is sent
Content is automatic running, then controller (14) controls motor one (2.17) and motor two (9) adjustment puppet makes electric single-wheel
Car turns left, and turns right, and advances, retreats right standing activities；
Step 4: the value of test pose sensor is the most normal, if normally returning step 2, if abnormal, shows electric single-wheel
Car is fallen down, and carries out reporting to the police and entering step 5；
Step 5, the value continuing test pose sensor is the most normal, if abnormal, show that electric unicycle is fallen down, reports
Alert, return step 5, if normally returning step one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610510044.8A CN106054891B (en) | 2016-07-03 | 2016-07-03 | A kind of spreading wing-type balance puppet based on electric unicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610510044.8A CN106054891B (en) | 2016-07-03 | 2016-07-03 | A kind of spreading wing-type balance puppet based on electric unicycle |
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| Publication Number | Publication Date |
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| CN106054891A true CN106054891A (en) | 2016-10-26 |
| CN106054891B CN106054891B (en) | 2018-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610510044.8A Active CN106054891B (en) | 2016-07-03 | 2016-07-03 | A kind of spreading wing-type balance puppet based on electric unicycle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591938A (en) * | 2017-09-28 | 2019-04-09 | 陈瑞堂 | Intelligent electric balance car and its intelligent controlling device |
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| US20080295595A1 (en) * | 2007-05-31 | 2008-12-04 | Twill Tech, Inc. | Dynamically balanced in-line wheel vehicle |
| CN101417682A (en) * | 2008-12-02 | 2009-04-29 | 中国海洋大学 | Pre and post direction self balance type electric unicycle |
| CN101590323A (en) * | 2009-07-08 | 2009-12-02 | 北京工业大学 | A kind of one-wheel robot system and control method thereof |
| CN104309739A (en) * | 2014-09-26 | 2015-01-28 | 柳州惠林科技有限责任公司 | Telescopic type electric balance single-wheel vehicle |
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2016
- 2016-07-03 CN CN201610510044.8A patent/CN106054891B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2858016Y (en) * | 2005-12-30 | 2007-01-17 | 北京市通用依耐特技术开发有限公司 | Robot rider |
| US20080295595A1 (en) * | 2007-05-31 | 2008-12-04 | Twill Tech, Inc. | Dynamically balanced in-line wheel vehicle |
| CN101417682A (en) * | 2008-12-02 | 2009-04-29 | 中国海洋大学 | Pre and post direction self balance type electric unicycle |
| CN101590323A (en) * | 2009-07-08 | 2009-12-02 | 北京工业大学 | A kind of one-wheel robot system and control method thereof |
| CN104309739A (en) * | 2014-09-26 | 2015-01-28 | 柳州惠林科技有限责任公司 | Telescopic type electric balance single-wheel vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591938A (en) * | 2017-09-28 | 2019-04-09 | 陈瑞堂 | Intelligent electric balance car and its intelligent controlling device |
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| Publication number | Publication date |
|---|---|
| CN106054891B (en) | 2018-11-20 |
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