CN106625569A - Self-balancing detection robot with self-stabilizing biaxial platform - Google Patents
Self-balancing detection robot with self-stabilizing biaxial platform Download PDFInfo
- Publication number
- CN106625569A CN106625569A CN201710081334.XA CN201710081334A CN106625569A CN 106625569 A CN106625569 A CN 106625569A CN 201710081334 A CN201710081334 A CN 201710081334A CN 106625569 A CN106625569 A CN 106625569A
- Authority
- CN
- China
- Prior art keywords
- chassis
- self
- axles
- main control
- control chip
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Gyroscopes (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a self-balancing detection robot with self-stabilizing biaxial platform. The self-balancing exploration robot includes a two-wheeled self-balancing electric vehicle, a self-stabilizing biaxial platform arranged on the two-wheeled self-balancing electric vehicle and a detecting instrument fixed on the self-stabilizing biaxial platform. The two-wheeled self-balancing electric vehicle includes a chassis and two mecanum wheels driven by the chassis, the chassis is internally provided with a chassis main control chip, and the chassis main control chip is used for sending data collected through the detecting instrument and controlling the two detecting instrument to achieve speed change and veering according to parameters received from handheld devices or upper computers. The self-balancing detection robot is small in size and easy to operate, the use of the two mecanum wheels makes vertical movement become convenient, the movement of the chassis is not limited any more, due to the design of the two wheels, the size of the vehicle is reduced, and at the same time, the small size is beneficial for transportation of the robot and more in line with the need of disaster relief.
Description
Technical field
The present invention relates to a kind of robot, especially a kind of robot that can carry out disaster field detection.
Background technology
Because China's area is larger, province is more, so the natural calamity for occurring is more, such as mud-rock flow, earthquake
Etc., while some other dangerous situation there is also unknown environment.Also some rescue situations, due to be detected or wait to rescue
The effective coverage helped is less, and rescue personnel and conventional rescue or sniffing robot volume are relatively large, and locomotivity phase
To poor, sue and labour operation or detection operations are all difficult to.
Therefore, the improvement optimization of rescue system and the improvement of modern rescue and detection robot is particularly important.
The content of the invention
It is an object of the invention to solve the defect that above-mentioned prior art is present, a kind of compact is proposed, motion is flexible
Various severe disaster fields can be entered, carries out treating the situation detection of rescue personnel, and its life entity is determined by thermal imaging system
Levy, while vision signal is informed into rescue worker, treat that rescue personnel most preferably succours one kind of chance and has two axles certainly to be supplied to
The auto-balanced detection robot of steady head.
The present invention is achieved through the following technical solutions：
A kind of have auto-balanced detection robot of two axles from steady head, including two-wheeled electrodynamic balance car, is arranged on described two
Two axles on wheeled electrical balance car from steady head, be fixed on detection instrument of two axle from steady head, described two-wheeled
Formula electrodynamic balance car includes chassis, two Mecanum wheels driven by the chassis, and chassis master is provided with described chassis
Control chip, for sending the data of detection instrument collection, according to the state modulator two of the handheld device or host computer for being received
Mecanum wheel speed realizes speed change and steering.
Further, described chassis main control chip is integrated with the GPS moulds of the accurate location for determining robot in real time
Block, three-axis gyroscope and three axis accelerometer, wireless image transmission module that car body balance is kept according to the change of vehicle body attitude,
Wireless data transceiver module, the wireless image transmission module is used to obtaining and analyzing the data of detection instrument collection, the nothing
Line data transmit-receive module is used for carrying out signal reception and transmission between handheld device or host computer.
Further, described detection instrument include for realize picture signal gather industrial camera and for gathering
Treat the thermal imaging system of rescue personnel's information.
Further, the industrial camera is driven by FPGA drive control devices, the FPGA drive control devices with it is described
Chassis main control chip circuit connection, is started by chassis main control chip control.
