CN108838988A - A kind of robot of anti-rollover - Google Patents
A kind of robot of anti-rollover Download PDFInfo
- Publication number
- CN108838988A CN108838988A CN201810840496.1A CN201810840496A CN108838988A CN 108838988 A CN108838988 A CN 108838988A CN 201810840496 A CN201810840496 A CN 201810840496A CN 108838988 A CN108838988 A CN 108838988A
- Authority
- CN
- China
- Prior art keywords
- robot
- main control
- control module
- automatically controlled
- rollover
- 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.)
- Pending
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 19
- 230000005484 gravity Effects 0.000 claims abstract description 18
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 5
- 230000008602 contraction Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 6
- 238000005259 measurement Methods 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
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
-
- 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
- B25J19/0008—Balancing devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Be equipped with the invention discloses a kind of robot of anti-rollover, including robot body, in robot body pedestal, the gravity accelerometer of tilt angle for detecting pedestal, main control module, preset quantity automatically controlled telescopic outrigger and driving wheel.Main control module is connect with gravity accelerometer, automatically controlled telescopic outrigger and driving wheel respectively, the automatically controlled telescopic outrigger of preset quantity is uniformly distributed along the side of pedestal, the top of each automatically controlled telescopic outrigger is fixedly connected with the bottom surface of pedestal, and the bottom end of each automatically controlled telescopic outrigger is connected with corresponding driving wheel.The present invention measures the tilt angle of pedestal with respect to the horizontal plane by gravity accelerometer, and tilt angle is sent to main control module, and main control module controls the motion state of robot according to tilt angle.To tumble caused by preventing robot from advancing on the slope, the safety of robot body is protected.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of robots of anti-rollover.
Background technique
Currently, robot is in the occasion (such as bank, airport, railway station, market etc.) serviced, it is general have lead the way,
It navigation feature and recharges automatically function (robot autonomous to charge automatically to designated place).This two functions all rely on
Robot can obtain location information, and generally by laser radar or UWB, (Ultra Wideband, carrierfree are logical for location information
Letter) system offer, by location information, robot can know the specific location where ontology in real time, calculate so as to pass through
Method cooks up the path arrived at the destination.But in some cases, positioning system can fail, and do not provide or provide
The location information of mistake, the region for causing to possible randomness robot that can not allow access into close to some (such as Escalator, platform
Rank, upward slope or descending), these regions are that robot is easy to cause to turn on one's side to the harm of robot.Because robot belongs to high-precision
Close equipment, it is impaired that rollover will lead to robot.So protect it is necessary to provide a kind of mechanism to robot, machine is allowed
People takes measures perceiving the initial stage for entering danger zone, prevents the rollover of robot.
Summary of the invention
The embodiment of the invention provides a kind of robots of anti-rollover, to solve in the prior art since positioning mistake causes
Robot rollover is to impaired problem.
The embodiment provides a kind of robot of anti-rollover, including robot body, set in robot body
Have pedestal, the gravity accelerometer of tilt angle for detecting pedestal, main control module, preset quantity automatically controlled flexible branch
Leg and driving wheel.
Main control module is connect with gravity accelerometer, automatically controlled telescopic outrigger and driving wheel respectively, the electricity of preset quantity
Control telescopic outrigger is uniformly distributed along the side of pedestal, and the top of each automatically controlled telescopic outrigger is fixedly connected with the bottom surface of pedestal, often
The bottom end of a automatically controlled telescopic outrigger is connected with corresponding driving wheel.
In one embodiment, main control module includes inclination angle monitoring unit and posture control unit, and inclination angle monitoring is single
Member connect respectively with posture control unit and gravity accelerometer, posture control unit respectively with automatically controlled telescopic outrigger and drive
Driving wheel connection.
In one embodiment, drive control unit, hub motor, steering motor and for making are provided in driving wheel
The brake of dynamic driving wheel, drive control unit are connect with hub motor, steering motor and brake respectively, drive control unit
It is connect with main control module.
In one embodiment, signal feedback unit is additionally provided in driving wheel, signal feedback unit is electric with wheel hub respectively
Machine, steering motor, brake are connected with main control module.
In one embodiment, automatically controlled telescopic outrigger is the electric pushrod that can be stretched up and down.
