CN202879697U - Intelligent self-balancing traffic robot - Google Patents
Intelligent self-balancing traffic robot Download PDFInfo
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- CN202879697U CN202879697U CN 201220501484 CN201220501484U CN202879697U CN 202879697 U CN202879697 U CN 202879697U CN 201220501484 CN201220501484 CN 201220501484 CN 201220501484 U CN201220501484 U CN 201220501484U CN 202879697 U CN202879697 U CN 202879697U
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Abstract
The utility model discloses an intelligent self-balancing traffic robot which comprises a base frame body, a movement actuating mechanism, a driving system, a control system, a signal sensing system and a power source system which supplies power to every mechanism and system. The base frame body comprises a chassis frame and pedals fixedly connected with the chassis frame. The movement actuating mechanism comprises a grounding device which is rotatably connected with the chassis frame through a rotating main shaft. The driving system comprises at least one motor which can drive the grounding device to move on the ground. The signal sensing system comprises a robot gesture sensor which can feed back angle signals of front and back inclination of the base frame body in real time. The movement actuating mechanism further comprises an inertial element which maintains the left and right balance of the grounding device. The inertial element is also rotatably connected with the chassis frame through a mandrel. The mandrel is parallel to an axis of the rotating main shaft. The mandrel is also driven by one motor to further drive the inertial element to revolve at a high speed. The intelligent self-balancing traffic robot is simple in structure, strong in flexibility, fast in response, easy to operate, safe and stable.
Description
Technical field
Relate to a kind of robot at the utility model, particularly a kind of can automatically realize before and after and left right balanced traffic robot, belonging to can be owing to the vehicle of riding instead of walk.
Background technology
The development of the land crafts such as bicycle, motor bike, automobile except the application of power resources and material, does not have larger breakthrough in principle so far.Self-Balancing vehicle has been broken traditional Thought, for new road has been opened up in birth, development and the application of the new vehicle.Utilize gravity force energy, can provide more actv. technical solution for people carry out safe, steady, green transportation on land.
At the end of last century, American inventor Di grace. toll bar (Dean Kamen) is invented the personal transport carrier that has designed a kind of driven by power, had the homeostasis ability with his team of DEKA research and development company (DEKA Research and Development Corp.), can allow people ride that its is mobile without barrier at city the inside milli, and be referred to as " thinking car ".The inventive concept of thinking car is to be based upon on " dynamic stability " groundwork (DynamicStabilization), namely based on the self-equalizing ability of vehicle itself.Judge the residing posture state of vehicle body with built-in accurate solid-state gyroscope (Solid-StateGyroscopes), see through accurate and after central microprocessor at a high speed calculated suitable instruction, CD-ROM drive motor was accomplished the effect of balance.
Structure on the thinking car comprises four large major parts: wheel and powerplant module, sensing system, computerized control system and operator control system.Main sensing system is one group of gyroscope, by the constant characteristic of the direction of utilizing gyroscope to have to keep its S. A. indication the attitude data of thinking car is carried out accurately data acquisition.The thinking car is equipped with 3～5 gyro sensors, in order to finish degree of dip and the inclination degree of surveying front and rear direction.Because the system of thinking car is complicated, and need to adopt a plurality of gyroscopes, manufacturing cost is high, has also significantly increased the cost of the maintenance of its software and hardware simultaneously.
The patent No. of Beijing University of Technology is that the utility model patent of ZL201020650188.1 discloses a kind of Self-balance manned monocycle system, comprises walking unit and control unit; The road wheel of walking unit is arranged on the below of system, and the top of road wheel is provided with frame, and the top of frame is provided with balance wheel, and the top of balance wheel is provided with the seesaw control handle of speed of control wheelbarrow; Be provided with power supply and motion control unit in the frame, control handle is connected on the sensor module; Control unit comprises: motion control unit, and the control handle that is connected with motion control unit, the sensor module that is formed by obliquity sensor, inertial sensor, and balance wheel is taken turns firm electric-motor drive unit and road wheel is taken turns firm electric-motor drive unit; The axis of balance wheel is vertical and non-intersect with the axis of road wheel.Although these innovation and creation have realized controlling in the balance of fore-and-aft direction and left and right directions under the different gait of march of wheelbarrow, complex structure, manufacturing cost is high.