Further, described FPGA drive control devices are passed by the signal parallel that LVDS buses gather industrial camera
It is defeated by chassis main control chip.
Further, motor and motor driver are provided with described chassis, the chassis main control chip passes through motor
Two motors of driver control drive corresponding two Mecanum wheels.
Further, two described axles are erected on the chassis from steady head by head, including two to control
Motor, the cradle head part main control chip for being integrated with the three-axis gyroscope sensor surely controlled for oneself, the cradle head part master control
Chip with two to controlled motor circuit be connected.
Further, described two to controlled motor include X to controlled motor and Y phase control motors, each controlled motor
With electricity tune.
Further, the battery for power supply is provided with the chassis.
Compared to existing technology, the present invention provide with two axles from the auto-balanced detection robot of steady head can solve with
Toward rescue robot volume it is excessive, be difficult to the disaster information and the personnel disaster-stricken to be rescued that detect some narrow regions situations such as, two
The convenience of the mobile change of longitudinal direction, the motion on chassis is caused no longer to be limited to the selection of Mecanum wheel, the design contracting of two wheels
Little vehicle body volume, can reach the effect above with fabulous.Simultaneously less volume is conducive to the transport of robot, more accords with
Close the demand of disaster relief situation.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the embodiment of the present invention.
Fig. 2 is the schematic front view of the embodiment of the present invention.
Fig. 3 is the side schematic view of the embodiment of the present invention.
Fig. 4 is the schematic top plan view of the embodiment of the present invention.
In figure：1- Mecanum wheels；2- Mecanum wheels；3- chassis body structures；4- chassis main control chip；5- motors；
6- motor drivers；7- head supports；8-X is to controlled motor；9-Y is to controlled motor；10- cradle head part main control chips；11- works
Industry video camera；12- thermal imaging systems；13- batteries.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below the present invention in technical scheme carry out clearly
Chu, it is fully described by, and described embodiment is a part of embodiment of the invention, rather than the embodiment of whole.All realities
Example is applied, the scope of protection of the invention is belonged to.
It is a kind of that there is auto-balanced detection robot of two axles from steady head, including two-wheeled electricity as shown in Fig. 1 to Fig. 4
Dynamic balancing car, two axles being arranged on the two-wheeled electrodynamic balance car from steady head, be fixed on two axle from steady head
Detection instrument, described detection instrument includes for realizing industrial camera 11 and for gathering wait to rescue that picture signal gathers
Help the thermal imaging system 12 of personal information.Described two-wheeled electrodynamic balance car includes chassis 3, the first wheat driven by the chassis
Ke Namu wheels 1 and the second Mecanum wheel 2, are provided with chassis main control chip 4, for sending detection instrument in described chassis 3
The data of collection, realized according to the two Mecanum wheel speeds of state modulator for the handheld device or host computer for being received speed change and
Turn to.It is provided with the battery 13 for power supply in the chassis 3 simultaneously, to meet the needs of field work, battery 13 can be adopted
Lithium battery, small in volume.
Specifically, described chassis main control chip 4 is integrated with the GPS moulds of the accurate location for determining robot in real time
Block, three-axis gyroscope and three axis accelerometer, wireless image transmission module that car body balance is kept according to the change of vehicle body attitude,
Wireless data transceiver module, the wireless image transmission module is used to obtaining and analyzing the data of detection instrument collection, the nothing
Line data transmit-receive module is used for carrying out signal reception and transmission between handheld device or host computer.
Motor 5 and motor driver 6 are provided with described chassis 3, the chassis main control chip 4 passes through motor driver
6 two motors 5 of control drive corresponding two Mecanum wheels.
