CN106741399A - A kind of intelligent device instead of walk based on Internet of Things - Google Patents
A kind of intelligent device instead of walk based on Internet of Things Download PDFInfo
- Publication number
- CN106741399A CN106741399A CN201611027445.4A CN201611027445A CN106741399A CN 106741399 A CN106741399 A CN 106741399A CN 201611027445 A CN201611027445 A CN 201611027445A CN 106741399 A CN106741399 A CN 106741399A
- Authority
- CN
- China
- Prior art keywords
- motor
- drive
- things
- internet
- pedal
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 230000009471 action Effects 0.000 claims abstract description 13
- 210000000515 tooth Anatomy 0.000 claims description 22
- 230000000087 stabilizing effect Effects 0.000 claims description 6
- 229910001069 Ti alloy Inorganic materials 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 abstract description 18
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 230000000630 rising effect Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005520 electrodynamics Effects 0.000 description 2
- 239000010977 jade Substances 0.000 description 2
- 239000012491 analyte Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J99/00—Subject matter not provided for in other groups of this subclass
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Handcart (AREA)
Abstract
The present invention relates to a kind of intelligent device instead of walk based on Internet of Things, including horizontally disposed operation setting stick, vertically arranged action bars, horizontally disposed pedal and drive mechanism, the operation setting stick is arranged on the top of action bars, the bottom of the action bars is fixed on pedal, the drive mechanism is arranged on the lower section of pedal, this is based on the obstacle signal in front of the range sensor real-time monitoring balance car of conveyer belt upper and lower ends in the intelligent device instead of walk detection of obstacles mechanism of Internet of Things, when barrier is run into, rotated by the second motor in protection location, make pedal that the height of the first motor is lifted while rising, prevent it from being collided with barrier, accident is fallen down so as to avoid people, and then improve the practicality of device.
Description
Technical field
The present invention relates to a kind of intelligent device instead of walk based on Internet of Things.
Background technology
Electrodynamic balance car, is called body-sensing car, thinking car, the car that acts as regent etc., and in the market mainly has single wheel and the class of two-wheel two.Its fortune
Make principle and be mainly built upon one kind to be referred to as in the general principle of " dynamic stability ", detected using the gyroscope of vehicle body
The change of vehicle body attitude, and servo-control system is utilized, accurately motor is adjusted correspondingly, to keep the flat of system
Weighing apparatus.
The electrodynamic balance car of in the market as modern a kind of walking-replacing tool, due to its environmental protection, the compact tinkling of pieces of jade of the bodily form
The characteristics of jade for asking rain, it is widely loved by the people.The drive device of balance car is generally all located at greatly lower section, on the road surface of flat clear
Can normally travel, but when there is height on road surface higher than drive device when being less than the barrier of pedal, people would generally
Ignore the presence of such barrier, when by barrier, the drive device of bottom easily collides with these barriers, no
Only drive device is easily damaged, and when colliding serious, people easily throw from balance car, cause all kinds of security incidents,
The security of balance car is set to have a greatly reduced quality.
The content of the invention
The technical problem to be solved in the present invention is：In order to overcome the deficiencies in the prior art, there is provided a kind of based on Internet of Things
Intelligent device instead of walk.
The technical solution adopted for the present invention to solve the technical problems is：A kind of intelligent dress of riding instead of walk based on Internet of Things
Put, including horizontally disposed operation setting stick, vertically arranged action bars, horizontally disposed pedal and drive mechanism, the operation
Setting stick is arranged on the top of action bars, and the bottom of the action bars is fixed on pedal, and the drive mechanism is arranged on pedal
Lower section；
The drive mechanism includes drive component and protection component, and the drive component includes the first motor and two
Driver element, first motor is fixed on the lower section of pedal, and two driver elements are separately positioned on the first driving
The both sides of motor, the driver element includes horizontally disposed first drive shaft and wheel, and first motor is by the
One drive shaft is connected with wheel drive；
The protection component includes four protection locations, and the protection location is arranged on the corner of pedal, the protection list
Unit includes lifting assembly, transverse axis, pulley and two vertically arranged fix bars, and the top of two fix bars is separately positioned on
The both sides of lifting assembly, the transverse axis passes through pulley, and the bottom of the two ends of the transverse axis respectively with two fix bars is connected, described
The height of pulley is highly identical with wheel；
First motor is provided with opening, and detection of obstacles mechanism, the obstacle quality testing are provided with the opening
Surveying mechanism includes conveyer belt, two drive components and detection unit, is provided with some driven tooths on the inside of the conveyer belt, it is described from
Dynamic tooth along being uniformly distributed on the inside of conveyer belt, in two drive components, one of drive component by conveyer belt and another
Drive component is connected, and the drive component includes the 3rd motor and is fixed in the drive shaft of the 3rd motor
Drive gear, the 3rd motor is fixed in opening, and the driven tooth is meshed with the tooth of drive gear.