In a word, and for some short range and need not to bear the situation of overweight transportation burden, conventional traffic robot is because volume is large, and is all larger for the consumption of the energy and the area that takes up room, very not environmental protection.Traditional traffic robot also exists following shortcoming: manpower traffic robot effort and efficient are low; And the traffic robot of traditional electric power or other power is therefore larger for energy demand because volume is large, quality is large, for some short range and the situation that need not to bear overweight transportation burden seem very uneconomical.
Summary of the invention
The purpose of this utility model is to provide a kind of Intelligent self-balancing traffic robot, anterior-posterior balance for robot has adopted respectively different intelligent balance technical schemes with left and right sides balance, adopt the inventive concept of lower cost, the equilibrium problem of transport solution robot, and provide a kind of and have that simple in structure, alerting ability is strong, response rapidly, the Practical Intelligent traffic robot of processing ease and safety and stability.
For achieving the above object, the utility model provides following technical scheme: a kind of Intelligent self-balancing traffic robot, comprise pedestal body, movement executing mechanism, drive system, control system, signal sensing system and be the power-supply system of described each train of mechanism power supply, described power-supply system also is equipped with battery isolator control, described pedestal body comprises sole and the pedal of captiveing joint with it, described control system is installed on the described sole, described movement executing mechanism comprises the earth system that is subjected to displacement with ground, described earth system is at least one, described earth system is rotationally connected by live spindle and described sole, described earth system is captiveed joint with live spindle, described sole and live spindle consist of the one-level inverted pendulum of balance, described drive systems comprises at least one motor, described motor is carried out the rotating instruction of described control system output, described live spindle is driven by described motor, and then drive described earth system and ground is subjected to displacement, described signal sensing system comprises at least one robot pose sensor, described attitude sensor transmits the angle signal that described pedestal body tilts forward and back to described control system Real-time Feedback, described movement executing mechanism also comprises keeps the left right balanced inertance element of described earth system, described inertance element also is rotationally connected by mandrel and described sole, described inertance element is also captiveed joint with described mandrel, and described mandrel is parallel with the axis of described live spindle, described mandrel is also driven by a described motor, and then drives described inertance element High Rotation Speed.
Further, described inertance element is circular quality dish, and described quality dish carries out the inertia High Rotation Speed take its mandrel as axle; Described pedal is provided with cushion software thin-film switch, and the signal pig-tail wire of described thin-film switch is connected with the initializing signal receiving end of described control system.
The scheme one of earth system of the present utility model is: described earth system is two coaxial main drive wheel, two coaxial main drive wheel respectively side by side the interval be installed on the left and right sides of sole, form the movement executing mechanism of long wheelbase, described pedal is on the upper surface of the described sole between two described main drive wheel.
The scheme two of earth system of the present utility model is: described earth system is pedrail mechanism, and the driving wheel of described pedrail mechanism and live spindle consist of the rotation pendulum.
The scheme three of earth system of the present utility model is: described earth system is pedipulator, and described pedipulator and live spindle consist of to support to be put.
Further, described attitude sensor is angular transducer.
Further, described main drive wheel combines with described quality dish, be contained in the described quality dish in the wheel hub outer ring of described main drive wheel, and around identical pivot axis, described main drive wheel shares a motor with described quality dish, between the wheel hub transmission main shaft of the turning cylinder of described quality dish and described main drive wheel, install big speed ratio mechanism additional, the sub-phase specific mass of described main drive wheel dish is low-speed motion spare, described big speed ratio mechanism has one degree of freedom, the transmission shaft of described motor directly drives the driving link of described big speed ratio mechanism, the described quality dish of driven executive item indirect drive and described main drive wheel of described big speed ratio mechanism; Described big speed ratio mechanism is train, and the driving link of described train and driven executive item are gear, friction wheel or sprocket wheel; The described wheel is planet circular system, and the transmission shaft of the sun wheel of described planet circular system is directly captiveed joint with the live spindle of described main drive wheel, and the driven executive item of described planet circular system is captiveed joint with described inertance element.