The chassis main control chip 4 controls two motors 5 and drives corresponding two chassis wheel work by motor driver 6
Make, at the same the signal of the Real-time Collection three-axis gyroscope of chassis main control chip 4 with the attitude on the current relative ground of calculating robot and
Acceleration, angular speed, and merged by attitude, Kalman filtering and PID control scheduling algorithm analysis meter calculate holding poised state
Required vehicle wheel rotational speed.And the method by PWM pulsewidth modulations change dutycycle obtains maintaining the rotating speed needed for organism balance.Together
When two-wheeled is controlled by this kind of method rotating speed be capable of achieving the action such as speed change and steering.GPS module is used to determine robot in real time
Accurate location, due to rescue site situation polytropy with it is uncertain, the determination of position is particularly important.
The detection of information is main to realize adopting for picture signal by carrying the industrial camera 11 in two axles from steady head
Collection, thermal imaging system 12 is used for the information that rescue personnel is treated in collection, and the driving of industrial camera adopts the He of chassis main control chip 4
The mode that FPGA controller combines, the FPGA drive control devices are controlled to start by the chassis main control chip 4, FPGA controls
Device processed is responsible for the driving of camera, signals collecting, while signal parallel is transferred into chassis main control chip 4 by LVDS buses being used for
Analysis of the image data.Image information and other information that the analytical industry camera of chassis main control chip 4 and detection sensor are collected,
Handheld device or host computer are sent to by radio receiving transmitting module.
Two described axles are located on the chassis 3 from steady head by head support 7, including two to controlled motor, collection
Into the cradle head part main control chip 10 for having the three-axis gyroscope sensor for certainly steady control, the cradle head part main control chip 10
With two to controlled motor circuit be connected, described two to controlled motor include X to controlled motor 8 and Y phase controls motor 9, respectively
Individual controlled motor is with electricity tune.
Two axles, mainly by gyroscope gathered data, are merged from the control of steady cradle head part by attitude, and are filtered,
Stable data message is obtained, method described above obtains the attitude angle of motion, and the place of pid algorithm is carried out with angle on target
Reason, to reach the effect of stable head and the purpose of PC control.
The robot of the present embodiment can realize two kinds of detection modes：Automatic detection mode, manual detection mode, and its
In, automatic detection mode is to realize what is controlled by the chassis main control chip 4 of setting on robot body, and detects mould manually
Formula is to implement its control by handheld device or host computer.The radio receiving transmitting module, wireless image transmission module and host computer,
It is hand-held to wait equipment correspondence, for being input into various adjusting parameters, use when commissioning device is with manual detection mode.
Finally should illustrate, embodiments of the present invention are simultaneously not restricted to the described embodiments, others are any not to carry on the back
Spirit Essence and the change, modification, replacement made under principle from the present invention, combine, simplification, should be equivalent displacement side
Formula, is included within protection scope of the present invention.
Claims (9)
- It is 1. a kind of that there is auto-balanced detection robot of two axles from steady head, it is characterised in that：Including two-wheeled electrodynamic balance car, Two axles being arranged on the two-wheeled electrodynamic balance car from steady head, be fixed on survey meter of two axle from steady head Device, two Mecanum wheels that described two-wheeled electrodynamic balance car includes chassis (3), driven by the chassis, described bottom Chassis main control chip (4) is provided with disk (3), for sending the data of detection instrument collection, according to the handheld device for being received Or two Mecanum wheel speeds of the state modulator of host computer realize speed change and steering.
- It is 2. according to claim 1 that there is auto-balanced detection robot of two axles from steady head, it is characterised in that：Described Chassis main control chip (4) is integrated with the GPS module of the accurate location for determining robot in real time, according to the change of vehicle body attitude The three-axis gyroscope and three axis accelerometer, wireless image transmission module of car body balance are kept, wireless data transceiver module is described Wireless image transmission module is used to obtaining and analyzing the data of detection instrument collection, and the wireless data transceiver module is used for same hand Signal reception and transmission are carried out between holding equipment or host computer.
- It is 3. according to claim 1 that there is auto-balanced detection robot of two axles from steady head, it is characterised in that：Described Detection instrument includes the industrial camera (11) for realizing picture signal collection and the heat for treating rescue personnel's information for collection Imager (12).