Preferably, in order to realize balance height increase, the lifting assembly include the second motor, vertically set
The second drive shaft put and vertically arranged sleeve pipe, second motor are fixed on the lower section of pedal, and described second drives
Motor and the second drive shaft are connected, and the bottom of second drive shaft is arranged in sleeve pipe, is set in second drive shaft
There is external screw thread, internal thread is provided with described sleeve pipe, the external screw thread in second drive shaft matches with the internal thread in sleeve pipe.
Preferably, the obstacle information of the floor height in order to be able to measure the first motor in real time, the detection list
Unit includes two range sensors, and two range sensors are each attached on conveyer belt, two range sensor edges
The distance in conveyer belt direction is to transmit the half of strip length.
Preferably, the stable operation in order to ensure the first motor, is provided with Voltage stabilizing module, institute in the drive mechanism
State and mu balanced circuit is provided with Voltage stabilizing module, the mu balanced circuit includes first resistor, second resistance and diode, second electricity
Resistance and diodes in parallel, the plus earth of the diode, the negative electrode of the diode are exchanged by the external 220V of first resistor
Voltage source.
Preferably, using titanium alloy it is firm the characteristics of, in order to prevent transverse axis and fix bar from deforming, the transverse axis and fixation
The material of bar is titanium alloy.
Preferably, using DC servo motor driving force it is strong the characteristics of, in order to ensure the first motor, second drive
The driving force of motor and the 3rd motor, first motor, the second motor and the 3rd motor are
DC servo motor.
Preferably, using stepped tooth it is wear-resisting the characteristics of, in order to increase the service life of driven tooth, the shape of the driven tooth
Shape is trapezoidal.
Preferably, preventing balance car skidding from triggering security incident, the car to increase wheel and the frictional force on ground
Wheel is provided with some anti-slop serrations.
The beneficial effects of the invention are as follows this is based on conveyer belt in the intelligent device instead of walk detection of obstacles mechanism of Internet of Things
Obstacle signal in front of the range sensor real-time monitoring balance car of upper and lower ends, it is single by protecting when barrier is run into
The second motor in unit is rotated, and makes pedal that the height of the first motor is lifted while rising, prevents itself and barrier
Collision, falls down accident, and then improve the practicality of device so as to avoid people.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of the intelligent device instead of walk based on Internet of Things of the invention；
Fig. 2 is the structural representation of the drive mechanism of the intelligent device instead of walk based on Internet of Things of the invention；
Fig. 3 is the structural representation of the protection location of the intelligent device instead of walk based on Internet of Things of the invention；
Fig. 4 is the structural representation of the detection of obstacles mechanism of the intelligent device instead of walk based on Internet of Things of the invention；
Fig. 5 is the circuit theory diagrams of the mu balanced circuit of the intelligent device instead of walk based on Internet of Things of the invention；
In figure：1. setting stick is operated, 2. action bars, 3. pedal, 4. drive mechanism, 5. protection location, 6. detection of obstacles machine
Structure, 7. the first drive shaft, 8. wheel, 9. anti-slop serrations, 10. the second motor, 11. second drive shafts, 12. sleeve pipes, 13. fix
Bar, 14. transverse axis, 15. pulleys, 16. openings, 17. range sensors, 19. the 3rd motors, 20. drive gears, 21. transmission
Band, 22. driven tooths, 23. first motors, R1. first resistors, R2. second resistances, VD. diodes.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant with the present invention.