Further, be fixedly connected with direction joystick on the described pedestal body, the top fixed installation handle of described direction joystick, the bottom of described direction joystick is hinged with the end of the center shaft that turns to wheel, and to described center shaft transfer of torque, turn to wheel to swing thereby drive.
Further, the middle part of described handle is flexibly connected by coaxial cylindricality short sleeve and direction joystick, described cylindricality short sleeve is captiveed joint with the top of described direction joystick, described handle and described cylindricality short sleeve free-running fit, described handle carries out the slippage of fine motion straight line along the inner chamber of described cylindricality short sleeve, the outer wall corresponding position of the inwall of described cylindricality short sleeve and described handle is by the mutual chimeric formation sliding and position limitation in concavo-convex joint portion mechanism, between the flange both sides of the described concavo-convex joint portion that handle axle makes progress and groove limit, be provided with elastic body in the space, the outer wall area of the inwall of described cylindricality short sleeve or the described handle corresponding with it is provided with the displacement pickup that detects described handle slippage, and described displacement pickup transmits displacement signal to control system;
The scheme one of displacement pickup of the present utility model is: described displacement pickup is Hall displacement transducer, the magnet of Hall displacement transducer and Hall element are installed on respectively on the inwall of described cylindricality short sleeve or on the outer wall of the described handle corresponding with it, the signal output part of Hall element is connected with the signal receiving end of described control system.
The scheme two of displacement pickup of the present utility model is: described displacement pickup is resistor type displacement sensor, the resistive element of resistor type displacement sensor and brush movably are installed on respectively on the inwall of described cylindricality short sleeve or on the outer wall of the described handle corresponding with it, the signal output part of described resistor type displacement sensor is connected with the signal receiving end of described control system.
Further, on the described sole seat is installed.
Further, the left and right sides of described sole all is equipped with mudwing, and extend to the top of main drive wheel of correspondence on the top of mudwing; Described direction joystick comprises outer bar and interior bar, and interior bar is plugged in the outer bar and by locking knob and fixes.
The utility model beneficial effect compared to existing technology is:
The utility model traffic robot's balance adopts the technical scheme of combination balancing: traffic robot's left and right sides balance realizes by the controlled high speed rotating of quality dish, coasting body based on High Rotation Speed has the dead axle characteristic that keeps its axis of rotation attitude, and the centnifugal force when the quality dish rotates can make and himself keep balance; Traffic robot's anterior-posterior balance carries out the tilt parameters collection by angular transducer, carries out data through control system and processes, and final injunction motor-driven earth system advances or retreats and realized.According to traffic robot's attitude loading characteristic in different directions of advancing, adopt different stable equilibrium's schemes, can more effectively realize traffic robot's self-balancing.
2. adopt the hunchbacked spiral shell effect of quality dish High Rotation Speed, in the left right balanced while of realizing the traffic robot, quality dish High Rotation Speed also can produce precession, also can move by auxiliary earthing apparatus, the quality dish becomes the energy storage energy storage and can release energy discontinuously, optimizes the efficiency of movement of movement executing mechanism.
3. the utility model is provided with cushion software thin-film switch at pedal, when starting source switch to system power-up, the traffic robot can not keep balance, only set foot on pedal, after starting cushion software thin-film switch, control system just begins initialization, makes the traffic robot keep balance, prevents that the traffic robot from powering up rapid balance and causing the user that damages; In addition, in the time of can also preventing from starting the traffic robot suddenly on the slope, generation is slipped the slope and is caused Peril Incident.
