CN208999829U - A kind of balance mobile device - Google Patents
A kind of balance mobile device Download PDFInfo
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- CN208999829U CN208999829U CN201821523737.1U CN201821523737U CN208999829U CN 208999829 U CN208999829 U CN 208999829U CN 201821523737 U CN201821523737 U CN 201821523737U CN 208999829 U CN208999829 U CN 208999829U
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Abstract
The utility model provides a kind of balance mobile device, and compared to existing electrodynamic balance vehicle, the utility model can make balance car have the functions such as operation, execution, navigation, intelligent barrier avoiding, and be not limited to ride and ride instead of walk, more intelligently.In addition, the utility model is furnished with the brake unit for being triggered and being executed braking task, device can be maintained to balance when balancing device is in non-moving state and robotic arm manipulation task, be equivalent to the second balanced protection device of balance mobile device.
Description
Technical field
The utility model relates to smart machine fields, more particularly to a kind of balance mobile device.
Background technique
Electrodynamic balance Che Yinqi small volume, it is novel convenient to manipulate, and is increasingly liked by young man.Currently a popular
Electrodynamic balance vehicle is to manipulate based on rod-type electrodynamic balance vehicle, using the gyroscope and acceleration transducer of vehicle body, to detect
The variation of vehicle body attitude, and servo-control system is utilized, accurately driving motor is adjusted correspondingly, to keep the flat of system
Weighing apparatus.But electrodynamic balance vehicle is only used as walking-replacing tool, and function is more limited to, by the application extension of electrodynamic balance vehicle to amusement and recreation it
Outer other field needs to develop more functions on the basis of electrodynamic balance vehicle, and solves thus bring imbalance and ask
Topic.
Utility model content
In view of the foregoing deficiencies of prior art, the purpose of this utility model is to provide a kind of balance mobile devices.
In order to achieve the above objects and other related objects, the utility model provides a kind of balance mobile device comprising: it moves
Moving cell；Execution unit is set to the mobile unit, for executing operation task；Brake unit is set to the mobile unit,
For executing braking task in a triggered to brake the balance mobile device；Wherein, the item that the brake unit is triggered
Part includes the state that the mobile unit is in non-moving state and the operating unit is in execution operation task.
In an embodiment of the utility model, the balance mobile device further includes control unit, described control unit
Include: main control unit, communicates to connect the operating unit to receive the operational state data of the operating unit；Auxiliary control system
Component, the posture detecting unit that communication connection is set on the balance mobile device are communicated to connect with acquiring attitude data
And the attitude data is transmitted to the main control unit, also communicate to connect the brake unit；Wherein, the main control unit
Transmission is executed instruction to the auxiliary control unit, is appointed with executing braking by brake unit described in the auxiliary control component controls
Business.
In an embodiment of the utility model, it includes fortune that the main control unit, which communicates to connect external equipment also to receive,
It send the transport of location information and shipping time information to instruct and the corresponding transport path of plane-generating is instructed according to the transport, and
Communication connection is set to the environmental detection unit on the balance mobile device to acquire environmental data；The auxiliary control unit is also logical
Letter connects the mobile unit；Wherein, the main control unit transmission is executed instruction to the operating unit and auxiliary control unit,
To control the operating unit and by mobile unit and brake unit described in the auxiliary control component controls.
In an embodiment of the utility model, the environmental detection unit includes: image recognition sensor, speech recognition
Sensor, laser radar sensor, infrared sensor of the human body, electricity induction any one of detecting element or binocular camera or
Multiple combinations；The posture detecting unit includes gyroscope, accelerometer or velocity sensor.
In an embodiment of the utility model, the main control unit is sent to executing instruction for execution unit and includes:
Fetching instruction, click commands launch any one or more of combination of instruction；The main control unit is sent to the auxiliary control
Executing instruction for component processed includes: the instruction for enabling the mobile unit advance, retreat or turn to, and/or enables the braking single
Member executes or does not execute the instruction of braking task.
In an embodiment of the utility model, the brake unit includes electric expansion part；The contractibility not by
It is in contraction state when triggering, and extends to balance mobile device place plane in a triggered to brake the device.
In an embodiment of the utility model, the electric expansion part includes at least one and the balance mobile device
The pulley of place planar slide contact.
In an embodiment of the utility model, the execution unit includes mechanical arm, and the mechanical arm bracket is equipped with
At least 2 fingers are to execute crawl, dispensing or click any one or more of operation task.