As Figure 1-Figure 5, a kind of intelligent device instead of walk based on Internet of Things, including horizontally disposed operation setting stick 1,
Vertically arranged action bars 2, horizontally disposed pedal 3 and drive mechanism 4, the operation setting stick 1 are arranged on the top of action bars 2
End, the bottom of the action bars 2 is fixed on pedal 3, and the drive mechanism 4 is arranged on the lower section of pedal 3；
The drive mechanism 4 includes drive component and protection component, and the drive component includes the He of the first motor 23
Two driver elements, first motor 23 is fixed on the lower section of pedal 3, and two driver elements are separately positioned on
The both sides of one motor 23, the driver element includes horizontally disposed first drive shaft 7 and wheel 8, and described first drives
Motor 23 is connected by the first drive shaft 7 with wheel 8；
The protection component includes four protection locations, and the protection location is arranged on the corner of pedal 3, the protection list
Unit includes lifting assembly, transverse axis 14, pulley 15 and two vertically arranged fix bars 13, two tops of the fix bar 13 point
Be not arranged on the both sides of lifting assembly, the transverse axis 14 passes through pulley 15, the two ends of the transverse axis 14 respectively with two fix bars
13 bottom connection, the height of the pulley 15 is highly identical with wheel 8；
First motor 23 is provided with opening 16, and detection of obstacles mechanism 6, the barrier are provided with the opening 16
Hindering analyte detection mechanism 6 includes conveyer belt 21, two drive components and detection units, the inner side of the conveyer belt 21 be provided with it is some from
Dynamic tooth 22, the driven tooth 22 is uniformly distributed along the inner side of conveyer belt 21, and in two drive components, one of drive component leads to
Cross conveyer belt 21 to be connected with another drive component, the drive component includes the 3rd motor 19 and is fixed on the 3rd
Drive gear 20 in the drive shaft of motor 19, the 3rd motor 19 is fixed in opening 16, the driven tooth
22 are meshed with the tooth of drive gear 20.
Preferably, the increase in order to realize balancing height, the lifting assembly includes the second motor 10, vertical
The second drive shaft 11 for setting and vertically arranged sleeve pipe 12, second motor 10 is fixed on the lower section of pedal 3, described
Second motor 10 is connected with the second drive shaft 11, and the bottom of second drive shaft 11 is arranged in sleeve pipe 12, institute
State the second drive shaft 11 and be provided with external screw thread, described sleeve pipe 12 is interior to be provided with internal thread, the external screw thread in second drive shaft 11
Match with the internal thread in sleeve pipe 12.
Preferably, the obstacle information of the floor height in order to be able to measure the first motor 23 in real time, the detection
Unit includes two range sensors 17, and two range sensors 17 are each attached on conveyer belt 21, two distances
Sensor 17 is the half of the length of conveyer belt 21 along the distance in the direction of conveyer belt 21.
Preferably, being provided with voltage stabilizing mould in the stable operation in order to ensure the first motor 23, the drive mechanism 4
Block, is provided with mu balanced circuit in the Voltage stabilizing module, the mu balanced circuit includes first resistor R1, second resistance R2 and diode
VD, the second resistance R2 is in parallel with diode VD, and the plus earth of the diode VD, the negative electrode of the diode VD passes through
The external 220V ac voltage power supplies of first resistor R1.
Preferably, using titanium alloy it is firm the characteristics of, in order to prevent transverse axis 14 and fix bar 13 from deforming, the transverse axis 14
Material with fix bar 13 is titanium alloy.
Preferably, using DC servo motor driving force it is strong the characteristics of, in order to ensure that the first motor 23, second drives
The driving force of the dynamic motor 19 of motor 10 and the 3rd, first motor 23, the second motor 10 and the 3rd drive
Dynamic motor 19 is DC servo motor.
Preferably, using stepped tooth it is wear-resisting the characteristics of, in order to increase the service life of driven tooth 22, the driven tooth 22
Be shaped as it is trapezoidal.
Preferably, preventing balance car skidding from triggering security incident, the car to increase wheel 8 and the frictional force on ground
Wheel 8 is provided with some anti-slop serrations 9.
People when balance car is driven, in the travel direction of vehicle, the barrier being open by the first motor 23 in 16
The obstacle signal on road surface detects in testing agency 6, is rotated by the 3rd motor 19, drives drive gear 20 to be driven along the 3rd
The center axis thereof of the drive shaft of motor 19, because the tooth phase of drive gear 20 and the driven tooth 22 of the inner side of conveyer belt 21 are nibbled
Close, so that conveyer belt 21 rotates, in rotation process, drive the position of range sensor 17 to change, Distance-sensing
Device 17 remains on state, and detection front whether there is barrier, when there is distance signal, represents that balance car front has barrier
Hinder thing, need starting protection component protection people's safe driving.Due to two range sensors 17 on the direction of conveyer belt 21 away from
From the half for the length of conveyer belt 21 so that any instant, the lower section of conveyer belt 21 has range sensor 17 to detect that barrier is believed
Number, so as to improve the precision of detection of obstacles.