4. heading control loop of the present utility model adopts the handle that can twitch, the band dynamic sensor, and simple structure can realize handling maneuver well.
5. rotate in the ground contact device inner high speed owing to the quality dish, can effectively keep left and right sides balance, volume is small and exquisite, can make this traffic robot realize the pivot stud function in the space of minimum, overcome the deficiency that common two-wheeled balance truck car body causes greatly space hold, simple to operate, safe and reliable, be applicable to widely crowd.
Description of drawings
Fig. 1 is the schematic diagram of first embodiment of the utility model.
Fig. 2 is the schematic perspective view of first embodiment of the utility model.
Fig. 3 is the structural representation that joystick of the present utility model is installed Hall displacement transducer.
Fig. 4 is the structural representation that direction joystick of the present utility model is installed resistor type displacement sensor.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present utility model is described in further detail.Following examples are used for explanation the utility model, but are not used for limiting scope of the present utility model.
Embodiment 1: as Figure 1-3, a kind of Intelligent self-balancing traffic robot, comprise pedestal body, movement executing mechanism, drive system, control system 4, signal sensing system and be the power-supply system 5 of described each train of mechanism power supply, described power-supply system also is equipped with battery isolator control, described pedestal body comprises sole 13 and the pedal of captiveing joint with it, described control system 4 is installed on the described sole 13, described movement executing mechanism comprises the earth system that is subjected to displacement with ground, described earth system is at least one, described earth system is rotationally connected by live spindle and described sole 13, described earth system is captiveed joint with live spindle, described sole 13 and live spindle consist of the one-level inverted pendulum of balance, described drive systems comprises at least one motor 6, described motor 6 is carried out the rotating instruction of described control system 4 outputs, described live spindle is driven by described motor 6, and then drive described earth system and ground is subjected to displacement, described signal sensing system comprises at least one robot pose sensor 1, described attitude sensor 1 transmits the angle signal that described pedestal body tilts forward and back to described control system 4 Real-time Feedbacks, described movement executing mechanism also comprises keeps the left right balanced inertance element of described earth system, described inertance element also is rotationally connected by mandrel and described sole 3, described inertance element is also captiveed joint with described mandrel, and described mandrel is parallel with the axis of described live spindle, described mandrel is also driven by a described motor 6, and then drives described inertance element High Rotation Speed.
Further, described inertance element is circular quality dish, and described quality dish carries out the inertia High Rotation Speed take its mandrel as axle; Described pedal is provided with cushion software thin-film switch 2, and the signal pig-tail wire of described thin-film switch 2 is connected with the initializing signal receiving end of described control system 4.
Further, described earth system is two coaxial main drive wheel 12, two coaxial main drive wheel 12 respectively side by side the interval be installed on the left and right sides of sole 13, form the movement executing mechanism of long wheelbase, described pedal is on the upper surface of the described sole 13 between two described main drive wheel 12 sons.
Further, described attitude sensor 1 is angular transducer.
Further, described main drive wheel 12 combines with described quality dish, be contained in the described quality dish in the wheel hub outer ring of described main drive wheel 12, and around identical pivot axis, described main drive wheel shares a motor with described quality dish, between the wheel hub transmission main shaft of the turning cylinder of described quality dish and described main drive wheel, install big speed ratio mechanism additional, the sub-phase specific mass of described main drive wheel dish is low-speed motion spare, described big speed ratio mechanism has one degree of freedom, the transmission shaft of described motor 6 directly drives the driving link of described big speed ratio mechanism, the described quality dish of driven executive item indirect drive and described main drive wheel of described big speed ratio mechanism; Described big speed ratio mechanism is train, and the driving link of described train and driven executive item are gear, friction wheel or sprocket wheel; The described wheel is planet circular system, and the transmission shaft of the sun wheel of described planet circular system is directly captiveed joint with the live spindle of described main drive wheel, and the driven executive item of described planet circular system is captiveed joint with described inertance element.
Further, be fixedly connected with direction joystick on the described pedestal body, the top fixed installation handle 7 of described direction joystick, the bottom of described direction joystick is hinged with the end of the center shaft that turns to wheel, and to described center shaft transfer of torque, turn to wheel to swing thereby drive.
Further, the middle part of described handle 7 is flexibly connected by coaxial cylindricality short sleeve 14 and direction joystick, described cylindricality short sleeve 14 is captiveed joint with the top of described direction joystick, described handle 7 and described cylindricality short sleeve 14 free-running fits, described handle 7 carries out the slippage of fine motion straight line along the inner chamber of described cylindricality short sleeve 14, the outer wall corresponding position of the inwall of described cylindricality short sleeve 17 and described handle is by the mutual chimeric formation sliding and position limitation in concavo-convex joint portion mechanism, between the flange both sides of the described concavo-convex joint portion that handle axle makes progress and groove limit, be provided with elastic body 15 in the space, the outer wall area of the inwall of described cylindricality short sleeve or the described handle corresponding with it is provided with the displacement pickup 5 that detects described handle slippage, and described displacement pickup 5 is to control system transmission displacement signal;
Described displacement pickup is Hall displacement transducer, the magnet 16 of Hall displacement transducer and Hall element 17 are installed on respectively on the inwall of described cylindricality short sleeve 14 or on the outer wall of the described handle 7 corresponding with it, the signal output part of Hall element 17 is connected with the signal receiving end of described control system 4.
Further, on the described sole 13 seat is installed.
Further, the left and right sides of described sole 13 all is equipped with mudwing 11, and extend to the top of main drive wheel 12 of correspondence on the top of mudwing 11; Described direction joystick comprises outer bar 10 and interior bar 8, interior bar 8 is plugged in the outer bar 10 and by locking knob 8 and fixes, the design of mudwing makes the utility model also be difficult for the adhesional wetting clothing through the ponding road surface, operating personal can be adjusted by unscrewing or screw described locking knob the height of direction joystick simultaneously, to adapt to different crowds.
Embodiment 2: present embodiment is substantially the same manner as Example 1, and its difference is: described earth system is pedrail mechanism, and the driving wheel of described pedrail mechanism and live spindle consist of the rotation pendulum.
Embodiment 3: present embodiment is substantially the same manner as Example 1, and its difference is: described earth system is pedipulator, and described pedipulator and live spindle consist of to support to be put.
Embodiment 4: shown in Fig. 1,2,4, present embodiment is substantially the same manner as Example 1, its difference is: described displacement pickup is resistor type displacement sensor, the resistive element 18 of resistor type displacement sensor and brush 19 movably are installed on respectively on the inwall of described cylindricality short sleeve 14 or on the outer wall of the described handle 7 corresponding with it, the signal output part of described resistor type displacement sensor is connected with the signal receiving end of described control system 4.
The above only is preferred implementation of the present utility model; should be understood that; for those skilled in the art; under the prerequisite that does not break away from the utility model know-why; can also make some improvement and modification, these improve and modification also should be considered as protection domain of the present utility model.
Claims (10)
1. Intelligent self-balancing traffic robot, comprise pedestal body, movement executing mechanism, drive system, control system, signal sensing system and be the power-supply system of described each train of mechanism power supply, described power-supply system also is equipped with battery isolator control, described pedestal body comprises sole and the pedal of captiveing joint with it, described control system is installed on the described sole, described movement executing mechanism comprises the earth system that is subjected to displacement with ground, described earth system is at least one, described earth system is rotationally connected by live spindle and described sole, described earth system is captiveed joint with live spindle, described sole and live spindle consist of the one-level inverted pendulum of balance, described drive systems comprises at least one motor, described motor is carried out the rotating instruction of described control system output, described live spindle is driven by described motor, and then drive described earth system and ground is subjected to displacement, described signal sensing system comprises at least one robot pose sensor, described attitude sensor transmits the angle signal that described pedestal body tilts forward and back to described control system Real-time Feedback, it is characterized in that: described movement executing mechanism also comprises keeps the left right balanced inertance element of described earth system, described inertance element also is rotationally connected by mandrel and described sole, described inertance element is also captiveed joint with described mandrel, and described mandrel is parallel with the axis of described live spindle, described mandrel is also driven by a described motor, and then drives described inertance element High Rotation Speed.
2. a kind of Intelligent self-balancing traffic robot according to claim 1 is characterized in that: described inertance element is circular quality dish, and described quality dish carries out the inertia High Rotation Speed take its mandrel as axle; Described pedal is provided with cushion software thin-film switch, and the signal pig-tail wire of described thin-film switch is connected with the initializing signal receiving end of described control system.
3. a kind of Intelligent self-balancing traffic robot according to claim 2, it is characterized in that: described earth system is two coaxial main drive wheel, two coaxial main drive wheel respectively side by side the interval be installed on the left and right sides of sole, form the movement executing mechanism of long wheelbase, described pedal is on the upper surface of the described sole between two described main drive wheel.
4. a kind of Intelligent self-balancing traffic robot according to claim 2, it is characterized in that: described earth system is pedrail mechanism, the driving wheel of described pedrail mechanism and live spindle consist of the rotation pendulum; Or,
Described earth system is pedipulator, and described pedipulator and live spindle consist of to support to be put.
5. the described a kind of Intelligent self-balancing traffic robot of any one according to claim 1～4, it is characterized in that: described attitude sensor is angular transducer.
6. a kind of Intelligent self-balancing traffic robot according to claim 3, it is characterized in that: described main drive wheel combines with described quality dish, be contained in the described quality dish in the wheel hub outer ring of described main drive wheel, and around identical pivot axis, described main drive wheel shares a motor with described quality dish, between the wheel hub transmission main shaft of the turning cylinder of described quality dish and described main drive wheel, install big speed ratio mechanism additional, the sub-phase specific mass of described main drive wheel dish is low-speed motion spare, described big speed ratio mechanism has one degree of freedom, the transmission shaft of described motor directly drives the driving link of described big speed ratio mechanism, the described quality dish of driven executive item indirect drive and described main drive wheel of described big speed ratio mechanism; Described big speed ratio mechanism is train, and the driving link of described train and driven executive item are gear, friction wheel or sprocket wheel; The described wheel is planet circular system, and the transmission shaft of the sun wheel of described planet circular system is directly captiveed joint with the live spindle of described main drive wheel, and the driven executive item of described planet circular system is captiveed joint with described inertance element.
7. a kind of Intelligent self-balancing traffic robot according to claim 3, it is characterized in that: be fixedly connected with direction joystick on the described pedestal body, the top fixed installation handle of described direction joystick, the bottom of described direction joystick is hinged with the end of the center shaft that turns to wheel, and to described center shaft transfer of torque, turn to wheel to swing thereby drive.
8. a kind of Intelligent self-balancing traffic robot according to claim 7, it is characterized in that: the middle part of described handle is flexibly connected by coaxial cylindricality short sleeve and direction joystick, described cylindricality short sleeve is captiveed joint with the top of described direction joystick, described handle and described cylindricality short sleeve free-running fit, described handle carries out the slippage of fine motion straight line along the inner chamber of described cylindricality short sleeve, the outer wall corresponding position of the inwall of described cylindricality short sleeve and described handle is by the mutual chimeric formation sliding and position limitation in concavo-convex joint portion mechanism, between the flange both sides of the described concavo-convex joint portion that handle axle makes progress and groove limit, be provided with elastic body in the space, the outer wall area of the inwall of described cylindricality short sleeve or the described handle corresponding with it is provided with the displacement pickup that detects described handle slippage, described displacement pickup transmits displacement signal to control system, wherein, described displacement pickup is Hall displacement transducer, the magnet of Hall displacement transducer and Hall element are installed on respectively on the inwall of described cylindricality short sleeve or on the outer wall of the described handle corresponding with it, the signal output part of Hall element is connected with the signal receiving end of described control system; Or, described displacement pickup is resistor type displacement sensor, the resistive element of resistor type displacement sensor and brush movably are installed on respectively on the inwall of described cylindricality short sleeve or on the outer wall of the described handle corresponding with it, the signal output part of described resistor type displacement sensor is connected with the signal receiving end of described control system.
9. a kind of Intelligent self-balancing traffic robot according to claim 7 is characterized in that: on the described sole seat is installed.
10. a kind of Intelligent self-balancing traffic robot according to claim 7, it is characterized in that: the left and right sides of described sole all is equipped with mudwing, and extend to the top of main drive wheel of correspondence on the top of mudwing; Described direction joystick comprises outer bar and interior bar, and interior bar is plugged in the outer bar and by locking knob and fixes.
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| CN 201220501484 CN202879697U (en) | 2012-09-27 | 2012-09-27 | Intelligent self-balancing traffic robot |
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| CN 201220501484 CN202879697U (en) | 2012-09-27 | 2012-09-27 | Intelligent self-balancing traffic robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753557A (en) * | 2014-02-14 | 2014-04-30 | 上海创绘机器人科技有限公司 | Self-balance control method of movable type inverted pendulum system and self-balance vehicle intelligent control system |
| CN104149918A (en) * | 2013-05-14 | 2014-11-19 | 久鼎金属实业股份有限公司 | Electric carrier with handlebar sensing device |
| CN108275228A (en) * | 2014-06-13 | 2018-07-13 | 杭州骑客智能科技有限公司 | Electrodynamic balance vehicle and its Supporting cover |
| KR101929833B1 (en) * | 2015-05-13 | 2018-12-18 | 나인보트 (베이징) 테크 컴퍼니 리미티드 | Dynamic balancer control mechanism |
| EP3196108A4 (en) * | 2014-09-15 | 2019-01-02 | Changzhou Airwheel Technology Co., Ltd. | Self-balancing double-wheeled electrical scooter |
| US10189528B2 (en) | 2014-09-15 | 2019-01-29 | Changzhou Airwheel | Self-balancing double-wheeled electrical scooter |
| US10286971B2 (en) | 2014-09-15 | 2019-05-14 | Changzhou Airwheel Technology Co., Ltd. (Cn) | Self-balancing double-wheeled electrical scooter |
-
2012
- 2012-09-27 CN CN 201220501484 patent/CN202879697U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149918A (en) * | 2013-05-14 | 2014-11-19 | 久鼎金属实业股份有限公司 | Electric carrier with handlebar sensing device |
| CN103753557A (en) * | 2014-02-14 | 2014-04-30 | 上海创绘机器人科技有限公司 | Self-balance control method of movable type inverted pendulum system and self-balance vehicle intelligent control system |
| CN108275228A (en) * | 2014-06-13 | 2018-07-13 | 杭州骑客智能科技有限公司 | Electrodynamic balance vehicle and its Supporting cover |
| EP3196108A4 (en) * | 2014-09-15 | 2019-01-02 | Changzhou Airwheel Technology Co., Ltd. | Self-balancing double-wheeled electrical scooter |
| US10189528B2 (en) | 2014-09-15 | 2019-01-29 | Changzhou Airwheel | Self-balancing double-wheeled electrical scooter |
| US10286971B2 (en) | 2014-09-15 | 2019-05-14 | Changzhou Airwheel Technology Co., Ltd. (Cn) | Self-balancing double-wheeled electrical scooter |
| KR101929833B1 (en) * | 2015-05-13 | 2018-12-18 | 나인보트 (베이징) 테크 컴퍼니 리미티드 | Dynamic balancer control mechanism |
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