- It is 4. according to claim 3 that there is auto-balanced detection robot of two axles from steady head, it is characterised in that：The work Industry video camera (11) is driven by FPGA drive control devices, the FPGA drive control devices and chassis main control chip (4) circuit Connection, is started by the chassis main control chip (4) control.
- It is 5. according to claim 4 that there is auto-balanced detection robot of two axles from steady head, it is characterised in that：Described The signal parallel that industrial camera (11) is gathered is transferred to chassis main control chip by FPGA drive control devices by LVDS buses (4)。
- It is 6. according to claim 1 that there is auto-balanced detection robot of two axles from steady head, it is characterised in that：Described Motor (5) and motor driver (6) are provided with chassis (3), the chassis main control chip (4) is controlled by motor driver (6) Two motors (5) of system drive corresponding two Mecanum wheels.
- It is 7. according to claim 1 that there is auto-balanced detection robot of two axles from steady head, it is characterised in that：Described Two axles are located on the chassis (3) from steady head by head support (7), including two to controlled motor, be integrated with for from The cradle head part main control chip (10) of the three-axis gyroscope sensor of steady control, the cradle head part main control chip (10) with two to Controlled motor circuit connection.
- It is 8. according to claim 7 that there is auto-balanced detection robot of two axles from steady head, it is characterised in that：Described two To controlled motor include X to controlled motor (8) and Y phase control motors (9), each controlled motor with electricity adjust.
- It is 9. according to claim 1 that there is auto-balanced detection robot of two axles from steady head, it is characterised in that：The bottom The battery (13) for power supply is provided with disk (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710081334.XA CN106625569B (en) | 2017-02-15 | 2017-02-15 | Self-balancing detection robot with two-axis self-stabilizing cradle head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710081334.XA CN106625569B (en) | 2017-02-15 | 2017-02-15 | Self-balancing detection robot with two-axis self-stabilizing cradle head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106625569A true CN106625569A (en) | 2017-05-10 |
| CN106625569B CN106625569B (en) | 2023-06-16 |
Family
ID=58844966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710081334.XA Active CN106625569B (en) | 2017-02-15 | 2017-02-15 | Self-balancing detection robot with two-axis self-stabilizing cradle head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625569B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107345809A (en) * | 2017-07-31 | 2017-11-14 | 上海圭目机器人有限公司 | A kind of wheel-type container detects robot |
| WO2019000433A1 (en) * | 2017-06-30 | 2019-01-03 | 深圳市大疆创新科技有限公司 | Two-wheeled balancing vehicle |
| CN109991990A (en) * | 2018-12-27 | 2019-07-09 | 深圳市行者机器人技术有限公司 | The balancing device and control method of how parallel control-moment gyro with rotary head |
| CN111216826A (en) * | 2020-01-14 | 2020-06-02 | 华南理工大学广州学院 | Ball moving balance robot system |
| CN111232074A (en) * | 2020-01-14 | 2020-06-05 | 华南理工大学广州学院 | Ball moving balance robot with real-time monitoring function |
| CN111874142A (en) * | 2020-08-06 | 2020-11-03 | 中国矿业大学 | Mecanum wheel type four-wheel balance car |
| CN112318475A (en) * | 2020-11-02 | 2021-02-05 | 河南大学 | Two-wheeled robot for detecting steering by using two-wheeled differential chassis |
