CN106054891B - A kind of spreading wing-type balance puppet based on electric unicycle - Google Patents
A kind of spreading wing-type balance puppet based on electric unicycle Download PDFInfo
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- CN106054891B CN106054891B CN201610510044.8A CN201610510044A CN106054891B CN 106054891 B CN106054891 B CN 106054891B CN 201610510044 A CN201610510044 A CN 201610510044A CN 106054891 B CN106054891 B CN 106054891B
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- 230000002159 abnormal effect Effects 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 3
- 238000005034 decoration Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
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Classifications
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- 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
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
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- 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 present invention provides a kind of spreading wing-type balance puppet based on electric unicycle, it is characterised in that：Including puppet ontology（3）, fixed frame（4）, puppet head（5）, balance module, puppet legs and feet module（10）, anteversion and retroversion module, electronic control module, "Left"-deviationist, Right deviation and the balance of balance puppet may be implemented by controlling balance module, balance the leaning forward of puppet may be implemented by controlling anteversion and retroversion module, swing back, uprightly, and then drive electric unicycle and realize and advance, retreat and stand.
Description
Technical field
The present invention relates to balanced robot's technical field, especially a kind of spreading wing-type based on electric unicycle balances puppet
Device.
Background technique
The Self-balancing electronic wheelbarrow sold on current market is referred to as：Electric unicycle is a kind of driver station electronic
The walking wheelbarrow of ability on wheelbarrow, when driver does not stand onboard, electric unicycle cannot walk, that is to say, that when
Although preceding electric unicycle has certain anterior-posterior balance ability but do not have left-right balance ability, therefore currently electronic is solely
It takes turns vehicle and does not have unmanned automatic driving function.It is generally demonstrated and how is ridden by people when selling electric unicycle and being demonstrated to client,
And certain skill is needed, it is one for sales force that one time one time demonstration is also relatively more arduous when special client is more
Kind burden.A kind of spreading wing-type balance puppet based on electric unicycle that this patent provides has left-right balance and automatic Pilot function
Burden when people can be replaced to carry out electric unicycle of riding, significantly mitigation sales force demonstration by remote control；It should be based on electricity
The formula balance puppet that sways one's hips of dynamic wheelbarrow can show unpiloted auto-steering, automatic Pilot, have amusement function；If matched
Automatic charging function can also be realized by closing charging socket.
Summary of the invention
The problem of being unable to automatic running the technical problem to be solved by the present invention is to overcome existing electric unicycle, provides one kind
The balance puppet that can drive electric unicycle with automatic balance function.
To solve the above-mentioned problems the technical solution adopted by the present invention is that：A kind of spreading wing-type based on electric unicycle is provided
Balance puppet, it is characterised in that：Including puppet ontology 3, fixed frame 4, balance module, the legs and feet module 10 of puppet, anteversion and retroversion mould
Block, electronic control module, the fixed frame 4 are fixed on puppet ontology 3.
The further technical solution that the present invention uses is：The balance module includes left balance module 1 and right balance mould
Block 2, the left balance module 1 is by support 1, connecting rod 1, support 2 2.3, connecting rod 2 2.4, hinge 1, connecting rod
3 2.6, sliding block 1, hinge 2 2.8, hinge 3 2.9, connecting rod 4 2.10, connecting rod 5 2.11, hinge 4 2.12, support three
2.13, connecting rod 6 2.14, sliding block 2 2.15, left balance weight 2.16, motor 1, screw rod 2.18, sliding block 3 2.19, connecting rod seven
2.20, hinge 5 2.21, upper limit sensor 2.22 and lower limit level sensor 2.23 form, and connecting rod 2 2.4 and connecting rod 3 2.6 are cut with scissors
It is connected to hinge 1, connecting rod 1 is fixedly mounted on fixed frame 4, and one 2.2 one end of connecting rod is equipped with sliding block 1, sliding block
One 2.7 is hinged with connecting rod 3 2.6, and connecting rod 2 2.4 is mounted on fixed frame 4 by support 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 and sliding block 2 2.15 are hinged, and connecting rod 5 2.11 is hinged on by support 3 2.13
On left balance weight 2.16, sliding block 2 2.15 is housed on connecting rod 6 2.14, connecting rod 6 2.14 is fixed on left balance weight 2.16, sliding block
2 2.15 is hinged with connecting rod 4 2.10, and connecting rod 1, upper limit sensor 2.22 and lower limit level sensor 2.23 are fixedly mounted on
On fixed frame 4, screw rod 2.18 is mounted on fixed frame 4 by support 1 and support 2 2.3, connecting rod 7 2.20 and connecting rod two
2.4 are articulated with hinge 5 2.21, and connecting rod 7 2.20 and sliding block 3 2.19 are hinged, and the axis and screw rod 2.18 of motor 1 are fixed to be connected
It connects, motor 1 is fixedly mounted on fixed frame 4；The right balance module 2 is identical with left 1 structure of balance module.
