CN109414814A - 两轮平衡车 - Google Patents

两轮平衡车 Download PDF

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Publication number
CN109414814A
CN109414814A CN201780018859.7A CN201780018859A CN109414814A CN 109414814 A CN109414814 A CN 109414814A CN 201780018859 A CN201780018859 A CN 201780018859A CN 109414814 A CN109414814 A CN 109414814A
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CN
China
Prior art keywords
balance car
wheeled balance
chassis
wheeled
measurement unit
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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
Application number
CN201780018859.7A
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English (en)
Other versions
CN109414814B (zh
Inventor
陈逸奇
刘芳
魏子涵
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date 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 date listed.)
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Publication of CN109414814A publication Critical patent/CN109414814A/zh
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Publication of CN109414814B publication Critical patent/CN109414814B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
    • F41A23/28—Wheeled-gun mountings; Endless-track gun mountings
    • F41A23/30—Wheeled-gun mountings; Endless-track gun mountings the wheels being liftable from the ground for firing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H7/00—Armoured or armed vehicles
    • F41H7/005—Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors
    • 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
    • B25J11/002—Manipulators for defensive or military tasks
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
    • F41A23/28—Wheeled-gun mountings; Endless-track gun mountings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
    • F41A23/34—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles on wheeled or endless-track vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Health & Medical Sciences (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Toys (AREA)

Abstract

一种两轮平衡车(100)，包括：底盘(110)、两个车轮组件、惯性测量单元以及控制系统；所述底盘(110)的顶面设置有安装接口(113)，用于可拆卸地安装机器人竞技用对战模块；两个车轮组件分别安装在所述底盘(110)的左端和右端，所述车轮组件包括：车轮、与车轮传动连接且固定在底盘(110)上的驱动电机(150)；所述惯性测量单元和控制系统安装在所述底盘(110)上；所述控制系统与所述惯性测量单元以及驱动电机(150)通信连接，用于根据接收到的所述惯性测量单元的感测信号控制所述两轮平衡车(100)的平衡状态。上述两轮平衡车的体积小，运动灵活，适宜应用在机器人的竞技或者教学中。

Description

PCT国内申请，说明书已公开。

Claims (19)

  1. PCT国内申请，权利要求书已公开。
CN201780018859.7A 2017-06-30 2017-06-30 两轮平衡车 Expired - Fee Related CN109414814B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/091272 WO2019000433A1 (zh) 2017-06-30 2017-06-30 两轮平衡车

Publications (2)

Publication Number Publication Date
CN109414814A true CN109414814A (zh) 2019-03-01
CN109414814B CN109414814B (zh) 2021-09-07

Family

ID=64740883

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780018859.7A Expired - Fee Related CN109414814B (zh) 2017-06-30 2017-06-30 两轮平衡车

Country Status (3)

Country Link
US (1) US11054209B2 (zh)
CN (1) CN109414814B (zh)
WO (1) WO2019000433A1 (zh)

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US11143479B2 (en) * 2018-06-12 2021-10-12 Lei He Artificial and intelligent anti-terrorism device for stopping ongoing crime
CN113146601B (zh) * 2021-03-05 2023-05-12 南京信息工程大学 一种可爬杆的模块化机器人
CN113031612B (zh) * 2021-03-10 2024-04-12 深圳市科服信息技术有限公司 一种基于智能控制的平衡车系统、控制方法及计算机可读存储介质
CN113218249B (zh) * 2021-05-30 2023-09-26 中国人民解放军火箭军工程大学 跟随式遥操作战车及控制方法
WO2023141259A1 (en) * 2022-01-20 2023-07-27 CO6, Inc. A wheeled robot and related methods

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Publication number Publication date
WO2019000433A1 (zh) 2019-01-03
CN109414814B (zh) 2021-09-07
US20200096281A1 (en) 2020-03-26
US11054209B2 (en) 2021-07-06

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