CN201907604U - Self-balancing manned unicycle system - Google Patents
Self-balancing manned unicycle system Download PDFInfo
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- CN201907604U CN201907604U CN2010206501881U CN201020650188U CN201907604U CN 201907604 U CN201907604 U CN 201907604U CN 2010206501881 U CN2010206501881 U CN 2010206501881U CN 201020650188 U CN201020650188 U CN 201020650188U CN 201907604 U CN201907604 U CN 201907604U
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Abstract
The utility model relates to a self-balancing manned unicycle system and a control method. The self-balancing manned unicycle system comprises a travelling unit and a control unit, wherein a travelling wheel (9) of the travelling unit is arranged below the system; a rack (6) is arranged above the travelling wheel; a balancing wheel (42) is arranged above the rack (6); a control handle (2) for controlling the forward-backward movement speed of an unicycle is arranged above the balancing wheel (42); the rack (6) is internally provided with a power supply (71) and a movement control unit (51); the control handle (2) is connected on a sensor component (11); the control unit comprises the movement control unit (51), the control handle (2), the sensor component (11), a balancing wheel hub motor driving unit (41) and a travelling hub motor driving unit (91), wherein the control handle (2) is connected with the movement control unit (51), and the sensor component (11) consists of a dip sensor and an inertial sensor; and the axis of the balancing wheel (42) is vertical to but not intersected with that of the travelling wheel (9). By adopting a single-wheel travelling mechanism, the self-balancing manned unicycle system is flexible to travel; by the forward-backward rotation of the travelling wheel (9) and the balancing wheel (42), a brake mechanism is omitted, so that the operation is convenient; and the balance control of the unicycle in front-rear and left-right directions under different travelling speed is realized.
Description
Technical field
The utility model belongs to category of intelligent robots, is a kind of robot system by autokinetic movement balance control realization wheelbarrow (comprising the occupant) stabilized walking, also is the vehicle a kind of simple to operate, easy to use simultaneously.
Background technology
The wheelbarrow of riding is that human (perhaps other high intelligent animals) need be through ad hoc learning and train a kind of activity that just can finish.Because wheelbarrow system (comprising the occupant) can be considered as a kind of inverted pendulum, in the process of wheelbarrow of riding, the cyclist need keep balance at fore-and-aft direction (yoz plane) and left and right directions (xoz plane), so need higher moving equilibrium technical ability just can finish this task.The utility model design-calculated departure point is the moving equilibrium control technology of application autonomous robot, control skill when simulating human is ridden wheelbarrow, set up corresponding machinery and control system, make the manned wheelbarrow of self-balancing system under the walking and the two states of standing, can both realize autonomic balance control, wheelbarrow thereby the people of feasible not process specialized training also can ride at an easy rate at fore-and-aft direction and left and right directions.
The utility model content
The purpose of this utility model is to design a kind of self-balancing wheelbarrow system that can be manned.Not only can be used as a kind of open Research on Intelligent Robots development platform, for the research and teaching in fields such as motion control, robot and artificial intelligence provides experimental subjects, still a kind of recreational facilities that are full of entertaining and a kind of vehicle easily flexibly.
The utility model relates to the manned wheelbarrow of a kind of self-balancing system, is to adopt following technological means to realize:
The manned wheelbarrow of a kind of self-balancing system comprises walking unit and control unit; The road wheel 9 of walking unit is arranged on the below of system, the top of road wheel 9 is provided with frame 6, the top of frame 6 is provided with balance roller box 3, is provided with the balance wheel 42 of control left and right sides balance in the balance roller box 3, and the top of balance roller box 3 is provided with the seesaw control handle 2 of speed of control wheelbarrow; Be provided with powerhouse dome 7 and controller cabin 5 in the frame 6, control handle 2 is connected on the sensor module 11; Control unit comprises: based on the motion control unit 51 of DSP, with motion control unit 51 bonded assembly control handles 2, the sensor module of forming by obliquity sensor, inertial sensor 11, and balance wheel wheel hub motor driver element 41 and road wheel wheel hub motor driver element 91; The axis normal of the axis of balance wheel 42 and road wheel 9 and non-intersect.