The further technical solution that the present invention uses is：The anteversion and retroversion module by support 46, support 58, rotation axis 7,
Motor 29 forms, and rotation axis 7 is fixedly connected with puppet ontology 3, and rotation axis 7 is fixedly connected with the axis of motor 29, and rotation axis 7 is logical
Cross support 46, support 58 is connect with the legs and feet module 10 of puppet, motor 29 be fixedly connected with the legs and feet module 10 of puppet and with
Electronic control module electrical connection.
The further technical solution that the present invention uses is：The 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 controler, described
Controller 14 and attitude transducer 15, upper limit sensor 2.22 and lower limit level sensor 2.23, motor 1, motor 29,
The wireless receiver of wireless remote control module 16, is electrically connected and is fixedly mounted on puppet ontology 10 battery 13；Charging interface 12 with
Battery 13 is electrically connected and is fixedly mounted on puppet ontology 10, the attitude transducer 15 includes that gyroscope and/or gravity add
Velocity sensor, the remote controler include wireless transmitter, screen, starting key, shutdown key, standing key, automatic running
Key, forward key, Reverse keys, left-hand rotation key, right-hand rotation key, turbo and/or deceleration key, the key are machinery
Formula, touch and/or touch screen；The wireless signal of the wireless receiver and wireless transmitter is infrared, ultrasonic wave, bluetooth
And/or radio frequency.
The further technical solution that the present invention uses is：Further include puppet head 5, plays decoration function.
The further technical solution that the present invention uses is：The controller 14 realizes control function by following steps：
Step 1, initialization detects and setting, including upper limit of detection level sensor 2.22 and lower limit level sensor 2.23 are
No normal, whether the value of test pose sensor 15 is normal, alarms if abnormal,；If normal, adjustment balance puppet posture is straight
It is vertical, so that electric unicycle balance is stood and enters step two；
Step 2：The information for waiting remote controler to send, the information content that processing remote controler is sent；
Step 3：If the information content that remote controler is sent is to advance, controller 14, which controls motor 29, to be made before balancing puppet
Incline；If the information content that remote controler is sent is to retreat, controller 14, which controls motor 29, to be made to balance puppet hypsokinesis；If remote controler
The information content sent is to stand, then controller 14, which controls balance module, makes balance puppet be kept upright；What if remote controler was sent
The information content is to turn left, then controller 14, which controls motor 1, is moved to the left left balance weight 2.16；What if remote controler was sent
The information content is to turn right, then controller 14, which controls motor 1, makes left balance weight 2.16 move right；What if remote controler was sent
The information content is to accelerate, then the control of controller 14 motor 29 increase puppet ontology 3 leans forward or hypsokinesis angle adds electric unicycle
Speed movement；If the information content that remote controler is sent be slow down, controller 14 control motor 29 reduce puppet ontology 3 lean forward or
Hypsokinesis angle makes electric unicycle retarded motion；If the information content that remote controler is sent is automatic running, controller 14 is controlled
Motor 1 and 29 adjustment puppet of motor make electric unicycle turn left, and turn right, and advance, and it is dynamic to retreat then standing
Make；
Step 4：Whether the value of test pose sensor is normal, if normal return step two, shows if abnormal, electronic
Wheelbarrow is fallen down, and alarm and is entered step 5；
Step 5, whether the value for continuing to test attitude transducer is normal, shows that electric unicycle is fallen down if abnormal, into
Row is alarmed, return step five, if normal return step one.
The invention has the advantages that：The present invention is controlled by left balance module 1, right balance module 2 and controller 14
The step of motor 1 processed is realized finally realize the left-leaning center of gravity of balance puppet, Right deviation and then realize electric unicycle by control
Turn left, turn right and the function of straight trip, controller 14 control motor 29 so that the center of gravity for balancing puppet leaned forward, swung back, it is upright in turn
The function that realization electric unicycle advances, retreats and stands, the legs and feet module by balancing puppet consolidate balance puppet
It is scheduled on electric unicycle；The information sent of remote controler is received by electronic control module and controls balance module, realizes remote control balance
The purpose of puppet driving electric unicycle.