Protection component is made up of the protection location 5 at 3 four jiaos of pedal, when protection component starts, in protection location 5
Second motor 10 is rotated, and drives the second drive shaft 11 to be rotated along its center axis, due to outer in the second drive shaft 11
Screw thread matches with the internal thread in sleeve pipe 12, so that 12 and second drive shaft of sleeve pipe 11 occurs relative displacement, 15, pulley
In on ground, therefore the height and position of pulley 15 keeps constant, so that the height and position of the fix bar 13 being connected with transverse axis 14
And the height and position of the sleeve pipe 12 being fixedly connected with fix bar 13 is constant, and then make the second motor 10 and the second drive shaft 11
Move up, drive and moved on pedal 3, during being moved on pedal 3, due to effect of inertia, pulley 15 is rotated further on road surface, band
Dynamic balancing car is moved forward and broken the barriers, it is to avoid first motor 23 collides with barrier, so that driving
People do not fallen down by barrier.
Compared with prior art, conveyer belt 21 in the intelligent device instead of walk detection of obstacles mechanism 6 of Internet of Things should be based on
Obstacle signal in front of the real-time monitoring balance car of range sensor 17 of upper and lower ends, when barrier is run into, by protection
The second motor 10 in unit 5 is rotated, and the height of the first motor 23 is lifted while pedal 3 is increased, and prevents it
With barrier collision, accident is fallen down so as to avoid people, and then improve the practicality of device.
With above-mentioned according to desirable embodiment of the invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.
Claims (8)
1. a kind of intelligent device instead of walk based on Internet of Things, it is characterised in that including horizontally disposed operation setting stick (1), perpendicular
To the action bars (2), horizontally disposed pedal (3) and drive mechanism (4) that set, operation setting stick (1) is arranged on action bars
(2) top, the bottom of the action bars (2) is fixed on pedal (3), and the drive mechanism (4) is arranged under pedal (3)
Side；
The drive mechanism (4) include drive component and protection component, the drive component include the first motor (23) and
Two driver elements, first motor (23) is fixed on the lower section of pedal (3), and two driver elements are respectively provided with
In the both sides of the first motor (23), the driver element includes horizontally disposed first drive shaft (7) and wheel (8), institute
The first motor (23) is stated to be connected by the first drive shaft (7) and wheel (8)；
The protection component includes four protection locations, and the protection location is arranged on the corner of pedal (3), the protection location
Including lifting assembly, transverse axis (14), pulley (15) and two vertically arranged fix bars (13), two fix bars (13)
Top is separately positioned on the both sides of lifting assembly, and the transverse axis (14) is distinguished through pulley (15), the two ends of the transverse axis (14)
Bottom with two fix bars (13) is connected, and the height of the pulley (15) is highly identical with wheel (8)；
First motor (23) is provided with opening (16), the opening (16) and is provided with detection of obstacles mechanism (6), institute
Stating detection of obstacles mechanism (6) includes conveyer belt (21), two drive components and detection unit, the inner side of the conveyer belt (21)
Be provided with some driven tooths (22), the driven tooth (22) along being uniformly distributed on the inside of conveyer belt (21), in two drive components, its
In drive component be connected with another drive component by conveyer belt (21), the drive component includes that the 3rd drives
Motor (19) and the drive gear (20) being fixed in the drive shaft of the 3rd motor (19), the 3rd motor (19)
It is fixed in opening (16), the driven tooth (22) is meshed with the tooth of drive gear (20).
2. the intelligent device instead of walk of Internet of Things is based on as claimed in claim 1, it is characterised in that the lifting assembly includes
Second motor (10), vertically arranged the second drive shaft (11) and vertically arranged sleeve pipe (12), described second drives electricity
Machine (10) is fixed on the lower section of pedal (3), and second motor (10) is connected with the second drive shaft (11), and described the
The bottom of two drive shafts (11) is arranged in sleeve pipe (12), and second drive shaft (11) is provided with external screw thread, described sleeve pipe
(12) internal thread is provided with, the external screw thread on second drive shaft (11) matches with the internal thread in sleeve pipe (12).
3. the intelligent device instead of walk of Internet of Things is based on as claimed in claim 1, it is characterised in that the detection unit includes
Two range sensors (17), two range sensors (17) are each attached on conveyer belt (21), and two distances are passed
Sensor (17) is the half of conveyer belt (21) length along the distance in conveyer belt (21) direction.