Two sides of aforementioned road wheel are provided with manned pedal 8.
Setting the Y-axis positive dirction is the working direction of wheelbarrow, the X-axis positive dirction is the left direction of wheelbarrow, Z axle positive dirction be wheelbarrow when standing upward to, the XOZ plane is the plane of wheelbarrow angle of heel degree on left and right directions, the YOZ plane is that wheelbarrow is on the plane that has upwardly sloped front and rear sides angle;
By reversing gait of march and the angle of turn that control handle 2 given wheelbarrows are wished, zero windup-degree are that the original place stands still, and positive windup-degree are represented to advance, and negative windup-degree are represented to retreat, the absolute value of windup-degree is big more, wishes that the absolute value of gait of march is just big more;
Obtain the parameter value of sensor module 11, those parameter values comprise: wheelbarrow advances and departs from the hope inclination angle value of Z axle when turning to the left in the process to the X-axis positive dirction; The hope inclination angle value that departs from the Z axle in the process of advancing when wheelbarrow is turned to the right to the X-axis negative direction; In the YOZ plane, when walking forward, departs from by wheelbarrow the hope inclination angle value of Z axle to the Y-axis positive dirction; The hope inclination angle value that departs from the Z axle when wheelbarrow retreats to the Y-axis negative direction;
According to the actual inclination angle value of the sensor module 11 that obtains and wish error amount between the value of inclination angle, the motoring condition of wheelbarrow is judged;
Use the road wheel control method and obtain the current drive controlling amount of road wheel 9, the wheel hub motor by road wheel wheel hub motor servo-driven module 91 ground-engaging wheels 9 rotates, thereby obtains the gait of march of wishing and in the balance of pitch orientation;
According to the wheelbarrow current time at actual inclination angle on the left and right directions and wish error amount between the inclination angle, calculate the drive controlling amount of balance wheel, driven equilibrium wheel 42 produces a cw or anti-clockwise angular acceleration, obtain a conter clockwise or a clockwise torque in the XOZ plane, obtain the power that wheelbarrow is set upright, make wheelbarrow actual angle of inclination with wish that the angle of inclination is consistent, obtain dynamical equilibrium.
The utility model compared with prior art has following remarkable advantages and beneficial effect:
One, the related wheelbarrow system of the utility model is a kind of intelligent self-balance robot.Because the constructional feature of its single wheel walking, can be reduced to one contact with supporting plane point, can be at the strong point left and right sides any direction inverted pendulum model of toppling over forwards, backwards, so this wheelbarrow can be used as the cross-section study object and the platform of ambits such as robot motion's balance control, automatic guidance and intelligent control algorithm, artificial intelligence and machine learning, satisfy the needs of these ambit teaching and scientific researches.
Two, the related wheelbarrow system of the utility model is a kind of very interesting amusement equipment and the vehicle that practicality is arranged very much.Because adopted single wheel traveling gear and handle control mechanism, this wheelbarrow system has simple in structure, controls conveniently the walking flexible characteristic; Again because adopted balance wheel (flywheel) system as balance control mechanism at left and right directions, and adopted balance control strategy at road wheel at fore-and-aft direction, this makes one also can not control this wheelbarrow system at an easy rate through the people of specialized training, so this wheelbarrow system can be widely used in amusement and recreation and traffic occasion such as ride instead of walk as the segway two-wheel car.
Three, the related wheelbarrow system of the utility model has Open architecture, and its all component unit all adopts idea of modular, can dismantle easily and change.The I﹠ M of system is convenient in this design, also helps the user and suitably reequips to increase new performance according to self-demand, and these characteristics are crucial for this wheelbarrow system as advantage one described teaching and scientific research platform.Promptly when the wheelbarrow system uses as robot, the user can be easily on the basis of attitude control that it had and moving equilibrium control other intelligent behavior and controllable function of further R and D.Such as, if in the wheelbarrow system, increase vision system and navigationsystem, just can make it become an autonomous robot system with vision guided navigation function.