Detailed description of the invention
Fig. 1 is a kind of spreading wing-type balance puppet structural schematic diagram based on electric unicycle of the present invention.
Fig. 2 is a kind of 1 structural schematic diagram of left balance module of the spreading wing-type balance puppet based on electric unicycle of the present invention
Specific embodiment
Balance puppet as shown in Figure 1 for a kind of spreading wing-type based on electric unicycle, including puppet ontology 3, fixed frame 4,
Balance module, the legs and feet module 10 of puppet, anteversion and retroversion module, electronic control module, the fixed frame 4 are fixed on puppet ontology 3.
The further technical solution that the present invention uses is：The balance module includes left balance module 1 and right balance mould
Block 2, the left balance module 1 is by support 1, connecting rod 1, support 2 2.3, connecting rod 2 2.4, hinge 1, connecting rod
3 2.6, sliding block 1, hinge 2 2.8, hinge 3 2.9, connecting rod 4 2.10, connecting rod 5 2.11, hinge 4 2.12, support three
2.13, connecting rod 6 2.14, sliding block 2 2.15, left balance weight 2.16, motor 1, screw rod 2.18, sliding block 3 2.19, connecting rod seven
2.20, hinge 5 2.21, upper limit sensor 2.22 and lower limit level sensor 2.23 form, and connecting rod 2 2.4 and connecting rod 3 2.6 are cut with scissors
It is connected to hinge 1, connecting rod 1 is fixedly mounted on fixed frame 4, and one 2.2 one end of connecting rod is equipped with sliding block 1, sliding block
One 2.7 is hinged with connecting rod 3 2.6, and connecting rod 2 2.4 is mounted on fixed frame 4 by support 1, connecting rod 2 2.4 and connecting rod three
2.6 composition first layer scissor mechanisms, connecting rod 4 2.10 and connecting rod 5 2.11 are articulated with hinge 3 2.9, connecting rod 4 2.10 and connecting rod
3 2.6 are articulated with hinge 2 2.8, and connecting rod 5 2.11 and connecting rod 2 2.4 are articulated with hinge 4 2.12, connecting rod 4 2.10 and sliding block two
2.15 is hinged, and connecting rod 5 2.11 is hinged on left balance weight 2.16 by support 3 2.13, connecting rod 4 2.10 and connecting rod 5 2.11
Second layer scissor mechanism is formed, sliding block 2 2.15 is housed on connecting rod 6 2.14, connecting rod 6 2.14 is fixed on left balance weight 2.16,
Sliding block 2 2.15 and connecting rod 4 2.10 are hinged, the fixed peace of connecting rod 1, upper limit sensor 2.22 and lower limit level sensor 2.23
On fixed frame 4, screw rod 2.18 is mounted on fixed frame 4 by support 1 and support 2 2.3, connecting rod 7 2.20 and company
Bar 2 2.4 is articulated with hinge 5 2.21, and connecting rod 7 2.20 and sliding block 3 2.19 are hinged, and the axis and screw rod 2.18 of motor 1 are solid
Fixed connection, motor 1 are fixedly mounted on fixed frame 4；The right balance module 2 is identical with left 1 structure of balance module.
Anteversion and retroversion module is made of support 46, support 58, rotation axis 7, motor 29, and rotation axis 7 and puppet ontology 3 are solid
Fixed connection, rotation axis 7 are fixedly connected with the axis of motor 29, and rotation axis 7 passes through support 46, the legs and feet mould of support 58 and puppet
Block 10 connects, and motor 29 is fixedly connected with the legs and feet module 10 of puppet and is electrically connected with electronic control module.
Electronic control module includes：Controller 14, battery 13, charging interface 12, attitude transducer 15, wireless remote control module 16；
Wireless remote control module 16 includes wireless receiver and remote controler, and the controller 14 and attitude transducer 15, upper limit sense
Device 2.22 and lower limit level sensor 2.23, motor 1, motor 29, the wireless receiver of wireless remote control module 16, battery
13, it is electrically connected and is fixedly mounted on puppet ontology 10；Charging interface 12 is electrically connected with battery 13 and is fixedly mounted on puppet sheet
On body 10, the attitude transducer 15 include gyroscope and/or gravity accelerometer, the remote controler includes wireless hair
Emitter, screen, starting key, shutdown key, standing key, automatic running key, forward key, Reverse keys, left-hand rotation key,
Right-hand rotation key, turbo and/or deceleration key, the key are mechanical, touch and/or touch screen；It is described wirelessly to connect
The wireless signal for receiving device and wireless transmitter is infrared, ultrasonic wave, bluetooth and/or radio frequency.