4. the intelligent device instead of walk of Internet of Things is based on as claimed in claim 1, it is characterised in that the drive mechanism (4)
Voltage stabilizing module is inside provided with, mu balanced circuit is provided with the Voltage stabilizing module, the mu balanced circuit includes first resistor (R1), the second electricity
Resistance (R2) and diode (VD), the second resistance (R2) are in parallel with diode (VD), the plus earth of the diode (VD),
The negative electrode of the diode (VD) passes through the external 220V ac voltage power supplies of first resistor (R1).
5. the intelligent device instead of walk based on Internet of Things as claimed in claim 1, it is characterised in that the transverse axis (14) and consolidate
The material of fixed pole (13) is titanium alloy.
6. the intelligent device instead of walk of Internet of Things is based on as claimed in claim 1, it is characterised in that first motor
(23), the second motor (10) and the 3rd motor (19) are DC servo motor.
7. the intelligent device instead of walk of Internet of Things is based on as claimed in claim 1, it is characterised in that the driven tooth (22)
It is shaped as trapezoidal.
8. the intelligent device instead of walk of Internet of Things is based on as claimed in claim 1, it is characterised in that set on the wheel (8)
There are some anti-slop serrations (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611027445.4A CN106741399B (en) | 2016-11-18 | 2016-11-18 | A kind of intelligent device instead of walk |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611027445.4A CN106741399B (en) | 2016-11-18 | 2016-11-18 | A kind of intelligent device instead of walk |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106741399A true CN106741399A (en) | 2017-05-31 |
| CN106741399B CN106741399B (en) | 2019-06-04 |
Family
ID=58971173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611027445.4A Active CN106741399B (en) | 2016-11-18 | 2016-11-18 | A kind of intelligent device instead of walk |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106741399B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108845372A (en) * | 2018-04-17 | 2018-11-20 | 深圳市晓控通信科技有限公司 | A kind of intelligent detector gate that the detection accuracy based on recognition of face is high |
| CN109018136A (en) * | 2018-08-21 | 2018-12-18 | 郑志豪 | A kind of balance car and control method of suitable complicated landform |
| CN109185611A (en) * | 2018-09-28 | 2019-01-11 | 珠海市微半导体有限公司 | A kind of lifting device based on universal wheel, clean robot and its control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010241280A (en) * | 2009-04-07 | 2010-10-28 | Toyota Motor Corp | Coaxial motorcycle |
| US20110010066A1 (en) * | 2007-07-09 | 2011-01-13 | Toyota Jidosha Kabushiki Kaisha | Inverted wheel type moving body and method of controlling the same |
| CN105083460A (en) * | 2015-09-16 | 2015-11-25 | 叶静 | Portable pocket type intelligent electric vehicle |
| 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 |
| CN105966538A (en) * | 2016-06-03 | 2016-09-28 | 尚艳燕 | Control method and control device of electric balance car |
-
2016
- 2016-11-18 CN CN201611027445.4A patent/CN106741399B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110010066A1 (en) * | 2007-07-09 | 2011-01-13 | Toyota Jidosha Kabushiki Kaisha | Inverted wheel type moving body and method of controlling the same |
| JP2010241280A (en) * | 2009-04-07 | 2010-10-28 | Toyota Motor Corp | Coaxial motorcycle |
| CN105083460A (en) * | 2015-09-16 | 2015-11-25 | 叶静 | Portable pocket type intelligent electric vehicle |
| 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 |
| CN105966538A (en) * | 2016-06-03 | 2016-09-28 | 尚艳燕 | Control method and control device of electric balance car |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108845372A (en) * | 2018-04-17 | 2018-11-20 | 深圳市晓控通信科技有限公司 | A kind of intelligent detector gate that the detection accuracy based on recognition of face is high |
| CN108845372B (en) * | 2018-04-17 | 2020-07-07 | 中运科技股份有限公司 | Intelligent security inspection door that detection precision is high based on face identification |
| CN109018136A (en) * | 2018-08-21 | 2018-12-18 | 郑志豪 | A kind of balance car and control method of suitable complicated landform |
| CN109185611A (en) * | 2018-09-28 | 2019-01-11 | 珠海市微半导体有限公司 | A kind of lifting device based on universal wheel, clean robot and its control method |