Description of drawings
Fig. 1 is manned self-balancing wheelbarrow system and reference frame;
Fig. 2 is the constructional drawing () of manned self-balancing wheelbarrow system;
Fig. 3 is the constructional drawing (two) of manned self-balancing wheelbarrow system;
Fig. 4 is the electric system constructional drawing of manned self-balancing wheelbarrow;
Fig. 5 is the control system block diagram of manned self-balancing wheelbarrow;
Fig. 6 is the balance control principle of wheelbarrow system at fore-and-aft direction;
Fig. 7 is the balance control principle of wheelbarrow system at left and right directions.
The specific embodiment
Below in conjunction with Figure of description specific embodiment of the utility model is illustrated.
The georeferencing system of axes of setting up manned self-balancing wheelbarrow system as shown in Figure 1.Among the figure, with wheelbarrow road wheel 9 and ground-surface contact point is that the initial point of georeferencing system of axes is set up left-handed coordinate system, the Y-axis positive dirction is the working direction of wheelbarrow, and the X-axis positive dirction is the left direction of wheelbarrow, Z axle positive dirction be wheelbarrow when standing upward to.When turning to the left, according to the angle of its speed of advancing and turning, should there be a hope inclination angle of departing from the Z axle to the X-axis positive dirction on the XOZ plane for investigating the plane of wheelbarrow angle of heel degree on left and right directions in wheelbarrow is advancing process; Otherwise, when in wheelbarrow is advancing process, turning to the right, a hope inclination angle of departing from the Z axle to the X-axis negative direction is arranged then.When wheelbarrow is walked forward, according to its speed of advancing, should there be a hope inclination angle of departing from the Z axle to the Y-axis positive dirction on the YOZ plane for investigating wheelbarrow on the plane that has upwardly sloped front and rear sides angle; When wheelbarrow retreats, a hope inclination angle of departing from the Z axle to the Y-axis negative direction is arranged; When wheelbarrow fixed point balance (standing still), its hope inclination angle in the YOZ plane is 0 °, and promptly the axis of car body overlaps with the Z axle.
Manned self-balancing wheelbarrow of the present utility model system comprises walking unit and control unit two parts.
Walking unit pack including rack 6, road wheel mechanism and the balance wheel mechanism of manned self-balancing wheelbarrow, each part independently becomes an assembly, connects by screw, nut between the assembly, and Assembly ﹠Disassembly is very convenient.
See also Fig. 2, Fig. 3 and shown in Figure 4, rack section constitutes the body of robot, comprise the powerhouse dome 7 that is positioned at frame lower, be positioned at the controller cabin 5 of central rack, be positioned at the balance roller box 3 of upper rack, in balance roller box 3, be provided with balance wheel 42, be positioned at the sensor cabin 1 of frame top, and be used for the manned pedal 8 that the occupant stands, be used to control handle 2 of controlling wheelbarrow forward-reverse speed etc.
The single wheel traveling gear that road wheel mechanism adopts wheel hub motor to drive is installed in the below of frame, and road wheel 9 rotates in the yoz plane, makes wheelbarrow realize forward backward motion.
The electric system of manned self-balancing wheelbarrow comprises sensor module 11,3 parts such as control unit 51 and power supply 71, as shown in Figure 4.
See also Fig. 4, the control unit of manned self-balancing wheelbarrow 51 adopts digital signal processor DSPs as controller, and the servo-driven module 91 of controller, A/D and D/A converter, road wheel 9 and balance wheel 42 and 41 etc. all is arranged in the controller cabin 5.
The control system block diagram of manned self-balancing wheelbarrow as shown in Figure 5.Control system can be divided into two loops, i.e. road wheel control loop (shown in Fig. 5 bottom line) and balance wheel control loop (shown in Fig. 5 top line).