Controller 14 realizes control function by following steps：
Step 1, initialization detects and setting, including upper limit of detection level sensor 2.22 and lower limit level sensor 2.23 are
No normal, whether the value of test pose sensor 15 is normal, alarms if abnormal,；If normal, adjustment balance puppet posture is straight
It is vertical, so that electric unicycle balance is stood and enters step two；
Step 2：The information for waiting remote controler to send, the information content that processing remote controler is sent；
Step 3：If the information content that remote controler is sent is to advance, controller 14, which controls motor 29, to be made before balancing puppet
Incline；If the information content that remote controler is sent is to retreat, controller 14, which controls motor 29, to be made to balance puppet hypsokinesis；If remote controler
The information content sent is to stand, then controller 14, which controls balance module, makes balance puppet be kept upright；What if remote controler was sent
The information content is to turn left, then controller 14, which controls motor 1, is moved to the left left balance weight 2.16；What if remote controler was sent
The information content is to turn right, then controller 14, which controls motor 1, makes left balance weight 2.16 move right；What if remote controler was sent
The information content is to accelerate, then the control of controller 14 motor 29 increase puppet ontology 3 leans forward or hypsokinesis angle adds electric unicycle
Speed movement；If the information content that remote controler is sent be slow down, controller 14 control motor 29 reduce puppet ontology 3 lean forward or
Hypsokinesis angle makes electric unicycle retarded motion；If the information content that remote controler is sent is automatic running, controller 14 is controlled
Motor 1 and 29 adjustment puppet of motor make electric unicycle turn left, and turn right, and advance, and it is dynamic to retreat then standing
Make；
Step 4：Whether the value of test pose sensor is normal, if normal return step two, shows if abnormal, electronic
Wheelbarrow is fallen down, and alarm and is entered step 5；
Step 5, whether the value for continuing to test attitude transducer is normal, shows that electric unicycle is fallen down if abnormal, into
Row is alarmed, return step five, if normal return step one.
Claims (3)
1. a kind of spreading wing-type based on electric unicycle balances puppet, it is characterised in that：Including puppet ontology（3）, fixed frame
（4）, balance module, puppet legs and feet module（10）, anteversion and retroversion module, electronic control module, the fixed frame（4）It is fixed on puppet sheet
Body（3）On；The balance module includes left balance module（1）With right balance module（2）, the left balance module（1）By
Support one（2.1）, connecting rod one（2.2）, support two（2.3）, connecting rod two（2.4）, hinge one（2.5）, connecting rod three（2.6）, sliding 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）, support three
（2.13）, connecting rod six（2.14）, sliding block two（2.15）, left balance weight（2.16）, motor one（2.17）, screw rod（2.18）, sliding block
Three（2.19）, connecting rod seven（2.20）, hinge five（2.21）, upper limit sensor（2.22）With lower limit level sensor（2.23）Group
At connecting rod two（2.4）With connecting rod three（2.6）It is articulated with hinge one（2.5）, connecting rod one（2.2）It is fixedly mounted on fixed frame（4）
On, connecting rod one（2.2）It is upper that sliding block one is housed（2.7）, sliding block one（2.7）With connecting rod three（2.6）Hingedly, connecting rod two（2.4）Pass through
Support one（2.1）It is mounted on fixed frame（4）On, connecting rod four（2.10）With connecting rod five（2.11）It is articulated with hinge three（2.9）, connecting rod
Four（2.10）With connecting rod three（2.6）It is articulated with hinge two（2.8）, connecting rod five（2.11）With connecting rod two（2.4）It is articulated with hinge four
（2.12）, connecting rod four（2.10）With sliding block two（2.15）Hingedly, connecting rod five（2.11）Pass through support three（2.13）It is hinged on left flat
Weigh block（2.16）On, connecting rod six（2.14）It is upper that sliding block two is housed（2.15）, connecting rod six（2.14）It is fixed on left balance weight（2.16）
On, sliding block two（2.15）With connecting rod four（2.10）Hingedly, connecting rod one（2.2）, upper limit sensor（2.22）It is sensed with lower limit
Device（2.23）It is fixedly mounted on fixed frame（4）On, screw rod（2.18）Pass through support one（2.1）With support two（2.3）It is mounted on solid
Determine frame（4）On, connecting rod seven（2.20）With connecting rod two（2.4）It is articulated with hinge five（2.21）, connecting rod seven（2.20）With sliding block three
（2.19）Hingedly, motor one（2.17）Axis and screw rod（2.18）It is fixedly connected, motor one（2.17）It is fixedly mounted on fixed frame
（4）On；The right balance module（2）With left balance module（1）Structure is identical；The electronic control module includes：Controller（14）, electricity
Pond（13）, charging interface（12）, attitude transducer（15）, wireless remote control module（16）；Wireless remote control module（16）Including wireless
Receiver and remote controler, the controller（14）With attitude transducer（15）, upper limit sensor（2.22）It is passed with lower limit
Sensor（2.23）, motor one（2.17）, motor two（9）, wireless remote control module（16）Wireless receiver, battery（13）Electrical connection
And it is fixedly mounted on puppet ontology（3 ）On；Charging interface（12）With battery（13）It is electrically connected and is fixedly mounted on puppet ontology（3
）On；The attitude transducer（15）Including gyroscope and/or gravity accelerometer, the remote controler includes wireless hair
Emitter, screen, starting key, shutdown key, standing key, automatic running key, forward key, Reverse keys, left-hand rotation key,
Right-hand rotation key, turbo and/or deceleration key, the key are mechanical, touch and/or touch screen；It is described wirelessly to connect
The wireless signal for receiving device and wireless transmitter is infrared, ultrasonic wave, bluetooth and/or radio frequency；The controller（14）By following
Step realizes control function：
Step 1, initialization detection and setting, including upper limit of detection level sensor（2.22）With lower limit level sensor（2.23）It is
It is no normal, test pose sensor（15）Value it is whether normal, alarm if abnormal,；If normal, adjustment balance puppet posture is straight
It is vertical, so that electric unicycle balance is stood and enters step two；
Step 2：The information for waiting remote controler to send, the information content that processing remote controler is sent；
Step 3：If the information content that remote controler is sent is to advance, controller（14）Control motor two（9）Make before balancing puppet
Incline；If the information content that remote controler is sent is to retreat, controller（14）Control motor two（9）Make to balance puppet hypsokinesis；If distant
The information content that control device is sent is standing, then controller（14）Control balance module makes balance puppet be kept upright；If remote controler
The information content sent is to turn left, then controller（14）Control motor one（2.17）Make left balance weight（2.16）It is moved to the left；If
The information content that remote controler is sent is to turn right, then controller（14）Control motor one（2.17）Make left balance weight（2.16）It moves right
It is dynamic；If the information content that remote controler is sent is to accelerate, controller（14）Control motor two（9）Increase puppet ontology（3）It leans forward
Or hypsokinesis angle accelerates electric unicycle；If the information content that remote controler is sent is to slow down, controller（14）Control
Motor two（9）Reduce puppet ontology（3）It leans forward or hypsokinesis angle makes electric unicycle retarded motion；If the information that remote controler is sent
Content is automatic running, then controller（14）Control motor one（2.17）With motor two（9）Adjustment puppet makes electric single-wheel
Vehicle turns left, and turns right, and advances, and retreats then standing activities；
Step 4：Whether the value of test pose sensor is normal, if normal return step two, shows electric single-wheel if abnormal,
Vehicle is fallen down, and alarm and is entered step 5；
Step 5, whether the value for continuing to test attitude transducer is normal, shows that electric unicycle is fallen down, and is reported if abnormal,
It warns, return step five, if normal return step one.
2. a kind of spreading wing-type based on electric unicycle according to claim 1 balances puppet, it is characterised in that：Before described
Hypsokinesis module is by support four（6）, support five（8）, rotation axis（7）, motor two（9）Composition, rotation axis（7）With puppet ontology（3）
It is fixedly connected, rotation axis（7）With motor two（9）Axis be fixedly connected, rotation axis（7）Pass through support four（6）, support five（8）With
The legs and feet module of puppet（10）Connection, motor two（9）With the legs and feet module of puppet（10）It is fixedly connected and is electrically connected with electronic control module
It connects.
3. a kind of spreading wing-type based on electric unicycle according to claim 1 balances puppet, it is characterised in that：Further include
Puppet head（5）, play decoration function.
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 |
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| 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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| CN106054891B true CN106054891B (en) | 2018-11-20 |
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| 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 | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN101590323B (en) * | 2009-07-08 | 2012-10-31 | 北京工业大学 | Single-wheel robot system and control method thereof |
| CN104309739B (en) * | 2014-09-26 | 2017-04-05 | 柳州惠林科技有限责任公司 | A kind of telescopic electric balances wheelbarrow |
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