CN107298145A - Self-balancing mobile carrier - Google Patents
Self-balancing mobile carrier Download PDFInfo
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- CN107298145A CN107298145A CN201610351609.2A CN201610351609A CN107298145A CN 107298145 A CN107298145 A CN 107298145A CN 201610351609 A CN201610351609 A CN 201610351609A CN 107298145 A CN107298145 A CN 107298145A
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- 230000003238 somatosensory effect Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 abstract 1
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- 238000000465 moulding Methods 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
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Abstract
The invention discloses a self-balancing mobile carrier, which is different from a two-wheeled mobile carrier in the prior art that the two-wheeled mobile carrier can move and run only by depending on the somatosensory operation of a driver, and the self-balancing mobile carrier carries a mobile control module consisting of an operation control unit and an actuating unit; the driver can control the actuating unit to actuate through the control unit, so that the gyroscope arranged on the actuating unit inclines forwards or backwards, and the effect of easily controlling the self-balanced mobile carrier to move forwards or backwards is achieved. In addition, unlike the two-wheeled mobile vehicle carrying at least three gyroscopes in the prior art, the self-balancing mobile vehicle can realize the same basic functions as the two-wheeled mobile vehicle in the prior art only by carrying the balance state detection module consisting of the gyroscopes and the accelerometers; compared with the two-wheel moving carrier in the prior art, the self-balancing moving carrier has the advantage of low cost of components.
Description
Technical field
The present invention relates to the technical field of personal carrier, more particularly to a kind of homeostatic mobile carrier.
Background technology
As the consciousness of environmental protection and carbon reduction is surging, the development of electric vehicle has turned into the weight that current traffic technique is developed
Want index.At present, it is still based on locomotive that grass-roots transport facility, which is used,；However, locomotive fires because of burning
The dusty gas such as material discharged carbon monoxide, carbon dioxide, hydrocarbon cause certain degree to environment and air quality
Harm.Therefore, be quite suitable expansion environment-friendly type transport facility just from the point of view of present communications and transportation present situation, such as it is electric
Motor-car, solar automobile etc. are pollution-free and low noise new-type mobile carrier.
Referring to Fig. 1, Fig. 1 shows a kind of stereogram of two-wheeled mobile carrier of the prior art.Two-wheeled shown in Fig. 1
Mobile carrier 1 ' is Sai Gewei (Segway) known to everybody, and it mainly includes:Auxiliary balance bar 11 ', microscope carrier 12 ', wheel group
13 ' and dynamical system.Please refer to Fig. 2, Fig. 2 shows the system block diagrams for showing the dynamical system.Wherein, the power
The most of microscope carrier 12 ' that is arranged at of system 14 ' is internal, and at least includes：Control module 141 ', user interface 142 ', at least three
Individual gyroscope 143 ', left motor driving module 144 ', right motor driving module 145 ', at least one accelerometer 146 ' and power supply
Module 147 '.
Fig. 1 and Fig. 2 is unceasingly referred to, and the two-wheeled is respectively illustrated please refer to Fig. 3 A and Fig. 3 B, Fig. 3 A and Fig. 3 B
The operation chart of mobile carrier.As illustrated, when driver person is multiplied by the two-wheeled mobile carrier 1 ', positioned at microscope carrier 12 '
Three interior gyroscopes 143 ' can detect the angle of inclination of the microscope carrier 12 ', and export inclination angle signal to the control module
141’；Meanwhile, at least one accelerometer 146 ' can detect the angular speed of the microscope carrier 12 ', and Output speed signal is to the control
Molding block 141 '.Further, the control module 141 ' can export control according to the inclination angle signal and the angular velocity signal
Signal processed to the left motor driving module 144 ' and the right motor driving module 145 ', with by left motor driving module 144 ' with
Right motor driving module 145 ' drives the wheel group 13 ', and then exports trimming moment to the microscope carrier by the start of the wheel group 13 '
12 ', this mode maintains the balance of microscope carrier 12 '.
As shown in Figure 3A, driver person can be controlled by way of by its forward lean the two-wheeled mobile carrier 1 ' to
Preceding traveling；Wherein, when driver person's forward lean, the front end of microscope carrier 12 ' is also synchronously tilted down, now the control module
141 ' can drive the wheel group 13 ' according to the variable quantity at angle of inclination and the variable quantity of angular speed of microscope carrier 12 ' so that this two
Wheel mobile carrier 1 ' moves forward.On the contrary, as shown in Figure 3 B, when driver person's body hypsokinesis, the front end of microscope carrier 12 ' is also same
Step it is inclined upwardly, now the control module 141 ' understands the change of the variable quantity and angular speed at the angle of inclination according to microscope carrier 12 '
Change amount and drive the wheel group 13 ' so that the two-wheeled mobile carrier 1 ' is travelled backward.
Although the two-wheeled mobile carrier 1 ' (Segway) is widely used in airport, large-scale sales field, amusement park at present
Guard patrol purposes, the two-wheeled mobile carrier 1 ' (Segway) shows following defect in Practical Operation:
1st, for the poor people of body-sensing ability, it is desirable to be multiplied by the two-wheeled mobile carrier 1 ' and while maintain equilibrium-like
State is extremely difficult, and the traveling of the two-wheeled mobile carrier 1 ' is controlled in particular with by the mode of its forward lean/hypsokinesis；
2nd, the load can effectively be detected because the two-wheeled mobile carrier 1 ' must carry at least three gyroscopes 143 '
The poised state of platform 12 ', cause the two-wheeled mobile carrier 1 ' because component cost is too high and price is high.
The content of the invention
The main object of the present invention, is to provide a kind of homeostatic mobile carrier.Different from of the prior art two
Wheel mobile carrier (Segway) must can move traveling, the homeostasis that the present invention is provided by the somatosensory operation of driver
Mobile carrier carry by manipulation unit and making the mobile control module that moving cell is constituted；Driver just can pass through the manipulation
Unit controls this to make moving cell and carries out start, and then make it that being arranged at the gyroscope made on moving cell turns forward or retreat
Tiltedly, reach and be the ability to easily control the effect that the homeostatic mobile carrier is travelled forward or backward.In addition, different from existing skill
Two-wheeled mobile carrier in art must carry at least three gyroscopes, and the homeostatic mobile carrier that the present invention is provided only is carried
The poised state detecting module being made up of gyroscope and accelerometer just can realize that being same as two-wheeled of the prior art moves
The basic function of carrier；Obviously, compared to two-wheeled mobile carrier of the prior art, the homeostatic movement that the present invention is provided
Carrier is because component is with low cost and has the advantage in price.
In order to reach the main purpose of the invention described above, the present invention provides a kind of homeostatic mobile carrier, including：
Microscope carrier；
Wheel group, is connected to the both sides of the microscope carrier；
Poised state detecting module, is arranged on the microscope carrier, inclination angle and angular speed to detect the microscope carrier, output
Tilt angle signal and angular velocity signal；
Main control module, is arranged at the inside of the microscope carrier, and is electrically connected with the poised state detecting module to receive the inclination
Angle signal and the angular velocity signal；
Wheel group drive module, is arranged in the microscope carrier and is electrically connected with the main control module；
Mobile control module, is connected to the poised state detecting module；And
Power module, among the microscope carrier, to supply required electric power；
Wherein, the main control module can control the wheel group drive module according to the inclination angle signal and the angular velocity signal, with
Drive the wheel group to operate by the wheel group drive module, maintain the balance of the microscope carrier；
Wherein, the movement control module can make the poised state detecting module export certain tilt angle signal and specific angle speed
Spend signal so that the main control module controls the wheel group to drive mould according to the certain tilt angle signal and the specific angular velocity signal
Block, to drive the wheel group to operate by the wheel group drive module, drives microscope carrier movement traveling.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Brief description of the drawings
Fig. 1 shows a kind of stereogram of two-wheeled mobile carrier of the prior art；
Fig. 2 shows the system block diagrams of display dynamical system；
Fig. 3 A and Fig. 3 B respectively illustrate the operation chart of display two-wheeled mobile carrier；
Fig. 4 shows a kind of solid of the first embodiment of homeostatic mobile carrier provided in an embodiment of the present invention
Figure；
Fig. 5 shows display poised state detecting module provided in an embodiment of the present invention, main control module, drives mould with wheel group
The electric connection block diagram of block；
Fig. 6 shows homeostatic mobile carrier provided in an embodiment of the present invention and the Organization Chart of mobile control module；
Fig. 7 A show the operation chart of homeostatic mobile carrier provided in an embodiment of the present invention；
Fig. 7 B show it is provided in an embodiment of the present invention make moving cell make cardon；
Fig. 8 A show the operation chart of homeostatic mobile carrier provided in an embodiment of the present invention；
Fig. 8 B show it is provided in an embodiment of the present invention make moving cell make cardon；
Fig. 9 A show the operation chart of homeostatic mobile carrier provided in an embodiment of the present invention；
Fig. 9 B show it is provided in an embodiment of the present invention make moving cell make cardon；
Figure 10 A show the operation chart of homeostatic mobile carrier provided in an embodiment of the present invention；
Figure 10 B show it is provided in an embodiment of the present invention make moving cell make cardon；
Figure 11 shows the Organization Chart of the second embodiment of homeostatic mobile carrier provided in an embodiment of the present invention；
Figure 12 shows the Organization Chart of the 3rd embodiment of homeostatic mobile carrier provided in an embodiment of the present invention；
Figure 13 shows the stereogram of the fourth embodiment of homeostatic mobile carrier provided in an embodiment of the present invention；
Figure 14 show poised state detecting module provided in an embodiment of the present invention, main control module, wheel group drive module, with
The electric connection block diagram of auxiliary balance module.
Symbol description：
The 1 homeostatic microscope carrier of mobile carrier 11
The poised state detecting module of 12 wheel group 13
The wheel group drive module of 14 main control module 15
The 16 movement power modules of control module 17
The accelerometer of 131 gyroscope 132
The right wheel driver element of 151 revolver driver element 152
161 manipulation units 162 make moving cell
The seat modular of 18 user's operating and controlling interface 19
160 control lever
The auxiliary balance bar of 1 ' two-wheeled mobile carrier 11 '
The wheel group of 12 ' microscope carrier 13 '
The control module of 14 ' dynamical system 141 '
The gyroscope of 142 ' user interface 143 '
144 ' the left right motor driving modules of motor driving module 145 '
The power module of 146 ' accelerometer 147 '
Embodiment
In order to more clearly describe a kind of homeostatic mobile carrier that the present invention is provided, below in conjunction with figure
Formula, elaborates presently preferred embodiments of the present invention.
First embodiment
Referring to Fig. 4, Fig. 4 shows that the first of a kind of homeostatic mobile carrier provided in an embodiment of the present invention implements
The stereogram of example.As shown in figure 4, homeostatic mobile carrier 1 provided in an embodiment of the present invention includes：Microscope carrier 11, wheel group 12,
Poised state detecting module 13, main control module 14, wheel group drive module (non-icon), mobile control module 16 and power supply mould
Block (non-icon)；Wherein, the wheel group 12 is installed and connected in the both sides of the microscope carrier 11.
Fig. 4 is unceasingly referred to, and please refer to Fig. 5, Fig. 5 shows display poised state provided in an embodiment of the present invention
Detecting module, main control module, the electric connection block diagram with wheel group drive module.It is somebody's turn to do as illustrated, the power module 17 is located at
Among microscope carrier 11, to supply required electric power.Also, the poised state detecting module 13 is arranged on the microscope carrier 11, and by
Gyroscope 131 (gyroscope) is constituted with accelerometer 132 (accelerometer).In the embodiment of the present invention, equilibrium-like
Inclination angle and angular speed of the state detecting module 13 to detect the microscope carrier 11, and then export inclination angle signal and angular velocity signal.
The main control module 14 is arranged inside the microscope carrier 11, and is electrically connected with the poised state detecting module, to receive
The inclination angle signal and the angular velocity signal.In this way, main control module 14 just can be according to received inclination angle signal and angle
Rate signal controls the wheel group drive module 15, to drive the wheel group 12 to operate by the wheel group drive module 15, to maintain to be somebody's turn to do
The balance of microscope carrier 11.As illustrated, the wheel group drive module 15 for being electrically connected with the main control module 14 is arranged in the microscope carrier 11, and
Including revolver driver element 151 and right wheel driver element 152.In the embodiment of the present invention, main control module 14 is driven by the revolver
Moving cell 151 and the right wheel driver element 152 respectively with the revolver and right wheel of the different power drives wheel group 12, by revolver with
Speed difference between right wheel forms trimming moment, reaches the effect for balancing the microscope carrier 11.
It is emphasized that the embodiment of the present invention is specifically designed the mobile control for being connected to the poised state detecting module 13
Module 16；It is so designed that, driver people just can tilt forward or backward the poised state by the movement control module 16 and detect
Survey module 13 so that the poised state detecting module 13 exports certain tilt angle signal and specific angular velocity signal；Then, master control
Module 14 will control the wheel group drive module 15 according to the certain tilt angle signal and the specific angular velocity signal, to pass through
The wheel group drive module 15 drives the wheel group 12 to operate, to drive the microscope carrier 11 to be moved forward or rearward.
Continuing with Fig. 6 is referred to simultaneously, Fig. 6 shows homeostatic mobile carrier provided in an embodiment of the present invention and the shifting
The Organization Chart of dynamic control module.The embodiment of the present invention constitutes described mobile control mould to manipulate unit 161 and make moving cell 162
Block 16.In first embodiment, the manipulation unit 161 is control lever, and user's operating and controlling interface 18 is arranged on the control lever,
The power supply of the convenient homeostatic mobile carrier 1 of driver people's on/off.In addition, driver people can also pass through the user
Operating and controlling interface 18 sets the travel speed and steer mode of homeostatic mobile carrier 1.In addition, this makees moving cell 162 most
Simple form is 4 compression springs.As shown in fig. 6, one end of 4 compression springs supports the poised state detecting module 13,
The other end is connected to the microscope carrier 11.
Please again simultaneously refering to Fig. 7 A and Fig. 7 B, wherein Fig. 7 A show homeostatic movement provided in an embodiment of the present invention
The operation chart of carrier, and Fig. 7 B show it is provided in an embodiment of the present invention make moving cell make cardon.Such as Fig. 7 A and figure
Shown in 7B, driver can control this by the manipulation unit 161 and make moving cell 162, to cause the poised state to detect mould
Block 13 turns forward, and then makes the poised state detecting module 13 export specific inclination angle signal and specific angular speed letter
Number；Now, the main control module 14 will control this according to received certain tilt angle signal and specific angular velocity signal
Wheel group drive module 15, to drive the wheel group 12 to operate by the wheel group drive module 15, and then drives the microscope carrier 11 to reach
Dynamic traveling.
Please again simultaneously refering to Fig. 8 A and Fig. 8 B, wherein Fig. 8 A show homeostatic movement provided in an embodiment of the present invention
The operation chart of carrier, and Fig. 8 B show it is provided in an embodiment of the present invention make moving cell make cardon.Such as Fig. 8 A and figure
Shown in 8B, driver person can also can control this by the manipulation unit 161 and make moving cell 162, to cause the poised state to detect
Survey module 13 to tilt backwards, and then make the poised state detecting module 13 export specific inclination angle signal and specific angular speed
Signal；Now, the main control module 14 will be controlled according to received certain tilt angle signal with specific angular velocity signal
The wheel group drive module 15, to drive the wheel group 12 to operate by the wheel group drive module 15, and then drives the microscope carrier 11 backward
Mobile traveling.
Please again simultaneously refering to Fig. 9 A and Fig. 9 B, wherein Fig. 9 A show homeostatic movement provided in an embodiment of the present invention
The operation chart of carrier, and Fig. 9 B show it is provided in an embodiment of the present invention make moving cell make cardon.Such as Fig. 9 A and figure
Shown in 9B, driver person can also can control this by the manipulation unit 161 and make moving cell 162, to cause the poised state to detect
Survey module 13 to be tilted to the right, and then make the poised state detecting module 13 export specific inclination angle signal and specific angular speed
Signal；Now, the main control module 14 will be controlled according to received certain tilt angle signal with specific angular velocity signal
The wheel group drive module 15, to drive the wheel group 12 to operate by the wheel group drive module 15, and then drives the microscope carrier 11 to the right
Mobile traveling.
Please again simultaneously refering to Figure 10 A and Figure 10 B, wherein Figure 10 A show provided in an embodiment of the present invention homeostatic
The operation chart of mobile carrier, and Figure 10 B show it is provided in an embodiment of the present invention make moving cell make cardon.As schemed
Shown in 10A and Figure 10 B, driver person can also can control this by the manipulation unit 161 and make moving cell 162, to cause this to put down
Weighing apparatus state detecting module 13 is tilted to the left, so make the poised state detecting module 13 export it is specific tilt angle signal with it is specific
Angular velocity signal；Now, the main control module 14 will be believed according to received certain tilt angle signal and specific angular speed
Number and control the wheel group drive module 15, to drive the wheel group 12 to operate by the wheel group drive module 15, and then drive the load
Platform 11 is moved to the left traveling.
Second embodiment
Although Fig. 6 shows that the movement control module 16 to angular balance state detecting module 13 (is grasped by control lever
Control unit 161) constituted with 4 compression springs (making moving cell 162), but and be not used to limit the mobile control module 16
Implement aspect.Figure 11 is referred to, the second embodiment of homeostatic mobile carrier provided in an embodiment of the present invention is shown
Organization Chart.Different from aforementioned first embodiment (Fig. 6), second embodiment is controlled with rod-type control device of playing as the movement
The manipulation unit 161 of module 16, and the shifting is used as using electronic type head (electronic cradle head device) simultaneously
That moves control module 16 makees moving cell 162.What deserves to be explained is, in second embodiment, control lever 160 is only gripped for driver
And carry the game rod-type control device (manipulation unit 161)；It must be stressed that control lever 160 is to adopt fixed, it can not use
To control the start for making moving cell 162.
In second embodiment, driver can be stirred with its finger on the game rod-type control device (manipulation unit 161)
Joystick, with control the electronic type head (making moving cell 162) carry out start, with make the poised state detecting module 13 to
Before, backward, to the right or be tilted to the left, reach and be the ability to easily control the homeostatic mobile carrier forward, backward, to the right or to the left
The effect of traveling.However, it is necessary to supplementary notes, game rod-type control device among second embodiment can also control lever,
The manipulation unit 161 of the similar functions such as button control device, roller type control device.
3rd embodiment
Although Figure 11 shows that the movement control module 16 to angular balance state detecting module 13 is by joystick
Formula control device (manipulation unit 161) is constituted with electronic type head (making moving cell 162), but and is not used to limit the mobile control
The implementation aspect of molding block 16.Figure 12 is referred to, the of homeostatic mobile carrier provided in an embodiment of the present invention is shown
The Organization Chart of three embodiments.Different from aforementioned second embodiment (Figure 11), 3rd embodiment is with mode of wireless transmission control device
As the manipulation unit 161 of the movement control module 16, wherein, mode of wireless transmission control device can be wireless joystick
(Joystick), intelligent electric sub-device or remote control.Simultaneously, it is necessary to be subject to it is emphasised that, although Figure 11 icons make moving cell
162 (electronic type head) systems are arranged on microscope carrier 11；However, being familiar with the engineer of Electromechanical Design be able to should pass through according to its practice
Test, in the other positions that electronic type head is arranged to homeostatic mobile carrier 1.
Using intelligent mobile phone as the design example of 3rd embodiment, wherein, driver can be in advance by control this
The application program (APP) that electronic type head (making moving cell 162) carries out start is attached in its intelligent mobile phone；Then, drive
Person just can carry out start by program control electronic type head (making moving cell 162) of application of intelligent mobile phone, and then put down this
Weighing apparatus state detecting module 13 forward, backward, to the right or be tilted to the left, reach be the ability to easily control the homeostatic mobile carrier to
Before, the effect of traveling backward, to the right or to the left.In addition, as shown in figure 12, among 3rd embodiment, the homeostasis
Mobile carrier 1 include seat modular 19, be to be arranged on the microscope carrier 11, taken with for driver.
Fourth embodiment
Refer to Figure 13, show homeostatic mobile carrier provided in an embodiment of the present invention fourth embodiment it is vertical
Body figure.As shown in figure 13, homeostatic mobile carrier 1 provided in an embodiment of the present invention includes：Microscope carrier 11, wheel group 12, balance
State detecting module 13, main control module 14, wheel group drive module (non-icon), mobile control module 16 and power module are (not
Icon).It is apparent that in fourth embodiment, the homeostatic mobile carrier 1 is as carrying platform, to carry article
Or device.
Figure 13 is unceasingly referred to, and please refer to Figure 14, shows poised state detecting provided in an embodiment of the present invention
Module, main control module, wheel group drive module, the electric connection block diagram with auxiliary balance module.It is same as foregoing 3rd implementation
Example (Figure 12), fourth embodiment is equally the manipulation unit 161 using mode of wireless transmission control device as the movement control module 16,
For example：Mode of wireless transmission control device can be wireless joystick (Joystick), intelligent electric sub-device or remote control.With nothing
Line joystick as design example, wherein, user can be entered the electronic type head (making moving cell 162) by the wireless joystick
Row start, and then make the poised state detecting module 13 forward, backward, to the right or be tilted to the left, reaches and is the ability to easily control this self
The effect that the mobile carrier of balance is travelled forward, backward, to the right or to the left.Simultaneously, it is necessary to be subject to it is emphasised that, although Figure 13
Icon is made moving cell 162 (electronic type head) and is arranged on microscope carrier 11；However, the engineer for being familiar with Electromechanical Design should can root
According to its practical experience, in the other positions that electronic type head is arranged to homeostatic mobile carrier 1.
In this way, above-mentioned completely and clearly demonstrated homeostatic mobile carrier 1 provided in an embodiment of the present invention, via
It is above-mentioned, it can learn that the present invention has the advantages that following：
1st, driver's body must be relied on different from two-wheeled mobile carrier 1 ' of the prior art (as shown in Fig. 3 A and Fig. 3 B)
Sense operation can move traveling, and the homeostatic mobile carrier 1 that the present invention is provided especially is carried by manipulation unit 161 with making
The mobile control module 16 that moving cell 162 is constituted；It is so designed that, driver just can be somebody's turn to do by the manipulation unit 161 control
Make moving cell 162 and carry out start, and then make it that being arranged at the gyroscope made on moving cell 162 turns forward or retreat
Tiltedly, reach and be the ability to easily control the effect that the homeostatic mobile carrier 1 is travelled forward or backward.
2 also, at least three must be carried different from two-wheeled mobile carrier 1 ' (as shown in Figures 1 and 2) of the prior art
Individual gyroscope 143 ', homeostatic mobile carrier 1 provided in an embodiment of the present invention is only carried by gyroscope 131 and accelerometer
The 132 poised state detecting modules 13 constituted just can realize the basic work(for being same as two-wheeled mobile carrier of the prior art
Energy；Obviously, compared to two-wheeled mobile carrier 1 ' of the prior art, homeostatic mobile carrier provided in an embodiment of the present invention
1 because component is with low cost and has the advantage in price.
It must be subject to, it is emphasized that above-mentioned detailed description is for the technology of the present invention thinking way and the tool of possible embodiments
Body illustrates that its purpose enables those skilled in the art to understand present disclosure and implement according to this, but the embodiment
And the scope of the claims of the limitation present invention is not used to, all equivalence enforcements or change without departing from carried out by skill spirit of the present invention all should
It is contained in the scope of the claims of this case.
Claims (9)
1. a kind of homeostatic mobile carrier, it is characterised in that including:
Microscope carrier；
Wheel group, is connected to the both sides of the microscope carrier；
Poised state detecting module, is arranged on the microscope carrier, inclination angle and angular speed to detect the microscope carrier, exports inclination angle
Signal and angular velocity signal；
Main control module, is arranged at the inside of the microscope carrier, and is electrically connected with the poised state detecting module to receive inclination angle letter
Number with the angular velocity signal；
Wheel group drive module, is arranged in the microscope carrier and is electrically connected with the main control module；
Mobile control module, is connected to the poised state detecting module；And
Power module, among the microscope carrier, to supply required electric power；
Wherein, the main control module can control the wheel group drive module according to the inclination angle signal and the angular velocity signal, to pass through
The wheel group drive module drives the wheel group to operate, and maintains the balance of the microscope carrier；
Wherein, the movement control module can make the poised state detecting module export certain tilt angle signal and believe with specific angular speed
Number so that the main control module controls the wheel group drive module according to the certain tilt angle signal and the specific angular velocity signal, with
Drive the wheel group to operate by the wheel group drive module, drive microscope carrier movement traveling.
2. homeostatic mobile carrier according to claim 1, it is characterised in that including user's operating and controlling interface, electrically
It is connected to the power module and the main control module；Wherein, the homeostatic mobile load can be started by user's operating and controlling interface
The power supply of tool, can set the underlying parameter of the homeostatic mobile carrier.
3. homeostatic mobile carrier according to claim 1, it is characterised in that including seat modular, be arranged at this
On microscope carrier.
4. homeostatic mobile carrier according to claim 1, it is characterised in that the poised state detecting module is by top
Spiral shell instrument and accelerometer.
5. homeostatic mobile carrier according to claim 2, it is characterised in that the movement control module includes：
Manipulate unit；
Make moving cell；
Wherein, this can control as moving cell by the manipulation unit and tilts the poised state detecting module so that the poised state
Detecting module exports the certain tilt angle signal and the specific angular velocity signal.
6. homeostatic mobile carrier according to claim 5, it is characterised in that the manipulation unit can be following any
Kind：Control lever, roller type control device, game rod-type control device, button control device, joystick, intelligent electric sub-device or nothing
Line conveying type control device.
7. homeostatic mobile carrier according to claim 5, it is characterised in that the manipulation unit is manipulated with the user
Interface can be formed integral with one another.
8. homeostatic mobile carrier according to claim 5, it is characterised in that this makees moving cell for head, and should
Poised state detecting module is arranged on the head.
9. homeostatic mobile carrier according to claim 5, it is characterised in that this, which makees moving cell, at least includes：It is many
Individual compression spring；Also, one end of the plurality of compression spring supports the poised state detecting module, the other end is connected to the load
Platform.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105111943 | 2016-04-15 | ||
| TW105111943A TW201736191A (en) | 2016-04-15 | 2016-04-15 | Self-balance mobile carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107298145A true CN107298145A (en) | 2017-10-27 |
Family
ID=58112672
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620483547.6U Expired - Fee Related CN205769822U (en) | 2016-04-15 | 2016-05-24 | Self-balancing mobile carrier |
| CN201610351609.2A Pending CN107298145A (en) | 2016-04-15 | 2016-05-24 | Self-balancing mobile carrier |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620483547.6U Expired - Fee Related CN205769822U (en) | 2016-04-15 | 2016-05-24 | Self-balancing mobile carrier |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN205769822U (en) |
| TW (1) | TW201736191A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100669A (en) * | 2018-02-07 | 2018-06-01 | 四川虫洞科技有限公司 | Self-correcting posture liquid specific based on gyroscopic stabilizer intelligently transmits storehouse |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201736191A (en) * | 2016-04-15 | 2017-10-16 | 陳萬添 | Self-balance mobile carrier |
| CN108885493A (en) | 2017-12-22 | 2018-11-23 | 深圳市大疆创新科技有限公司 | Method, holder, motion sensing control device and the system of motion sensing control device control holder |
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| CN204399433U (en) * | 2015-01-28 | 2015-06-17 | 滨州学院 | Self-balancing type sightseeing scooter |
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| CN105292333A (en) * | 2015-09-23 | 2016-02-03 | 深圳市优威埃科技有限公司 | Novel steering system and balancing car |
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| CN205769822U (en) * | 2016-04-15 | 2016-12-07 | 陈万添 | Self-balancing mobile carrier |
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2016
- 2016-04-15 TW TW105111943A patent/TW201736191A/en unknown
- 2016-05-24 CN CN201620483547.6U patent/CN205769822U/en not_active Expired - Fee Related
- 2016-05-24 CN CN201610351609.2A patent/CN107298145A/en active Pending
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| US20080018443A1 (en) * | 1999-06-04 | 2008-01-24 | Deka Products Limited Partnership | Control of a Personal Transporter Based on User Position |
| CN203381739U (en) * | 2013-05-28 | 2014-01-08 | 中国科学院金属研究所 | Self-balance two-wheel electric vehicle |
| CN204399433U (en) * | 2015-01-28 | 2015-06-17 | 滨州学院 | Self-balancing type sightseeing scooter |
| CN204846211U (en) * | 2015-08-06 | 2015-12-09 | 王双福 | Balanced electric motor car |
| CN105292333A (en) * | 2015-09-23 | 2016-02-03 | 深圳市优威埃科技有限公司 | Novel steering system and balancing car |
| CN205160428U (en) * | 2015-12-01 | 2016-04-13 | 杭州骑客智能科技有限公司 | Balanced scooter control system of two -wheeled |
| CN205769822U (en) * | 2016-04-15 | 2016-12-07 | 陈万添 | Self-balancing mobile carrier |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108100669A (en) * | 2018-02-07 | 2018-06-01 | 四川虫洞科技有限公司 | Self-correcting posture liquid specific based on gyroscopic stabilizer intelligently transmits storehouse |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201736191A (en) | 2017-10-16 |
| CN205769822U (en) | 2016-12-07 |
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