In the road wheel control loop, the occupant is by reversing the gait of march that control handle 2 given wheelbarrows are wished, zero windup-degree represent that the original place stands still, positive windup-degree are represented to advance, negative windup-degree are represented to retreat, the absolute value of windup-degree is big more, wishes that the absolute value of gait of march is just big more.Control system calculates wheelbarrow according to the gait of march of hope and wishes accordingly that on pitch orientation the inclination angle is as with reference to input, compare with the attitude information of wheelbarrow current time on pitch orientation that feeds back by obliquity sensor in the sensor module 11, obtain actual inclination angle and wish error amount between the inclination angle, use the road wheel control algorithm and obtain the current drive controlling amount of road wheel 9, rotate by road wheel servo-driven module 91 drive hub motors, thereby obtain the gait of march of wishing and at the balance quality of pitch orientation.
See also shown in Figure 6, in advancing process, wheelbarrow dumps forward, promptly in the YOZ plane when anticlockwise direction tilts an angle θ (greater than the hope inclination angle of current time wheelbarrow smooth running), control system calculates wheelbarrow current time (fore-and-aft direction) actual inclination angle and wish error amount between the inclination angle in the YOZ plane according to sensor information, calculate needed road wheel controlling quantity according to the road wheel control algorithm then, ground-engaging wheel 9 produces the angular acceleration ε that anti-clockwise is positive, make wheelbarrow quicken walking and return to the attitude (make the actual angle of inclination of wheelbarrow in the YOZ plane with wish that the angle of inclination is consistent) of hope, thereby obtain good dynamical equilibrium effect.Actual inclination angle is less than wishing the inclination angle in wheelbarrow advances process, and perhaps wheelbarrow actual inclination angle occurs and is greater than or less than when wishing the inclination angle situation in fallback procedures, and its control process similarly.
In the control loop of balance wheel 42, because the gait of march of wheelbarrow and angle of turn all exert an influence to its side direction balance quality, promptly the road wheel control loop has coupled relation to the balance wheel control loop, so need carry out decoupling zero control.Control system at first goes out wheelbarrow and wishes accordingly that on left and right directions the inclination angle is as with reference to input according to recorded the actual travel speed of current time wheelbarrow and angle of turn information calculations by inertial sensor in the sensor module 11, compare with the obliquity information of wheelbarrow current time on left and right directions that feeds back by obliquity sensor in the sensor module 11, obtain actual inclination angle on the left and right directions and wish error amount between the inclination angle, use the balance wheel control algorithm and obtain the current drive controlling amount of balance wheel 42, change the speed that balance wheel (flywheel) 42 rotates by balance wheel motor servo-driven module 41 drive hub motors, thereby make wheelbarrow obtain the balance quality of wishing at left and right directions.
See also Fig. 7 and carry out the principle of balance control about wheelbarrow at left and right directions, the case lid 4 of balance roller box 3 is opened among the figure, shows flywheel and wheel hub motor 42 thereof.When wheelbarrow is toppled over to the left, promptly in the XOZ plane when clockwise direction tilts an angle θ (greater than the hope inclination angle of current time wheelbarrow smooth running), control system calculates the wheelbarrow current time at actual inclination angle on the left and right directions and wish error amount between the inclination angle according to sensor information, calculate needed balance wheel controlling quantity according to the balance wheel control algorithm then, driven equilibrium wheel 42 produces a clockwise positive angular acceleration ε, so according to principle of conservation of momentum, wheelbarrow will obtain an anti-clockwise torque in the XOZ plane, be equivalent to obtain a power F that wheelbarrow is set upright, so just can so that the actual angle of inclination of wheelbarrow with wish that the angle of inclination is consistent, thereby obtain good dynamical equilibrium effect.Its control process similarly when wheelbarrow is toppled over to the left.In fact, realize that by balance wheel the method people of attitude control also often adopt as this in real life.When standing in as a people that balance beam (perhaps other narrow supporting plane) is gone up and being about to lack of equilibrium, people can subconsciously lift arm and brandish to restore balance from last adipping, at this moment, people's effect of brandishing arm is the same with the effect of wheelbarrow rotary balance wheel just.