In one embodiment, automatically controlled telescopic outrigger is that head and the tail mutually relatively connect the foldable structure to be formed to multiple struts two-by-two,
The supporting leg driving device that multiple struts can be made to shrink or stretch, supporting leg driving device and main control module are provided on foldable structure
Connection.
In one embodiment, the steering angle and steering angular velocity for robot measurement are additionally provided on robot body
Steering angle detection sensor, steering angle detection sensor connect with main control module.
In one embodiment, the obstacle avoidance sensor for measuring front obstacle distance is additionally provided on robot body,
Obstacle avoidance sensor is connect with main control module.
In one embodiment, the voice module connecting with main control module is additionally provided on robot body.
In one embodiment, the wireless communication module connecting with main control module is additionally provided on robot body.
Existing beneficial effect is the embodiment of the present invention compared with prior art：It is measured by gravity accelerometer
The tilt angle of pedestal with respect to the horizontal plane, and tilt angle is sent to main control module, main control module is according to tilt angle control
The motion state of robot processed.To tumble caused by preventing robot from advancing on the slope, the safety of robot body is protected.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the structural schematic diagram of the robot of anti-rollover provided by one embodiment of the present of invention；
Fig. 2 is the modular structure schematic diagram of the robot of anti-rollover provided by one embodiment of the present of invention.
Specific embodiment
In order to make those skilled in the art more fully understand this programme, below in conjunction with attached in this programme embodiment
Figure, is explicitly described the technical solution in this programme embodiment, it is clear that described embodiment is this programme a part
Embodiment, instead of all the embodiments.Based on the embodiment in this programme, those of ordinary skill in the art are not being made
The range of this programme protection all should belong in every other embodiment obtained under the premise of creative work.
The specification and claims of this programme and term " includes " and other any deformations in above-mentioned attached drawing are
Refer to " including but not limited to ", it is intended that covering non-exclusive includes the example for being not limited in enumerating in text.In addition, term
" first " and " second " etc. are for distinguishing different objects, not for description particular order.In the description of the present invention, " more
It is a " it is meant that two or more, unless otherwise specifically defined.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
Realization of the invention is described in detail below in conjunction with specific attached drawing.
Fig. 1 shows a kind of structure of the robot of anti-rollover provided by one embodiment of the present of invention, for the ease of
Illustrate, only parts related to embodiments of the present invention are shown, and details are as follows：
As shown in Figure 1, a kind of robot of anti-rollover provided by one embodiment of the invention, including robot body 100,
The gravity accelerometer 120 of tilt angle in robot body 100 equipped with pedestal 110, for detecting pedestal 110, master
Control the automatically controlled telescopic outrigger 140 and driving wheel 150 of module 130, preset quantity.
Main control module 130 is connect with gravity accelerometer 120, automatically controlled telescopic outrigger 140 and driving wheel 150 respectively,
The automatically controlled telescopic outrigger 140 of preset quantity is uniformly distributed along the side of pedestal 110, the top of each automatically controlled telescopic outrigger 140 with
The bottom surface of pedestal 110 is fixedly connected, and the bottom end of each automatically controlled telescopic outrigger 140 is connected with corresponding driving wheel 150.
In the present embodiment, gravity accelerometer 120, can be with by measurement acceleration of gravity due to caused by gravity
It obtains the tilt angle of pedestal 110 with respect to the horizontal plane, and tilt angle is sent to main control module 130, main control module 130
According to the motion state of tilt angle control robot.To tumble caused by preventing robot from advancing on the slope, machine is protected
The safety of human body 100.
In one embodiment, when main control module 130 detects that tilt angle is higher than preset threshold, control robot subtracts
Speed is drawn back or divertical motion, and specifically, main control module 130 can control driving wheel 150 and reduce revolving speed or reversed turn
Dynamic or main control module 130 controls driving wheel 150 and rotates predetermined angle so that robot is moved towards other direction.