| CN112596375A (en) * | 2020-12-11 | 2021-04-02 | 太原科技大学 | Omnidirectional mobile platform system for target tracking and control method |
| CN116373614A (en) * | 2023-03-24 | 2023-07-04 | 华南师范大学 | Self-balancing control method for two-wheeled robot and robot |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201399786Y (en) * | 2009-04-24 | 2010-02-10 | 北京工业大学 | Two-wheeled upright self-balancing robot based on infrared sensor attitude detection |
| CN102141814A (en) * | 2010-12-09 | 2011-08-03 | 北京理工大学 | Balance control method, balance control device and robot |
| CN102322797A (en) * | 2011-08-15 | 2012-01-18 | 吉林大学 | Three-freedom-degree automobile wheel positioning parameter three-dimensionalal visual flexible detection system |
| CN202812686U (en) * | 2012-08-06 | 2013-03-20 | 福建和盛高科技产业有限公司 | Rail mechanism for controlling heavy pan-and-tilt camera to move randomly |
| CN203245872U (en) * | 2013-05-23 | 2013-10-23 | 国家电网公司 | Two-wheel self-balancing patrolling robot for transformer substation |
| CN203574787U (en) * | 2013-11-22 | 2014-04-30 | 西安科技大学 | Remote device control management module system based on visual information recognition |
| CN204090009U (en) * | 2014-09-10 | 2015-01-07 | 云南省公路科学技术研究院 | A kind of bridge superstructure quality testing video image acquisition device |
| CN205066710U (en) * | 2015-05-28 | 2016-03-02 | 西北工业大学 | Self -balancing 3D laser scanner |
| CN106078744A (en) * | 2016-06-30 | 2016-11-09 | 杭州电子科技大学 | A kind of double-wheel self-balancing robot Sliding Mode Adaptive Control system |
| CN106352795A (en) * | 2016-10-26 | 2017-01-25 | 哈尔滨工业大学 | Vision measuring device and method for flexible manufacturing |
| CN206561410U (en) * | 2017-02-15 | 2017-10-17 | 华南理工大学 | It is a kind of that there is auto-balanced detection robot of two axles from steady head |
-
2017
- 2017-02-15 CN CN201710081334.XA patent/CN106625569B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201399786Y (en) * | 2009-04-24 | 2010-02-10 | 北京工业大学 | Two-wheeled upright self-balancing robot based on infrared sensor attitude detection |
| CN102141814A (en) * | 2010-12-09 | 2011-08-03 | 北京理工大学 | Balance control method, balance control device and robot |
| CN102322797A (en) * | 2011-08-15 | 2012-01-18 | 吉林大学 | Three-freedom-degree automobile wheel positioning parameter three-dimensionalal visual flexible detection system |
| CN202812686U (en) * | 2012-08-06 | 2013-03-20 | 福建和盛高科技产业有限公司 | Rail mechanism for controlling heavy pan-and-tilt camera to move randomly |
| CN203245872U (en) * | 2013-05-23 | 2013-10-23 | 国家电网公司 | Two-wheel self-balancing patrolling robot for transformer substation |
| CN203574787U (en) * | 2013-11-22 | 2014-04-30 | 西安科技大学 | Remote device control management module system based on visual information recognition |
| CN204090009U (en) * | 2014-09-10 | 2015-01-07 | 云南省公路科学技术研究院 | A kind of bridge superstructure quality testing video image acquisition device |
| CN205066710U (en) * | 2015-05-28 | 2016-03-02 | 西北工业大学 | Self -balancing 3D laser scanner |
| CN106078744A (en) * | 2016-06-30 | 2016-11-09 | 杭州电子科技大学 | A kind of double-wheel self-balancing robot Sliding Mode Adaptive Control system |
| CN106352795A (en) * | 2016-10-26 | 2017-01-25 | 哈尔滨工业大学 | Vision measuring device and method for flexible manufacturing |
| CN206561410U (en) * | 2017-02-15 | 2017-10-17 | 华南理工大学 | It is a kind of that there is auto-balanced detection robot of two axles from steady head |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11054209B2 (en) | 2017-06-30 | 2021-07-06 | SZ DJI Technology Co., Ltd. | Two-wheel balancing vehicle |