See also Fig. 2, Fig. 3 and shown in Figure 4, power supply 71 is positioned at the powerhouse dome 7 of frame 6 bottoms, constitute by lithium cell and corresponding potential device, be used for wheel hub motor and servo-driven module 91 and 41 power supplies to control devices such as DSP, road wheel 9 and the balance wheel 42 of control unit 51.
Just as the turning operation of common wheelbarrow, the related manned wheelbarrow of the self-balancing system of the utility model reverses health by the occupant to realize turning motion, and the size of angle of turn is reversed the amplitude control of health by the occupant.
Because the road wheel 9 and the balance wheel 42 of the manned wheelbarrow of basis system all adopt its rotating of hub motor control, only otherwise do turning motion, balance wheel 42 just can not done to quicken or the deceleration gyroscopic movement, when advancing or retreat walking, the occupant only need just can make wheelbarrow stop to advance (fixed point balance stand) to point midway by reversing handle 2, so in this wheelbarrow system, do not need brake system, so just simplified the structure of system further and made easy and simple to handle.
For the purpose of safety; as long as detecting wheelbarrow tilting of car body angle, the obliquity sensor in the sensor module 11 (promptly thinks this moment or the occupant gets off greater than 30 °; occupant and wheelbarrow system can not restore balance and be about to); control system is automatic train stop immediately; road wheel 9 and balance wheel 42 are stopped operating, thus preventive device and personnel's safety.
When assembling, road wheel 9 is assembled to the bottom of frame 6, the axis of road wheel 9 is parallel with X-axis, and fastening with nut; In the balance roller box 3 on frame 6 tops, the axis of balance wheel 42 is parallel with Y-axis with balance wheel 42 and wheel hub motor assembled thereof, covers balance wheel case lid 4 and fastening with nut; Control handle 2 and manned pedal 8 are installed to the top and the bottom of frame 6 respectively, and fastening with screw.
With sensor module 11, comprise and be used to detect the double-shaft tilt angle sensor of wheelbarrow system at XOZ and YOZ plane leaning angle, and the inertial sensor that is used to detect wheelbarrow system speed of advance and angle of turn, being installed in the sensor cabin 1, outconnector is also built hatchcover; With control unit 51, comprise the DSP control system of burning program (containing A/D and D/A converter) and be used for the motor drive module 91 of ground-engaging wheel 9 wheel hub motors and be used for driven equilibrium taking turns the motor drive module 41 of 42 wheel hub motors and being installed to controller cabin 5 that outconnector is also built hatchcover; Power supply 71 (containing lithium cell and corresponding potential device) is installed in the powerhouse dome 7, and outconnector is also built hatchcover; The A/D converter that the obliquity sensor and the inertial sensor of sensor module 11 is connected to DSP control system in the control unit 51; The D/A converter of DSP control system is connected to the driver module 91 of road wheel wheel hub motor and the driver module 41 of balance wheel wheel hub motor, and these two motor drive modules are connected with cooresponding motor; The corresponding potential device of power-supply system 71 is connected with 41 with the wheel hub motor and the driver module 91 thereof of dsp chip, road wheel 9 and the balance wheel 42 of the obliquity sensor of sensor module 11 and inertial sensor, control unit 51 respectively.