In one embodiment, when main control module 130 detects that tilt angle is higher than preset threshold, control is in a high position
Automatically controlled telescopic outrigger 140 shorten or automatically controlled telescopic outrigger 140 in low level extends.Wherein, it is stretched in the automatically controlled of a high position
Contracting supporting leg 140 can be on chassis away from the automatically controlled telescopic outrigger 140 in its highest point pre-determined distance or default angular range, contracting
Short length can be chassis diameter * sin (tilt angle) ± default undulating value.Automatically controlled telescopic outrigger 140 in low level can be with
For, away from the automatically controlled telescopic outrigger 140 in its minimum point pre-determined distance or default angular range, extended length can be on chassis
Chassis diameter * sin (tilt angle) ± default undulating value.
By taking a concrete application scene as an example, when robot front is a slope (upslope or downslope), machine
Device people, can be because slope reason gradually starts to tilt during moving on slope from horizontal plane, and main control module 130 is real
When monitoring gravity accelerometer 120 measure tilt angle, it can be determined that robot whether run-off the straight.Work as main control module
130 detect tilt angle be higher than preset threshold when, start trigger robot slow down or draw back, thus prevent robot after
Continuous caused tumble that move forward on the slope.
As shown in Fig. 2, in one embodiment of the invention, main control module 130 includes inclination angle monitoring unit 131 and appearance
State control unit 132, inclination angle monitoring unit are connect with posture control unit and gravity accelerometer 120 respectively, posture
Control unit is connect with automatically controlled telescopic outrigger 140 and driving wheel 150 respectively.
In the present embodiment, inclination angle monitoring unit obtains gravity accelerometer 120 and measures obtained tilt angle, and
Tilt angle is sent to posture control unit.Posture control unit according to tilt angle computing machine human body posture, and
Posture is adjusted by the length of the automatically controlled telescopic outrigger 140 of control and the revolving speed of driving wheel 150 and rotation direction.Wherein, appearance
State control unit computing machine human body posture includes the highs and lows etc. for obtaining chassis.
As shown in Fig. 2, in one embodiment of the invention, drive control unit 151, wheel are provided in driving wheel 150
Hub motor 152, steering motor 153 and the brake 154 for braked drive wheels 150, drive control unit 151 respectively with wheel
Hub motor 152, steering motor 153 and brake 154 connect, and drive control unit 151 is connect with main control module 130.
In the present embodiment, main control module 130 sends driving signal to hub motor 152, master by drive control unit 151
It controls module 130 and turn signal is sent to steering motor 153 by drive control unit 151, main control module 130 passes through drive control
Unit 151 sends brake signal to brake 154.
As shown in Fig. 2, in one embodiment of the invention, signal feedback unit 155 is additionally provided in driving wheel 150,
Signal feedback unit 155 is connect with hub motor 152, steering motor 153, brake 154 and main control module 130 respectively.
In the present embodiment, signal feedback unit 155 obtains hub motor 152, the fortune of steering motor 153 and brake 154
Dynamic data are sent to main control module 130, so that the motion state of 130 monitoring driving wheel 150 of main control module.
Optionally, signal feedback unit 155 includes：For obtaining the revolving speed of hub motor 152 and connecting with hub motor 152
The first encoder connect, the revolving speed for obtaining steering motor 153 and the second encoder being connect with steering motor 153, and
Pressure detector for obtaining the application position of brake 154 and being connect with brake 154.
In one embodiment of the invention, automatically controlled telescopic outrigger 140 is the electric pushrod that can be stretched up and down.
In one embodiment of the invention, automatically controlled telescopic outrigger 140 is that head and the tail mutually relatively connect to be formed multiple struts two-by-two
Foldable structure, being provided on foldable structure can be such that multiple struts shrink or the supporting leg driving devices of stretching, extension, supporting leg driving dress
It sets and is connect with main control module 130.
In one embodiment, supporting leg be multiple struts two-by-two head and the tail mutually compared with connecing the wavy foldable structure of W formula to be formed,
Setting can make multiple struts be shrunk to the wavy foldable structure of W formula or be launched into a supporting leg close to long straight-bar structure on supporting leg
Driving device.
In one embodiment, supporting leg driving device can be a hydraulic pump, strut as a liquid presses piston pole,
Hydraulic pipeline is set in strut, and strut mutually one hydraulic rotating valve member of the relatively place of connecing setting, when hydraulic pump works can be realized more
The contraction or stretching, extension of a supporting leg.