In an embodiment of the utility model, the type of the mobile unit includes Self-Balancing vehicle, the moving parts
Including motor driver, motor and movement mechanism, described accommodation section part includes chassis and chassis cover board.
In an embodiment of the utility model, the balance mobile device further include: detachable article carrying platform, it is described
Article carrying platform, which is equipped with one or more, prevents the stopper section that bearing article is fallen.
As described above, a kind of balance mobile device provided by the utility model, has the advantages that compared to existing
Electrodynamic balance vehicle, the utility model can make balance car have the functions such as operation, execution, navigation, intelligent barrier avoiding, and be not limited to
It rides and rides instead of walk, more intelligently.In addition, the utility model is furnished with the brake unit for being triggered and being executed braking task, Neng Gou
Balancing device maintains device balance when being in non-moving state and robotic arm manipulation task, be equivalent to the second of balance mobile device
Road balanced protection device.
Detailed description of the invention
Fig. 1 a is shown as the structural schematic diagram of balance mobile device in an embodiment of the present invention.
Fig. 1 b is shown as the structural schematic diagram of balance mobile device in an embodiment of the present invention.
Fig. 2 is shown as the schematic diagram of the control system of balance mobile device in an embodiment of the present invention.
Specific embodiment
Illustrate the embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this theory
Content disclosed by bright book understands other advantages and effect of the utility model easily.The utility model can also be by addition
Different specific embodiments are embodied or practiced, and the various details in this specification can also be based on different viewpoints and answer
With carrying out various modifications or alterations under the spirit without departing from the utility model.It should be noted that the case where not conflicting
Under, the feature in following embodiment and embodiment can be combined with each other.
It should be noted that with reference to attached drawing, attached drawing describes several embodiments of the application in described below.It should
Understand, other embodiments also can be used, and mechanical group can be carried out without departing substantially from spirit and scope
At, structure, electrical and operational change.Following detailed description should not be considered limiting, and the application
The range of embodiment only limited by the claims for the patent announced.Term used herein is merely to description is specific
Embodiment, and it is not intended to limit the application.The term of space correlation, for example, "upper", "lower", "left", "right", " following ", " under
Side ", " " lower part ", " top ", " top " etc., can use in the text in order to elements or features shown in explanatory diagram with
The relationship of another elements or features.
Furthermore as used in herein, singular " one ", " "one" and "the" are intended to also include plural shape
Formula, unless there is opposite instruction in context.It will be further understood that term "comprising", " comprising " show that there are the spies
Sign, operation, element, component, project, type, and/or group, but it is not excluded for one or more other features, operation, element, group
Presence, appearance or the addition of part, project, type, and/or group.Term "or" and "and/or" used herein are interpreted as including
Property, or mean any one or any combination.Therefore, " A, B or C " or " A, B and/or C " mean " it is following any one:
A；B；C；A and B；A and C；B and C；A, B and C ".Only when the combination of element, functions or operations is inherently mutual under certain modes
When repulsion, it just will appear the exception of this definition.
The utility model provides a kind of balance mobile device, and the balance mobile device has removable and self-balancing function
Can, which is equipped with the mechanical arm for being able to carry out the tasks such as crawl, dispensing or click, and being additionally provided with can be in robotic arm manipulation
The electric pushrod for maintaining device balance, the realization principle of technical solutions of the utility model is illustrated below in conjunction with embodiment.
As shown in Fig. 1 a~1b, the structural schematic diagram of balance mobile device in an embodiment of the present invention is shown respectively.
Wherein, Fig. 1 a shows that the structural schematic diagram based on forward sight visual angle of the balance mobile device, Fig. 1 b show described
The structural schematic diagram based on backsight visual angle of balance mobile device.
In this present embodiment, the type of the balance mobile device includes the Self-Balancing vehicle with braking function, specific to wrap
Include mobile unit, operating unit and brake unit.The mobile unit is for driving balance mobile device；The operating unit is set
In the mobile unit, for executing operation task；The brake unit is set to the mobile unit, for holding in a triggered
Row braking task is to brake the balance mobile device；Wherein, the condition that the brake unit is triggered includes described mobile single
Member is in non-moving state and the operating unit is in the state for executing operation task.
The mobile unit includes the appearance for realizing the moving parts 101 of locomotive function and for accommodating other components
Receive component 102.The moving parts 101 includes motor driver (not shown), motor and movement mechanism, described accommodation section part packet
Include chassis and chassis cover board.
The balance mobile device is additionally provided with gyroscope and accelerometer (not shown), for detecting vehicle body attitude variation,
The balance to keep balance mobile device is adjusted accordingly for the accurate driving motor of servo-control system.The balanced sequence
Device is additionally provided with autonomous positioning navigation module 103, and the autonomous positioning navigation module 103 is mainly used for realizing positioning and path rule
Draw, because autonomous positioning navigation module be it is existing, so it will not be repeated.
The type of the operating unit includes mechanical arm, and the mechanical arm includes mechanical arm body 104 and mechanical arm pedestal
105.The mechanical arm pedestal 105 can directly be fixedly arranged on described accommodation section part 102, can also pass through support plate 106 and the receiving
Component 102 is fixedly linked.It should be noted that between the mechanical arm body 104 and mechanical arm pedestal 105, the mechanical arm
Between pedestal 105 and described accommodation section part 102, between the mechanical arm pedestal 105 and the support plate 106 or the support
Connection type between plate 106 and described accommodation section part 102 include but is not limited to be threadedly coupled, be welded to connect, bonding connection, card
Close the modes such as connection or interference fit connection.
Preferably, the mechanical arm has 4~7 freedom degrees, and freedom degree refers to the independent coordinate of mechanical system in mechanics
Number, mechanical system is described by one group of coordinate, such as the movement in the three-dimensional space of a particle, in cartesian coordinate system
In by x, tri- coordinates of y, z describe, or by alpha, gamma in spherical coordinate system, and tri- coordinates of β describe.The present embodiment is using more
The mechanical arm of a freedom degree can realize the true reduction to human arm to the full extent, to keep balance mobile device more preferable
Realize operating function in ground.
Optionally, DC power supplier 107 and power conversion module 108, the two point are additionally provided in the support plate 106
It is not fixedly connected by respective peculiar fixing piece with support plate 106.The DC power supplier 107 is used to move for the balance
Each component of dynamic device provides power supply, and considers the main control unit, auxiliary control unit, operating unit, brake unit, leads to
The news components such as module and environmental detection unit have power supply voltage level different requirements, therefore the present embodiment also sets up the electricity
Source conversion module 108, for converting voltage class, to meet the power reguirements of each component of different voltages grade.
In a preferred embodiment, the balance mobile device is additionally provided with detachable article carrying platform (not shown).Institute
It states detachable article carrying platform and is equipped with one or more stopper sections for preventing bearing article from falling.The article carrying platform is mainly used for depositing
The cargo grabbed by mechanical arm is put, the stopper section is, for example, one or more railings with preventing cargo from falling.In the present embodiment
Article carrying platform and balance mobile device be in detachable connection, so as to flexibly install or remove.
It is worth noting that, the balance mobile device in the utility model has execution function, such as crawl, dispensing, point
The tasks such as hit.Therefore, the bracket of the mechanical arm is preferably provided at least 2 fingers to be used to execute crawl, dispensing or point and hit
Any one or more operation tasks.In another preferred scheme, it is contemplated that elevator button under certain scenes, gate inhibition's identification or
In the other touch-control tasks with capacitance plate of person, therefore conductive fiber material is used at the mechanical finger tip of mechanical arm, make it have
Touch function as finger, to further promote the scope of application of the balance mobile device of the utility model.
The brake unit 109 is set on the chassis cover board for braking the balance mobile device.The braking is single
Member 109 is fixed on its supporting mechanism, then is fixedly connected with the chassis cover board, and the mode being fixedly connected includes but is not limited to
Threaded connection, welded connecting, bonding connection, be connected together or be interference fitted connection etc. modes.
Preferably, the type of the brake unit is electric expansion part, such as electric pushrod.The electric expansion part is flat
It is mobile to avoid countermeasure set in contraction state when the mobile device that weighs is mobile, stop mobile and mechanical arm in device and starts to carry out
Be triggered stretching, extension when operation and drop to ground face contact, so that device be made still to be able to remain flat in its robotic arm manipulation
Weighing apparatus；And after mechanical arm completes instruction operation, then the electric expansion part is triggered to contraction state again.It should be noted that being
Extensible member is extended to need to be set to the edge of chassis cover board or in chassis lid with ground face contact, the electric expansion part
A hole passed through for electronic extensible member is set on plate.
It is further preferred that the electric expansion part includes at least one and planar slide where the balance mobile device
The pulley 110 of contact, the pulley 110 are fixedly connected with electric expansion part, and the mode being fixedly connected includes but is not limited to spiral shell
Line connection, welded connecting, bonding connection, be connected together or be interference fitted connection etc. modes.Installing pulley 110 advantage be,
When electric pushrod extends to ground to device suddenly in moving process or electric pushrod is shunk when postponing, because of pulley 110
Have the function of auxiliary sliding, therefore do not interfere with the normally travel of device, has further ensured that the balance of the utility model is moved
The stability of dynamic device.
The balance mobile device further includes control unit, and described control unit includes main control unit 111 and do not scheme
The working principle of the auxiliary control unit shown, the main control unit and auxiliary control unit can make an explanation explanation below.
It should be noted that traditional balance mobile device is usually not provided with brake unit, though can move cannot tie up
Maintain an equal level weighing apparatus, and it is even more impossible to guarantee balance when robotic arm manipulation.Alternatively, also needing manual operation, not enough just even if being equipped with brake unit
Just and in time, user experience is poor.Therefore, the balance mobile device provided by the utility model with brake unit, Neng Gou
Automatically braking task is performed quickly under trigger condition, maintains the balance of whole device, thus greatly promotes user experience.
In addition, the relative positional relationship in the present embodiment between all parts and unit is only one of implementation of the utility model
Example, the embodiment are used for reference to not for restriction the technical solution of the utility model.That is, in other embodiments,
In the case where keeping balance mobile device to stablize, the positional relationship between all parts and unit can be adaptively adjusted.
As shown in Fig. 2, showing the control system signal of operatively balance mobile device in an embodiment of the present invention
Figure.In this present embodiment, the operatively balance mobile device includes control unit, and described control unit includes main control unit
Part 201 and auxiliary control unit 202.The main control unit 201 communicates to connect external equipment 203, operating unit 204, environment inspection
Survey unit 205 and auxiliary control unit 202, the auxiliary control component communication connection brake unit 206, motor driver 207 with
And posture detecting unit 208.
Wire communication mode or wireless telecommunications can be passed through between the main control unit 201 and the external equipment 203
Mode connects, can also be by wire communication mode or wireless between the main control unit 201 and the auxiliary control unit 202
Communication modes connection, the wire communication mode can support a variety of industrial bus to access, and the wireless communication mode includes but not
It is limited to the connection types such as WI-Fi connection, bluetooth connection, NB-IoT connection or ZigBee connection.
The main control unit 201, auxiliary control unit 202 type can be controller, the controller for example can be with
It is ARM controller, FPGA controller, dsp controller, SoC controller, MCU controller or asic processor etc..It is described outer
Portion's equipment is, for example, the equipment such as mobile phone, wearable device, pad computer, laptop or server.
The environmental detection unit 205 include image recognition sensor, voice recognition sensor, laser radar sensor,
Infrared sensor of the human body, electricity induction detecting element or any one or more of combination of binocular camera.Wherein, described image
Identification sensor familiarizes ambient enviroment by adaptive algorithm, and can shoot the figure across camera lens by miniature webcam
Picture is converted into electric signal by light receiving element, to identify object and brightness and shape.The voice recognition sensor
By presetting pattern-recognition library, the voice signal received is changed into corresponding text or order.The human body infrared
Sensor can determine whether the distance between device and people from periphery, remain at device job area in the safe range with people.
The laser radar sensor measures the distance, speed and shape of target position by emitting and receiving the time interval of laser beam
The information such as shape, to detect, identify, differentiate and track target.The detectable system charge of the induction detecting element, when system electricity
When amount is lower than setting value, device independently returns to charge point and charges.
The posture detecting unit 208 includes gyroscope, accelerometer, potentiometer and velocity sensor, the gyroscope
For measuring angular velocity data, such as three-axis gyroscope, six axis gyroscopes or nine axis gyroscopes can be used etc., the acceleration
Degree meter is used for measurement angle data for measuring acceleration information, the potentiometer, and the velocity sensor is used for measuring device
Speed of service data.
In one embodiment, the main control unit 201 receives the operational state data from operating unit sensor, institute
Auxiliary control unit 202 is stated to receive the attitude data from posture detecting unit 208 and reach the main control unit 201.It is worth
Illustrate, provided by the utility model be a set of includes mobile unit, execution unit, brake unit and control unit etc.
The hardware device of unit can be used in combination to realize following function in the present embodiment: described with corresponding software or program
Main control unit 201 judges whether the operating unit 204 is in the shape of execution operation task according to the operational state data
State, and judge whether the operatively balance mobile device is in non-moving state according to the attitude data；If the master
Control unit 201 is according to judging that the operatively balance mobile device is at non-moving state and the operating unit 204
In the state for executing operation task, then issues and execute instruction to auxiliary control unit 202, to enable auxiliary control unit 202 issue accordingly
Trigger signal to brake unit 206, to enable brake unit 206 execute braking task, with the stable equilibrium of holding meanss.
In one embodiment, it includes transporting position information that the main control unit 201, which is received from the external equipment,
With the control instruction of shipping time information, and receive the environmental data from environmental detection unit, also receive come from the auxiliary control
The attitude data of the operatively balance mobile device of component 202 processed.Hardware device provided by the utility model and corresponding
Software or program be used in combination to realize following function in the present embodiment: the main control unit 201 is according to the transport
Path, environmental data and attitude data generation are executed instruction to operating unit and auxiliary control unit 202, to control accordingly
Operating unit is stated, and the mobile unit and brake unit 206 are controlled by the auxiliary control unit 202.
The main control unit 201 be sent to auxiliary control unit 202 execute instruction including enable device advance, retreat, turn
To or enable brake unit execute or do not execute the instruction of braking task.The main control unit 201 is sent to operating unit
It executes instruction including fetching instruction, click commands or launches any one or more of combination of instruction.
Specifically, the main control unit 201 calculates posture information and the movement of device according to the attitude data
Trend, and the ideal movement speed of device is calculated by built-in balanced algorithm, by the desired speed by executing instruction
It is sent to the auxiliary control unit 202, motor driver 207 is sent to by auxiliary control unit 202, to pass through motor driven
Device controls motor 209, then the movement mechanism 210 of control device, so that device be made to reach dynamic stability.It should be noted that
Balanced algorithm described in the present embodiment be it is existing, so it will not be repeated.
The operatively balance mobile device encounters barrier in movement routine or needs to turn according to transport path
Xiang Shi, the main control unit 201 issues to be executed instruction to auxiliary control unit 202 accordingly, and the auxiliary control unit 202 passes through
Controlling the motor driver 207 makes device advance, retrogressing, left-hand rotation or right-hand rotation etc..The operatively balanced sequence dress
It sets during moving this or when executing specific operation task after arriving at the destination, the main control unit 201 issues phase
The instruction answered is to the operating unit 204, to enable operating unit 204 execute the tasks such as crawl, click or dispensing.
It is worth noting that the condition that the brake unit 206 is triggered includes but is not limited to that the mobile unit is in
Non-moving state and the operating unit are in the state of execution operation task, can also trigger brake unit under other scenes and hold
Row braking task.For example, the operatively balance mobile device can be calculated in the case where an emergency situation is encountered by built-in balance
Method prejudges in advance and starts the brake unit, the motor rotation of arresting stop, to reach the dynamic stability and static state of device
Stablize.The emergency is, for example, situations such as operation amplitude of operating unit is excessive, device is dashed forward by external force or emergency brake.
Again it is noted that the utility model provides a kind of hardware device of balance mobile device, in combination with existing
There are software or algorithm to realize specific function, but the utility model itself is not related to the improvement of any software technology.
In conclusion a kind of balance mobile device provided by the utility model, compared to existing electrodynamic balance vehicle, this reality
So that balance car is had the functions such as operation, execution, navigation, intelligent barrier avoiding with novel, and be not limited to ride and ride instead of walk, more intelligence
Energy.In addition, the utility model is furnished with the brake unit for being triggered and being executed braking task, it can be in non-moving in balancing device
Device balance is maintained when state and robotic arm manipulation task, is equivalent to the second balanced protection device of balance mobile device.Institute
With the utility model effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The above embodiments are only illustrative of the principle and efficacy of the utility model, and not for limitation, this is practical new
Type.Any person skilled in the art can all carry out above-described embodiment under the spirit and scope without prejudice to the utility model
Modifications and changes.Therefore, such as those of ordinary skill in the art without departing from the revealed essence of the utility model
All equivalent modifications or change completed under mind and technical idea, should be covered by the claim of the utility model.
Claims (10)
1. a kind of balance mobile device characterized by comprising
Mobile unit；
Execution unit is set to the mobile unit, for executing operation task；
Brake unit is set to the mobile unit, and the balanced sequence dress is braked for executing braking task in a triggered
It sets；Wherein, the condition that the brake unit is triggered includes that the mobile unit is in non-moving state and the operating unit
In the state for executing operation task.
2. balance mobile device according to claim 1, which is characterized in that the balance mobile device further includes that control is single
Member, described control unit include:
Main control unit communicates to connect the operating unit to receive the operational state data of the operating unit；
Auxiliary control unit, communication connection be set to the balance mobile device on posture detecting unit to acquire attitude data,
And communicate to connect and transmit the attitude data to the main control unit, also communicate to connect the brake unit；
Wherein, the main control unit transmission is executed instruction to the auxiliary control unit, to pass through the auxiliary control component controls
The brake unit executes braking task.
3. balance mobile device according to claim 2, which is characterized in that
The main control unit communicates to connect external equipment also to receive the fortune comprising transporting position information and shipping time information
It send instruction and the corresponding transport path of plane-generating is instructed according to the transport, and communicate to connect and be set to the balance mobile device
On environmental detection unit to acquire environmental data；
The auxiliary control unit also communicates to connect the mobile unit；
Wherein, the main control unit transmission is executed instruction to the operating unit and auxiliary control unit, to control the operation
Unit simultaneously passes through mobile unit and brake unit described in the auxiliary control component controls.
4. balance mobile device according to claim 3, which is characterized in that the environmental detection unit includes: that image is known
Individual sensor, voice recognition sensor, laser radar sensor, infrared sensor of the human body, electricity induction detecting element or binocular
Any one or more of combination of camera；The posture detecting unit includes gyroscope, accelerometer or velocity sensor.
5. balance mobile device according to claim 3, which is characterized in that the main control unit is sent to the operation
Executing instruction for unit includes: that fetching instruction, click commands or dispensing instruct any one or more of combination；The main control
It includes: the instruction for enabling the mobile unit advance, retreat or turn to that component, which is sent to executing instruction for the auxiliary control unit,
And/or it enables the brake unit execution or does not execute the instruction of braking task.
6. balance mobile device according to any one of claims 1 to 5, which is characterized in that the brake unit includes
Electric expansion part；The electric expansion part is in contraction state when not being triggered, and extends to the balance in a triggered
Plane is where mobile device to brake the device.
7. balance mobile device according to claim 6, which is characterized in that the electric expansion part include at least one with
The pulley of planar slide contact where the balance mobile device.
8. balance mobile device according to any one of claims 1 to 5, which is characterized in that the execution unit includes
Mechanical arm, and the mechanical arm bracket is equipped at least 2 fingers to execute crawl, dispensing or click any one or more of behaviour
Make task.
9. balance mobile device according to any one of claims 1 to 5, which is characterized in that the class of the mobile unit
Type includes Self-Balancing vehicle；The mobile unit includes for realizing the moving parts of locomotive function and for accommodating other components
Containing component；The moving parts includes motor driver, motor and movement mechanism, and described accommodation section part includes chassis and bottom
Disk cover plate.
10. balance mobile device according to any one of claims 1 to 5, which is characterized in that the balance mobile device
Further include: detachable article carrying platform, the article carrying platform, which is equipped with one or more, prevents the stopper section that bearing article is fallen.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821523737.1U CN208999829U (en) | 2018-09-18 | 2018-09-18 | A kind of balance mobile device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821523737.1U CN208999829U (en) | 2018-09-18 | 2018-09-18 | A kind of balance mobile device |
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| CN208999829U true CN208999829U (en) | 2019-06-18 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109324614A (en) * | 2018-09-18 | 2019-02-12 | 上海太昂科技有限公司 | Operatively balance mobile device and its control method, storage medium and electric terminal |
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2018
- 2018-09-18 CN CN201821523737.1U patent/CN208999829U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109324614A (en) * | 2018-09-18 | 2019-02-12 | 上海太昂科技有限公司 | Operatively balance mobile device and its control method, storage medium and electric terminal |
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