| CN109185611B (en) * | 2018-09-28 | 2024-04-05 | 珠海一微半导体股份有限公司 | Lifting device based on universal wheels, cleaning robot and control method of cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106741399B (en) | 2019-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104002880B (en) | The autonomous stair activity control method of a kind of caterpillar mobile robot with guide arm | |
| CN106741399A (en) | A kind of intelligent device instead of walk based on Internet of Things | |
| CN107539388A (en) | A kind of running gear system of robot | |
| CN106184450B (en) | A kind of climbing level robot | |
| CN102092354A (en) | Ultrasonic wave-based car ranging control system and method | |
| CN107380289B (en) | automatic follow obstacle crossing vehicle | |
| CN110758438B (en) | Rail running device | |
| CN105667616A (en) | Obstacle crossing trolley with arc-shaped support rods | |
| CN108454725A (en) | A kind of coaxial two wheels robot with multi-motion modes | |
| CN104875761A (en) | Dual-purpose pedal used for passengers to get on or off train and provided with rack | |
| CN206564073U (en) | A kind of different quality object acceleration contrasts apparatus for demonstrating | |
| CN110304172B (en) | Mechanical device with obstacle crossing and moving functions | |
| CN110329382B (en) | Improved generation cable pit inspection robot running gear | |
| CN211391269U (en) | Patrol and examine car that can break away from track automatically | |
| CN211447972U (en) | Circulating stereo garage | |
| CN206171424U (en) | But leap -type inspection robot and controlling means | |
| CN205468494U (en) | All -round intelligent vehicle drive of heavy grade bears device | |
| CN106515984A (en) | Bicycle driving system and bicycle comprising same | |
| CN104369735A (en) | Intelligent cruise control system | |
| CN217319948U (en) | Chassis device of land-rail dual-purpose automatic running vehicle | |
| CN107696009A (en) | A kind of walking and the robot of steering control modes | |
| CN204659730U (en) | A kind of train with tooth bar is got on or off the bus dual-purpose pedal | |
| CN206394695U (en) | Rear wheel transfer, lane change accessory system and its vehicle of four-wheel steering | |
| CN212500367U (en) | Obstacle crossing device of intelligent inspection robot | |
| CN108867455A (en) | A kind of current device of vehicle road gate |
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 | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190226 Address after: 510000 A3087 three, No. 158, No. 10 Fu Road, Liwan District, Guangzhou, Guangdong. Applicant after: GUANGZHOU MIAOYILIAN TECHNOLOGY Co.,Ltd. Address before: 362300 Chengnan Central Industrial Zone, Luoyang Town, Huian County, Quanzhou, Fujian Applicant before: HUIAN CANRUI INFORMATION TECHNOLOGY CONSULTING CO.,LTD. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190426 Address after: 201703 Shanghai Qingpu District Zhao Xiang Town, Shanghai Qingping Road, No. 3089, 2. Applicant after: SOCO INTELLIGENT TECHNOLOGY (SHANGHAI) Co.,Ltd. Address before: 510000 A3087 three, No. 158, No. 10 Fu Road, Liwan District, Guangzhou, Guangdong. Applicant before: GUANGZHOU MIAOYILIAN TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20211104 Granted publication date: 20190604 |
|
| PP01 | Preservation of patent right | ||
| PD01 | Discharge of preservation of patent | ||
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20230921 Granted publication date: 20190604 |
|
| PP01 | Preservation of patent right | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20230921 Granted publication date: 20190604 |
|
| PD01 | Discharge of preservation of patent | ||
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20231017 Granted publication date: 20190604 |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231024 Address after: 211200 No. 15 Zhongxing East Road, Lishui Economic Development Zone, Nanjing, Jiangsu Patentee after: NANJING SANYE GOLDEN EAGLE MOTORCYCLE Co.,Ltd. Address before: 201703 Shanghai Qingpu District Zhao Xiang Town, Shanghai Qingping Road, No. 3089, 2. Patentee before: SOCO INTELLIGENT TECHNOLOGY (SHANGHAI) Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240425 Address after: No. 15 Zhongxing East Road, Lishui Economic Development Zone, Nanjing City, Jiangsu Province Patentee after: NANJING VMOTO Co.,Ltd. Country or region after: China Address before: 211200 No. 15 Zhongxing East Road, Lishui Economic Development Zone, Nanjing, Jiangsu Patentee before: NANJING SANYE GOLDEN EAGLE MOTORCYCLE Co.,Ltd. Country or region before: China |