In one embodiment, supporting leg driving device is also possible to the drive for the relatively junction setting that multiple struts mutually relatively connect
Dynamic motor, compared with the contraction or stretching, extension that multiple supporting legs are realized in the driving motor movement of junction setting.
In one embodiment, strut is electrodynamic type or electric hydraulic telescopic rod, when supporting leg is folded by the wave of W formula
After shape expansion growth straight-bar shape, the length of strut itself changes, the length after can further extending multiple supporting leg expansion.
In one embodiment, robot includes three or three or more automatically controlled telescopic outriggers 140, automatically controlled flexible branch
Leg 140 is uniformly distributed along the periphery of bottom surface.
As shown in Fig. 2, in one embodiment of the invention, being additionally provided on robot body 100 for robot measurement
Steering angle and steering angular velocity steering angle detection sensor 160, steering angle detection sensor 160 and main control module
130 connections.
In the present embodiment, steering angle detection sensor 160 is arranged on the side wall of robot, the steering of robot measurement
Angle and steering angular velocity simultaneously feed back measurement data to main control module 130.
As shown in Fig. 2, in one embodiment of the invention, being additionally provided on robot body 100 for measuring front barrier
Hinder the obstacle avoidance sensor 170 of object distance, obstacle avoidance sensor 170 is connect with main control module 130.
In the present embodiment, obstacle avoidance sensor 170 be equipped with it is multiple, be evenly distributed on the side wall of robot, measurement front barrier
Hinder the distance of object and feeds back measurement data to main control module 130.
As shown in Fig. 2, in one embodiment of the invention, being additionally provided on robot body 100 and connecting with main control module 130
The voice module 180 connect.
Voice module 180 plays for realizing the voice of robot and voice control.
As shown in Fig. 2, in one embodiment of the invention, being additionally provided on robot body 100 and connecting with main control module 130
The wireless communication module 190 connect.
Wireless communication module 190 for realizing robot and terminal device wireless communication.
In one embodiment, touch display screen, camera and battery are additionally provided on robot body 100.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that：It still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of robot of anti-rollover, which is characterized in that including robot body, in the robot body be equipped with pedestal,
For detect the gravity accelerometer of the tilt angle of the pedestal, main control module, preset quantity automatically controlled telescopic outrigger
And driving wheel；
The main control module is connect with the gravity accelerometer, the automatically controlled telescopic outrigger and the driving wheel respectively,
The automatically controlled telescopic outrigger of the preset quantity is uniformly distributed along the side of the pedestal, the top of each automatically controlled telescopic outrigger
It is fixedly connected with the bottom surface of the pedestal, the bottom end of each automatically controlled telescopic outrigger is connected with the corresponding driving wheel.
2. the robot of anti-rollover as described in claim 1, which is characterized in that the main control module includes that inclination angle monitoring is single
Member and posture control unit, the inclination angle monitoring unit are sensed with the posture control unit and the acceleration of gravity respectively
Device connection, the posture control unit are connect with the automatically controlled telescopic outrigger and the driving wheel respectively.
3. the robot of anti-rollover as claimed in claim 1 or 2, which is characterized in that be provided with driving control in the driving wheel
Unit, hub motor, steering motor and the brake for braking the driving wheel processed, the drive control unit respectively with
The hub motor, the steering motor are connected with the brake, and the drive control unit is connected to the main control module.
4. the robot of anti-rollover as claimed in claim 3, which is characterized in that be additionally provided with signal feedback in the driving wheel
Unit, the signal feedback unit respectively with the hub motor, the steering motor, the brake and the main control module
Connection.
5. the robot of anti-rollover as claimed in claim 1 or 2, which is characterized in that the automatically controlled telescopic outrigger is can be upper and lower
Flexible electric pushrod.
6. the robot of anti-rollover as claimed in claim 1 or 2, which is characterized in that the automatically controlled telescopic outrigger is multiple
Head and the tail mutually relatively connect the foldable structure to be formed to bar two-by-two, be provided on the foldable structure can make multiple struts contractions or
The supporting leg driving device of stretching, extension, the supporting leg driving device are connected to the main control module.