| WO2019000433A1 (en) * | 2017-06-30 | 2019-01-03 | 深圳市大疆创新科技有限公司 | Two-wheeled balancing vehicle |
| CN109414814A (en) * | 2017-06-30 | 2019-03-01 | 深圳市大疆创新科技有限公司 | Two-wheeled balance car |
| CN109414814B (en) * | 2017-06-30 | 2021-09-07 | 深圳市大疆创新科技有限公司 | Two-wheel balance vehicle |
| CN107345809A (en) * | 2017-07-31 | 2017-11-14 | 上海圭目机器人有限公司 | A kind of wheel-type container detects robot |
| CN109991990A (en) * | 2018-12-27 | 2019-07-09 | 深圳市行者机器人技术有限公司 | The balancing device and control method of how parallel control-moment gyro with rotary head |
| CN109991990B (en) * | 2018-12-27 | 2022-04-26 | 深圳市行者机器人技术有限公司 | Balancing device and control method for multi-parallel control moment gyroscope with rotating holder |
| CN111232074A (en) * | 2020-01-14 | 2020-06-05 | 华南理工大学广州学院 | Ball moving balance robot with real-time monitoring function |
| CN111216826A (en) * | 2020-01-14 | 2020-06-02 | 华南理工大学广州学院 | Ball moving balance robot system |
| CN111874142A (en) * | 2020-08-06 | 2020-11-03 | 中国矿业大学 | Mecanum wheel type four-wheel balance car |
| CN112318475A (en) * | 2020-11-02 | 2021-02-05 | 河南大学 | Two-wheeled robot for detecting steering by using two-wheeled differential chassis |
| CN112596375A (en) * | 2020-12-11 | 2021-04-02 | 太原科技大学 | Omnidirectional mobile platform system for target tracking and control method |
| CN112596375B (en) * | 2020-12-11 | 2024-04-26 | 太原科技大学 | Omnidirectional mobile platform system for target tracking and control method |
| CN116373614A (en) * | 2023-03-24 | 2023-07-04 | 华南师范大学 | Self-balancing control method for two-wheeled robot and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106625569B (en) | 2023-06-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106625569A (en) | Self-balancing detection robot with self-stabilizing biaxial platform | |
| US20190250619A1 (en) | Autonomous bicycle | |
| CN104881027B (en) | Wheel-track combined Intelligent Mobile Robot active obstacle system and control method | |
| JP2015194981A (en) | Controller for work vehicle | |
| CN106527425A (en) | Omnibearing intelligent following trolley and controlling method thereof | |
| CN206833250U (en) | A kind of unmanned investigation dolly based on laser radar | |
| US10942518B2 (en) | System and method for assisting a vehicle to park in alignment with a wireless battery charging pad | |
| WO2021208886A1 (en) | Method, device and system for monitoring motion trajectory of vehicle | |
| CN204856208U (en) | Remote control surveys car | |
| CN105015645A (en) | Multifunctional unmanned detection robot | |
| CN206270763U (en) | A kind of Environmental emergency monitoring unmanned plane | |
| US20190250615A1 (en) | Autonomous Skateboard | |
| JP6163460B2 (en) | Accompanying work system | |
| JP2015222499A (en) | Emergency stop system | |
| CN206561410U (en) | It is a kind of that there is auto-balanced detection robot of two axles from steady head | |
| JP6297436B2 (en) | Parallel work system | |
| CN109603050B (en) | Control method for fire extinguishing vehicle | |
| CN108705980B (en) | Vehicle front wheel and camera synchronous steering system | |
| SE1450785A1 (en) | Method and a mobile electronic device for controlling a vehicle | |
| CN109202853A (en) | A kind of power construction safety supervision robot | |
| CN211918850U (en) | Remote control all-terrain tracked vehicle | |
| CN202896650U (en) | Automotive steering wheel cover and automotive parking assist system | |
| CN103786770A (en) | Automotive steering wheel cover and automotive reversing assist system | |
| JP2015221614A (en) | Monitoring device | |
| JP2018191522A (en) | Work vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |