CN106292667B - A kind of method and apparatus of balance car automatic parking - Google Patents
A kind of method and apparatus of balance car automatic parking Download PDFInfo
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- CN106292667B CN106292667B CN201610769209.3A CN201610769209A CN106292667B CN 106292667 B CN106292667 B CN 106292667B CN 201610769209 A CN201610769209 A CN 201610769209A CN 106292667 B CN106292667 B CN 106292667B
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- balance car
- barrier
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- automatic parking
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Abstract
The invention discloses a kind of method and apparatus of balance car automatic parking.The method of the balance car automatic parking includes: the barrier for measuring at least three orientation；If the orientation of each measurement and the spacing of barrier are both less than the first preset value and balance car is in rest equilibrium state；Control balance car is out of service and pops up bracket or auxiliary wheel.The balance car safety in operation in sealing space can be improved in the present invention.
Description
Technical field
The present invention relates to balance car control fields, more specifically, being related to the method and dress of a kind of balance car automatic parking
It sets.
Background technique
Electrodynamic balance vehicle, is called balance car, thinking vehicle, and operation principles are mainly built upon a kind of be referred to as " dynamically surely
In basic principle calmly ", using the gyroscope and acceleration transducer of vehicle body, to detect the variation of vehicle body attitude, utilize
Servo-control system, accurately driving motor is adjusted correspondingly, to keep the balance of system.
There are two types of existing electrodynamic balance vehicle is general, one is having an operating stick on car body, user stands electronic
Operating stick is operated on the foot platform of balance car, to advance, retreat and stop, such control is also referred to as " manual control ".
Another kind is that car body consists of two parts, and mutually rotation is realized by rotating mechanism between left half and right half, to realize
" foot control ".Existing balance car needs artificially to control it and is in static balance when entering the sealing spaces such as subway, elevator
State, but since people can not be able to maintain totally stationary equilibrium state, balance car always some swings, in this way in sealing space
The easy people with surrounding, article collision friction, there are some potential safety problemss.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of raising balance car safeties in operation in sealing space
The method and apparatus of balance car automatic parking.
The purpose of the present invention is achieved through the following technical solutions:
According to an aspect of the present invention, a kind of method that the present invention discloses balance car automatic parking, comprising:
Measure the barrier at least three orientation；If it is pre- that the orientation of each measurement and the spacing of barrier are both less than first
If being worth and balance car being in rest equilibrium state；Control balance car is out of service and pops up bracket or auxiliary wheel.
Further, the step of the method also includes the real-time statistics stream of peoples:
When balance car is in out of service and pops up bracket or supporting wheel status；Open camera in front of balance car；
Calculate stream of people's data；
When stream of people's data are lower than the second preset value, starting balance car enters rest equilibrium state.
The sealing spaces such as elevator, subway, transit time be it is conditional, every time open car door, elevator door time all
Shorter, the technical program can start in advance when sealing space people is fewer, so that balance car enters static balance
State, such balance car not only do not interfere with other people, but also can withdraw rapidly when driver leaves sealing space,
Ensure traffic efficiency.
Further, the method for measuring and calculating stream of people's data includes:
Calculate balance car and everyone spacing data of surrounding；
Stream of people's data are obtained to the average value of all spacing datas.
When the stream of people is reduced, the people in sealing space can pull open at a distance from other people automatically by instinct, i.e. person to person
Between spacing can widen, conversely, spacing reduce.Therefore, becoming for stream of people's variation can accurately be estimated by calculating spacing
Gesture, furthermore, as long as spacing is generally bigger, balance car has certain activity space, so that it may static balance car state is maintained, it can
See, spacing data can not only reflect stream of people's alteration trend, itself be also critical data needed for balance car safe driving.
Further, the method for measuring and calculating stream of people's data includes:
According to the number around image comparison statistical equilibrium vehicle；
Stream of people's data are obtained according to the alteration trend of number.
Image comparison can directly acquire the number of surrounding, more accurate to the alteration trend judgement of the stream of people.