7. the robot of anti-rollover as described in claim 1, which is characterized in that be additionally provided on the robot body for surveying
Measure the steering angle of the robot and the steering angle detection sensor of steering angular velocity, the steering angle detection sensor
It is connected to the main control module.
8. the robot of anti-rollover as described in claim 1, which is characterized in that be additionally provided on the robot body for surveying
The obstacle avoidance sensor of front obstacle distance is measured, the obstacle avoidance sensor is connected to the main control module.
9. the robot of anti-rollover as described in claim 1, which is characterized in that be additionally provided on the robot body with it is described
The voice module of main control module connection.
10. the robot of anti-rollover as described in claim 1, which is characterized in that be additionally provided on the robot body and institute
State the wireless communication module of main control module connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810840496.1A CN108838988A (en) | 2018-07-27 | 2018-07-27 | A kind of robot of anti-rollover |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810840496.1A CN108838988A (en) | 2018-07-27 | 2018-07-27 | A kind of robot of anti-rollover |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108838988A true CN108838988A (en) | 2018-11-20 |
Family
ID=64195126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810840496.1A Pending CN108838988A (en) | 2018-07-27 | 2018-07-27 | A kind of robot of anti-rollover |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108838988A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849805A (en) * | 2019-02-27 | 2019-06-07 | 中国矿业大学 | A kind of mining crusing robot camera balancing device |
| CN112486167A (en) * | 2020-11-09 | 2021-03-12 | 北京爱笔科技有限公司 | Autonomous obstacle avoidance robot, anti-toppling mobile platform and anti-toppling control method |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006190105A (en) * | 2005-01-06 | 2006-07-20 | Toshiba Corp | Mobile robot |
| CN102267508A (en) * | 2010-06-04 | 2011-12-07 | 深圳市先进智能技术研究所 | Double-wheeled rolling and crawling hybrid moving device |
| CN104057458A (en) * | 2014-06-16 | 2014-09-24 | 浙江大学 | Multi-shaft mechanical arm visual control system and method based on somatosensation and touch |
| CN105539704A (en) * | 2016-02-17 | 2016-05-04 | 陈云飞 | Operating lever internally provided with attitude indicator and electric vehicle provided with operating lever |
| CN106176081A (en) * | 2016-07-05 | 2016-12-07 | 国家康复辅具研究中心 | A kind of electric wheel-chair vehicle anti-tilting apparatus comprising acceleration transducer and method |
| CN106313080A (en) * | 2016-11-16 | 2017-01-11 | 褚端峰 | 3d (three-dimensional) visual movable composite robot |
| CN205905961U (en) * | 2016-07-13 | 2017-01-25 | 南京航空航天大学 | Control system that turns on one's side is prevented to four wheel steering car that fuses speed of a motor vehicle change |
| CN106444754A (en) * | 2016-09-21 | 2017-02-22 | 哈尔滨理工大学 | Wheel-type detection mobile robot control system and method |
| CN206021083U (en) * | 2016-08-29 | 2017-03-15 | 广州衡创测试技术服务有限公司 | A kind of electrodynamic balance car vehicle body attitude detector |
| CN106585625A (en) * | 2016-12-30 | 2017-04-26 | 南京航空航天大学 | Four-wheel steering vehicle rollover prevention system and control method thereof |
| CN107838902A (en) * | 2012-07-27 | 2018-03-27 | 工程服务公司 | Arm tool |
| CN108303922A (en) * | 2018-02-07 | 2018-07-20 | 无锡康泰电子有限公司 | Protect Vehicle balancer |
| CN208788567U (en) * | 2018-07-27 | 2019-04-26 | 深圳市优必选科技有限公司 | A kind of robot of anti-rollover |
-
2018
- 2018-07-27 CN CN201810840496.1A patent/CN108838988A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006190105A (en) * | 2005-01-06 | 2006-07-20 | Toshiba Corp | Mobile robot |
| CN102267508A (en) * | 2010-06-04 | 2011-12-07 | 深圳市先进智能技术研究所 | Double-wheeled rolling and crawling hybrid moving device |
| CN107838902A (en) * | 2012-07-27 | 2018-03-27 | 工程服务公司 | Arm tool |
| CN104057458A (en) * | 2014-06-16 | 2014-09-24 | 浙江大学 | Multi-shaft mechanical arm visual control system and method based on somatosensation and touch |
| CN105539704A (en) * | 2016-02-17 | 2016-05-04 | 陈云飞 | Operating lever internally provided with attitude indicator and electric vehicle provided with operating lever |
| CN106176081A (en) * | 2016-07-05 | 2016-12-07 | 国家康复辅具研究中心 | A kind of electric wheel-chair vehicle anti-tilting apparatus comprising acceleration transducer and method |
| CN205905961U (en) * | 2016-07-13 | 2017-01-25 | 南京航空航天大学 | Control system that turns on one's side is prevented to four wheel steering car that fuses speed of a motor vehicle change |
| CN206021083U (en) * | 2016-08-29 | 2017-03-15 | 广州衡创测试技术服务有限公司 | A kind of electrodynamic balance car vehicle body attitude detector |
| CN106444754A (en) * | 2016-09-21 | 2017-02-22 | 哈尔滨理工大学 | Wheel-type detection mobile robot control system and method |
| CN106313080A (en) * | 2016-11-16 | 2017-01-11 | 褚端峰 | 3d (three-dimensional) visual movable composite robot |
| CN106585625A (en) * | 2016-12-30 | 2017-04-26 | 南京航空航天大学 | Four-wheel steering vehicle rollover prevention system and control method thereof |
| CN108303922A (en) * | 2018-02-07 | 2018-07-20 | 无锡康泰电子有限公司 | Protect Vehicle balancer |
| CN208788567U (en) * | 2018-07-27 | 2019-04-26 | 深圳市优必选科技有限公司 | A kind of robot of anti-rollover |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849805A (en) * | 2019-02-27 | 2019-06-07 | 中国矿业大学 | A kind of mining crusing robot camera balancing device |
| CN112486167A (en) * | 2020-11-09 | 2021-03-12 | 北京爱笔科技有限公司 | Autonomous obstacle avoidance robot, anti-toppling mobile platform and anti-toppling control method |
| CN112486167B (en) * | 2020-11-09 | 2024-05-31 | 北京爱笔科技有限公司 | Autonomous obstacle avoidance robot, anti-toppling mobile platform and anti-toppling control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9969087B1 (en) | Leg collision avoidance in a robotic device | |
| US10081098B1 (en) | Generalized coordinate surrogates for integrated estimation and control | |
| CN208788567U (en) | A kind of robot of anti-rollover | |
| US10099660B2 (en) | Truck-mounted concrete pump and method for operating same | |
| CN104881027B (en) | Wheel-track combined Intelligent Mobile Robot active obstacle system and control method | |
| US20180126198A1 (en) | Automated human personnel fall arresting system and method | |
| CN108838988A (en) | A kind of robot of anti-rollover | |
| CN105271004A (en) | Lifting device space positioning device adopting monocular vision and method | |
| US20220018095A1 (en) | Safety device and construction machine | |
| CN106904225B (en) | A kind of complicated ground mobile robot of novel wheel leg type | |
| CN112512752A (en) | Obstacle avoidance method and device of device and controller | |
| JP2003330539A (en) | Autonomous moving robot and autonomous moving method thereof | |
| CN210634664U (en) | Obstacle-avoidable spider hexapod robot | |
| CN113439144A (en) | Monitoring device and engineering machinery | |
| JP6744789B2 (en) | Passenger boarding bridge | |
| US10556785B2 (en) | Industrial truck and method for controlling an industrial truck | |
| CN110885042B (en) | Arm support equipment, control method and control device thereof, and computer-readable storage medium | |
| CN113608464B (en) | Overturn-preventing safety control method, device and system for pump truck | |
| JP7020290B2 (en) | Autonomous mobile | |
| CN111498698A (en) | Method and device for judging safety of boom rotation direction and engineering machinery | |
| JP7324800B2 (en) | Travel control method for passenger boarding bridge | |
| CN206171424U (en) | But leap -type inspection robot and controlling means | |
| JP4275199B2 (en) | Boom control device for work equipment | |
| IT201800004677A1 (en) | System for the automatic movement of an articulated arm, in particular of an articulated crane, towards a target position | |
| JP2023511809A (en) | Concrete pump with hazard detection means |
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 |