Further, the method also includes:
Disturbance in judgement object motion state；
When barrier remains static, the picture of barrier, networking identification object features, according to recognition result are shot
Plan bypass route；When barrier is kept in motion, speed or operation suspension are reduced.
For driver when sealing space is walked, someone always, article are to maintain stationary state, and another part people will go out
Enter sealing space, be then in flow regime, thus balances vehicle driving and cause many difficulties, on the one hand want to lead to as early as possible
Row provides traffic efficiency, on the one hand avoids colliding with the people of surrounding and article again.Calculating can be passed through using the technical program
Machine automatic identification of obstacles are calculated optimal countermeasure, avoid according to different types of barrier and its motion state
Artificial erroneous judgement causes unnecessary conflict.
Further, the object features include trait information, elevation information or width information, and balance car is believed according to character
Breath, elevation information or width information plan bypass route.Object character refers mainly to the soft and hard data of object, some articles, such as
Sponge, haystack, although relatively high, balance car still may be directly across past.But the article of same height, if changing into is
Brick have to detour.Secondly, can directly roll over when object is relatively low, when object is relatively high, then need
It detours.Furthermore the width of object determines its route length for needing to detour, for example barrier is brick, and width is very short, balance
Vehicle advance offset is once just easily got around, for example barrier is, road to blocking, may just to need to seek again with wood
Road or prompt driver's walking is looked for cross over.
Further, the object features include trait information, elevation information and width information；
When trait information be rigidity, and height be more than first threshold, according to width information plan bypass route；Alternatively, property
Shape information is flexibility, and height is more than second threshold, plans bypass route according to width information；Second threshold is greater than the first threshold
Value.
Similarly, some articles, such as sponge, haystack, although relatively high, balance car still may be directly across past.
But the article of same height have to detour if changing into is brick.
Further, the object features include attribute information；If attribute information is animal or people, speed or temporary is reduced
It stops transport and goes, and issue warning information；When detecting that barrier without evacuation, plans bypass route in the preset time.Animal, people have
Dynamic role still can be alerted, prompting allows even if remaining static when identification by modes such as loudspeaker, indicator lights
Road.On the one hand this mode reduces the operand of programme path, on the other hand reduce lane change and be conducive to traffic safety.
Further, described when barrier is kept in motion, the method for reducing speed or operation suspension includes:
Measure the spacing between balance car and barrier；When barrier is still located on normal traffic route and spacing is less than
When third threshold value, the balance car speed of service is reduced；When barrier is still located on normal traffic route and spacing is less than the 4th threshold
When value, control balance car is out of service；When barrier deviates normal traffic route, balance car Accelerating running is controlled, until
Restore the initial velocity before accelerating after clearing the jumps；4th threshold value is less than third threshold value.
Further, when trait information is flexibility, and height is less than or equal to second threshold, balance car is controlled from obstacle
It is crossed at the top of object.
Further, the method for the disturbance in judgement object motion state includes:
In the picture of preset time interval shooting barrier；
The position for comparing barrier in any two picture is judged as static if position is identical；Otherwise it is judged as fortune
It is dynamic.
According to another aspect of the present invention, the invention discloses a kind of devices of balance car automatic parking, comprising:
For measuring the barrier at least three orientation；If the orientation of each measurement and the spacing of barrier are both less than
One preset value and balance car is in rest equilibrium state；Control balance car is out of service and pops up the device of bracket or auxiliary wheel.
Compared with prior art, the solution have the advantages that: balance car by measurement at least three orientation barrier
Spacing judge whether oneself is in sealing space, if the orientation of each measurement and the spacing of barrier are smaller,
It may determine that balance car enters sealing space, when then driver controls balance car arrival desired standing place, meeting
Control balance car enters rest equilibrium state, and the judgement of the front of balance car combination at this time sealing space is known that driver
Into sealing space and desired standing place is had found, will not all walk about again whithin a period of time, control balance car at this time
It is out of service and pop up bracket or auxiliary wheel, so that it may allow balance car smoothly, undisturbedly in situ, to avoid with other people
The risk scratched.
Detailed description of the invention
Fig. 1 is the method schematic diagram of balance car automatic parking of the present invention；
Fig. 2 is method schematic diagram of the present invention in sealing space avoiding barrier.
Specific embodiment
A kind of method that the present invention discloses balance car automatic parking, comprising:
S11, the barrier for measuring at least three orientation；
If the spacing of S12, the orientation of each measurement and barrier are both less than the first preset value and balance car is in static
Equilibrium state；
S13, control balance car is out of service and pops up bracket or auxiliary wheel.
According to another aspect of the present invention, the invention also discloses a kind of devices of balance car automatic parking, comprising:
For measuring the barrier at least three orientation；If the orientation of each measurement and the spacing of barrier are both less than
One preset value and balance car is in rest equilibrium state；Control balance car is out of service and pops up the device of bracket or auxiliary wheel.
Balance car judges whether oneself is in sealing space by the spacing of the barrier at least three orientation of measurement,
If the orientation of each measurement and the spacing of barrier are smaller, it can be determined that balance car enters sealing space, then drives
When the person of sailing controls balance car arrival desired standing place, balance car can be controlled and enter rest equilibrium state, balanced at this time
The judgement of vehicle combination front sealing space is known that driver comes into sealing space and has found desired standing place,
It will not all walk about again whithin a period of time, control balance car is out of service at this time and pops up bracket or auxiliary wheel, so that it may allow
Balance car smoothly, undisturbedly in situ, to avoid the risk scratched with other people.
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing or method described as flow chart.Although operations are described as the processing of sequence by flow chart, therein to be permitted
Multioperation can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of operations can be rearranged.When it
The processing can be terminated when operation completion, it is also possible to have the additional step being not included in attached drawing.The processing
It can correspond to method, function, regulation, subroutine, subprogram etc..
Alleged mobile intelligent terminal (such as smart phone, tablet computer, wearable device or intelligent glasses), meter within a context
Calculation machine, AI (artificial intelligence), robot, VR (virtual reality), AR (augmented reality), smart home device or intelligent industrial control
Equipment etc. can execute the predetermined process mistakes such as numerical value calculating and/or logic calculation by operation preset program or instruction
Journey may include processor and memory, execute the survival prestored in memory instruction by processor to execute book office
Reason process, or predetermined process process is executed by hardware such as ASIC, FPGA, DSP, or realized by said two devices combination.Meter
Calculating machine equipment includes but is not limited to server, PC, laptop, tablet computer, smart phone etc..
The network equipment includes but is not limited to single network server, the server group of multiple network servers composition or is based on
The cloud consisting of a large number of computers or network servers of cloud computing (Cloud Computing), wherein cloud computing is distributed
One kind of calculating, a super virtual computer consisting of a loosely coupled set of computers.Wherein, the computer is set
It is standby can isolated operation realize the present invention, also can access network and pass through the interactive operation with other computer equipments in network
To realize the present invention.Wherein, network locating for the computer equipment includes but is not limited to internet, wide area network, Metropolitan Area Network (MAN), office
Domain net, VPN network etc..
It should be noted that the user equipment, the network equipment and network etc. are only for example, other are existing or from now on may be used
The computer equipment or network that can occur such as are applicable to the present invention, should also be included within the scope of protection of the present invention, and to draw
It is incorporated herein with mode.
Method (some of them are illustrated by process) discussed hereafter can be by hardware, software, firmware, centre
Part, microcode, hardware description language or any combination thereof are implemented.Implement when with software, firmware, middleware or microcode
When, program code or code segment to implement necessary task can be stored in machine or computer-readable medium and (for example deposit
Storage media) in.Necessary task can be implemented in (one or more) processor.
Specific structure and function details disclosed herein are only representative, and are for describing the present invention show
The purpose of example property embodiment.But the present invention can be implemented by many alternative forms, and be not interpreted as
It is limited only by the embodiments set forth herein.
Although it should be understood that may have been used term " first ", " second " etc. herein to describe each unit,
But these units should not be limited by these terms.The use of these items is only for by a unit and another unit
It distinguishes.For example, without departing substantially from the range of exemplary embodiment, it is single that first unit can be referred to as second
Member, and similarly second unit can be referred to as first unit.Term "and/or" used herein above include one of them or
Any and all combinations of more listed associated items.
It should be understood that when a unit referred to as " connects " or when " coupled " to another unit, can directly connect
Another unit is connect or be coupled to, or may exist temporary location.In contrast, " directly connect when a unit is referred to as
Connect " or " direct-coupling " to another unit when, then temporary location is not present.It should explain in a comparable manner and be used to retouch
Other words for stating the relationship between unit (such as " are in.Between " compared to " being directly in.Between ", " with.It is adjacent
Closely " compared to " with.It is directly adjacent to " etc.).
Term used herein above is not intended to limit exemplary embodiment just for the sake of description specific embodiment.Unless
Context clearly refers else, otherwise singular used herein above "one", " one " also attempt to include plural number.Also answer
When understanding, term " includes " and/or "comprising" used herein above provide stated feature, integer, step, operation,
The presence of unit and/or component, and do not preclude the presence or addition of other one or more features, integer, step, operation, unit,
Component and/or combination thereof.
It should further be mentioned that the function action being previously mentioned can be attached according to being different from some replace implementations
The sequence indicated in figure occurs.For example, related function action is depended on, the two width figures shown in succession actually may be used
Substantially simultaneously to execute or can execute in a reverse order sometimes.
With reference to the accompanying drawing 1,2 and preferred embodiment the invention will be further described.
The method of balance car automatic parking disclosed in present embodiment includes:
Measure the barrier at least three orientation；If it is pre- that the orientation of each measurement and the spacing of barrier are both less than first
If being worth and balance car being in rest equilibrium state；Control balance car is out of service and pops up bracket or auxiliary wheel.
Optionally, the step of the method also includes the real-time statistics stream of peoples:
When balance car is in out of service and pops up bracket or supporting wheel status；Open camera in front of balance car；
Calculate stream of people's data；
When stream of people's data are lower than the second preset value, starting balance car enters rest equilibrium state.
The sealing spaces such as elevator, subway, transit time be it is conditional, every time open car door, elevator door time all
Shorter, the technical program can start in advance when sealing space people is fewer, so that balance car enters static balance
State, such balance car not only do not interfere with other people, but also can withdraw rapidly when driver leaves sealing space,
Ensure traffic efficiency.
The method that present embodiment discloses 2 kinds of measuring and calculating stream of people's data.
The first is the scheme with distance measurement comprising:
Calculate balance car and everyone spacing data of surrounding；
Stream of people's data are obtained to the average value of all spacing datas.
When the stream of people is reduced, the people in sealing space can pull open at a distance from other people automatically by instinct, i.e. person to person
Between spacing can widen, conversely, spacing reduce.Therefore, becoming for stream of people's variation can accurately be estimated by calculating spacing
Gesture, furthermore, as long as spacing is generally bigger, balance car has certain activity space, so that it may static balance car state is maintained, it can
See, spacing data can not only reflect stream of people's alteration trend, itself be also critical data needed for balance car safe driving.
Second is the scheme with image comparison comprising:
According to the number around image comparison statistical equilibrium vehicle；
Stream of people's data are obtained according to the alteration trend of number.
Image comparison can directly acquire the number of surrounding, more accurate to the alteration trend judgement of the stream of people.
Optionally, the present invention is improved not only for the parking method of sealing space, and passing method is had also been made into one
The optimization of step.With reference to Fig. 2, specifically, comprising the following steps:
Disturbance in judgement object motion state；
When barrier remains static, the picture of barrier, networking identification object features, according to recognition result are shot
Plan bypass route；When barrier is kept in motion, speed or operation suspension are reduced.
For driver when sealing space is walked, someone always, article are to maintain stationary state, and another part people will go out
Enter sealing space, be then in flow regime, thus balances vehicle driving and cause many difficulties, on the one hand want to lead to as early as possible
Row provides traffic efficiency, on the one hand avoids colliding with the people of surrounding and article again.Calculating can be passed through using the technical program
Machine automatic identification of obstacles are calculated optimal countermeasure, avoid according to different types of barrier and its motion state
Artificial erroneous judgement causes unnecessary conflict.
Optionally, the object features include trait information, elevation information or width information, and balance car is believed according to character
Breath, elevation information or width information plan bypass route.Object character refers mainly to the soft and hard data of object, some articles, such as
Sponge, haystack, although relatively high, balance car still may be directly across past.But the article of same height, if changing into is
Brick have to detour.Secondly, can directly roll over when object is relatively low, when object is relatively high, then need
It detours.Furthermore the width of object determines its route length for needing to detour, for example barrier is brick, and width is very short, balance
Vehicle advance offset is once just easily got around, for example barrier is, road to blocking, may just to need to seek again with wood
Road or prompt driver's walking is looked for cross over.
Optionally, the object features include trait information, elevation information and width information；
When trait information be rigidity, and height be more than first threshold, according to width information plan bypass route；Alternatively, property
Shape information is flexibility, and height is more than second threshold, plans bypass route according to width information；Second threshold is greater than the first threshold
Value.
Similarly, some articles, such as sponge, haystack, although relatively high, balance car still may be directly across past.
But the article of same height have to detour if changing into is brick.
Optionally, the object features include attribute information；If attribute information is animal or people, speed or pause are reduced
Operation, and issue warning information；When detecting that barrier without evacuation, plans bypass route in the preset time.Animal, people have energy
Dynamic property still can be alerted, prompting gives way even if remaining static when identification by modes such as loudspeaker, indicator lights.
On the one hand this mode reduces the operand of programme path, on the other hand reduce lane change and be conducive to traffic safety.
Optionally, described when barrier is kept in motion, the method for reducing speed or operation suspension includes:
Measure the spacing between balance car and barrier；When barrier is still located on normal traffic route and spacing is less than
When third threshold value, the balance car speed of service is reduced；When barrier is still located on normal traffic route and spacing is less than the 4th threshold
When value, control balance car is out of service；When barrier deviates normal traffic route, balance car Accelerating running is controlled, until
Restore the initial velocity before accelerating after clearing the jumps；4th threshold value is less than third threshold value.
Optionally, when trait information is flexibility, and height is less than or equal to second threshold, balance car is controlled from barrier
It crosses at top.
Optionally, the method for the disturbance in judgement object motion state includes:
In the picture of preset time interval shooting barrier；
The position for comparing barrier in any two picture is judged as static if position is identical；Otherwise it is judged as fortune
It is dynamic.
As another embodiment of the present invention, the invention discloses a kind of devices of balance car automatic parking, comprising:
For measuring the barrier at least three orientation；If the orientation of each measurement and the spacing of barrier are both less than
One preset value and balance car is in rest equilibrium state；Control balance car is out of service and pops up the device of bracket or auxiliary wheel.
The device of automatic parking of the present invention can be used for realizing the method for balance car automatic parking of the present invention.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (9)
1. a kind of method of balance car automatic parking characterized by comprising
Measure the barrier at least three orientation；If the orientation of each measurement and the spacing of barrier are both less than the first preset value
And balance car is in rest equilibrium state；Control balance car is out of service and pops up bracket or auxiliary wheel；
The step of the method also includes the real-time statistics stream of peoples:
When balance car is in out of service and pops up bracket or supporting wheel status；Open camera in front of balance car；
Calculate stream of people's data；
When stream of people's data are lower than the second preset value, starting balance car enters rest equilibrium state.
2. the method for balance car automatic parking according to claim 1, which is characterized in that the side of measuring and calculating stream of people's data
Method includes:
Calculate balance car and everyone spacing data of surrounding；
Stream of people's data are obtained to the average value of all spacing datas.
3. the method for balance car automatic parking according to claim 1, which is characterized in that the side of measuring and calculating stream of people's data
Method includes:
According to the number around image comparison statistical equilibrium vehicle；
Stream of people's data are obtained according to the alteration trend of number.
4. the method for balance car automatic parking according to any one of claims 1 to 3, which is characterized in that the method is also wrapped
It includes:
Disturbance in judgement object motion state；
When barrier remains static, the picture of barrier is shot, networking identification object features are planned according to recognition result
Bypass route；When barrier is kept in motion, speed or operation suspension are reduced.
5. the method for balance car automatic parking according to claim 4, which is characterized in that the object features include character
Information, elevation information or width information, balance car plan bypass route according to trait information, elevation information or width information.
6. the method for balance car automatic parking according to claim 4, which is characterized in that the object features include character
Information, elevation information and width information；
When trait information be rigidity, and height be more than first threshold, according to width information plan bypass route；Alternatively, character is believed
Breath is flexibility, and height is more than second threshold, plans bypass route according to width information；Second threshold is greater than first threshold.
7. the method for balance car automatic parking according to claim 4, which is characterized in that the object features include attribute
Information；If attribute information is animal or people, speed or operation suspension are reduced, and issue warning information；When in the preset time
Detect that barrier without evacuation, plans bypass route.
8. the method for balance car automatic parking according to claim 4, which is characterized in that described
When barrier is kept in motion, the method for reducing speed or operation suspension includes:
Measure the spacing between balance car and barrier；It is less than third when barrier is still located on normal traffic route and spacing
When threshold value, the balance car speed of service is reduced；When barrier is still located on normal traffic route and spacing is less than four threshold values,
It is out of service to control balance car；When barrier deviates normal traffic route, balance car Accelerating running is controlled, until crossing barrier
Restore the initial velocity before accelerating after hindering object；4th threshold value is less than third threshold value.
9. a kind of balance car for the method for realizing the balance car automatic parking as described in claim 1 to 8 any one is stayed automatically
The device of vehicle characterized by comprising
For measuring the barrier at least three orientation；If it is pre- that the orientation of each measurement and the spacing of barrier are both less than first
If being worth and balance car being in rest equilibrium state；Control balance car is out of service and pops up the device of bracket or auxiliary wheel；
Described device calculates stream of people's data, and the real-time statistics stream of people；
When balance car is in out of service and pops up bracket or supporting wheel status, camera in front of balance car is opened；
When stream of people's data are lower than second preset value, starting balance car enters rest equilibrium state.
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| CN201610769209.3A CN106292667B (en) | 2016-08-30 | 2016-08-30 | A kind of method and apparatus of balance car automatic parking |
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| CN201610769209.3A CN106292667B (en) | 2016-08-30 | 2016-08-30 | A kind of method and apparatus of balance car automatic parking |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018039908A1 (en) * | 2016-08-30 | 2018-03-08 | 尚艳燕 | Method and device for automatically parking balancing vehicle |
| CN108116579A (en) * | 2017-10-31 | 2018-06-05 | 深圳市博鑫创科科技有限公司 | The balance car control method and device of driver safety are ensured under a kind of emergency condition |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105129004A (en) * | 2015-07-29 | 2015-12-09 | 小米科技有限责任公司 | Balance car parking method and apparatus |
| CN105270525A (en) * | 2015-09-28 | 2016-01-27 | 小米科技有限责任公司 | Control method and device for two-wheel balance car |
| CN105836008A (en) * | 2016-03-08 | 2016-08-10 | 王培良 | Self-balancing vehicle |
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| DE102004017767B4 (en) * | 2004-04-13 | 2013-09-19 | Snap-On Equipment Gmbh | Method and device for balancing a vehicle wheel |
| US9682732B2 (en) * | 2013-09-06 | 2017-06-20 | Jason Thomas Strack | Fully self-balanced hands-free portable vehicle |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105129004A (en) * | 2015-07-29 | 2015-12-09 | 小米科技有限责任公司 | Balance car parking method and apparatus |
| CN105270525A (en) * | 2015-09-28 | 2016-01-27 | 小米科技有限责任公司 | Control method and device for two-wheel balance car |
| CN105836008A (en) * | 2016-03-08 | 2016-08-10 | 王培良 | Self-balancing vehicle |
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