If wheelbarrow system lack of equilibrium is then represented greater than 30 ° in the inclination angle of wheelbarrow system in XOZ or YOZ plane, (i.e. brake) is to avoid causing equipment or personnel's damage so all motors all shut down.Otherwise it is normally in service to represent that then the wheelbarrow system is in, and control system is carried out balance wheel control task and road wheel control task concurrently.System calculates the hope inclination angle of wheelbarrow on left and right directions according to the gait of march and the angle of turn of current wheelbarrow, calculating is in the deviation of wishing on the left and right directions between inclination angle and the actual inclination angle, operation balance wheel control algorithm calculates the control corresponding amount, and driven equilibrium wheel 42 changes rotating speed to obtain the left and right sides balance quality of expectation.Simultaneously, the wheelbarrow system relatively obtains the gait of march deviation with hope gait of march and the actual travel speed that the occupant is exported by operating handle 2, obtain the hope inclination angle of wheelbarrow system in conjunction with the angle of turn information calculations at fore-and-aft direction, compare at the actual inclination angle of fore-and-aft direction with the wheelbarrow system again and obtain angular deviation, operation road wheel control algorithm calculates the control corresponding amount, and ground-engaging wheel 9 changes rotating speed to obtain the anterior-posterior balance performance and the gait of march of expectation.
When using the robot of present embodiment, can operate as follows:
Mechanical part is installed; Electric system is installed; Confirm that being connected of machinery and electric system each several part is correct, reliable; Set upright the wheelbarrow system, make it be in approximate erectility; Turn on the power switch, system is started working, the wheelbarrow system is in the fixed point state of equilibrium; The hand steered handle 2 of occupant is on the manned pedal 8 of standing; Reverse control handle 2, make the wheelbarrow system begin manned walking, finish relevant traffic or play tasks; After finishing manned walking task, reverse control handle 2, make the wheelbarrow system be in the fixed point state of equilibrium to midway location; PTO Power Take Off is stopped the wheelbarrow system appropriate.
The manned wheelbarrow of self-balancing of the present utility model system has tangible dynamical equilibrium characteristics, because the characteristics of itself distinctive heterogeneous equilibrium control, in scientific research, amusement and field of traffic all have broad application prospects: except as the portable vehicle that have characteristic and the interesting converter tools, the utility model can also be as a kind of representative type Research on Intelligent Robots platform, on the basis of its comprehensive (all around) moving equilibrium function, add other function, such as vision, navigation etc. make it become a desirable intelligent independent robot research system.
Than the manned robot of other static balancing (as the four-wheel mobile robot), the utlity model has the distinguishing feature of autokinetic movement balance, promptly the manned walking process of wheelbarrow is a moving equilibrium control process independently.Because the kinematic mechanism of this system is that single wheel and ground are ways of contact, wheelbarrow is not limited inverted pendulum that stands on the xoy plane, and wheelbarrow may depart from axial 360 ° any one direction all around of z topples over.Therefore to make wheelbarrow (containing the occupant) stabilized walking, just must make system in the xoy plane in the motion and standstill process, fore-and-aft direction (yoz plane) and left and right directions (xoz plane) keep all the time dynamical equilibrium with keep its be in all the time erectility (when standing still) or near erectility (such as, in the straightaway process according to speed of travel forward direction inclination certain angle, or in the turning process according to the speed of turning and angle to turning lopsidedness certain angle).
Than the manned robot of other dynamic self-balancing (as two wheel mobile robot segway), the utlity model has the distinguishing feature of single wheel walking, mainly be presented as following 3 aspects: (1) as previously mentioned, wheelbarrow be front and back (yoz plane) and about the inverted pendulum of (xoz plane) 2 directions, segway is the inverted pendulum of (yoz plane) 1 direction in front and back then, and the difficulty of wheelbarrow balance control is bigger; (2) wheelbarrow is more simple as its structure of the manned vehicle, and the more maneuverability that moves adapts to more complex environment, field of application is wider, and as segway 2 to take turns the requirement of car road pavement planeness and broad degree higher, turn radius is also bigger, uses to be subjected to more restriction; (3) as converter tools, the wheelbarrow motion can be finished more skill, and is also more interesting, more attractive.Turn round such as the original place, directly walk, on balance beam, walk, even can also finish highly difficult variety show action such as tight-wire walking along utmost point narrow lane.
Claims (2)
1. the manned wheelbarrow of a self-balancing system comprises walking unit and control unit; It is characterized in that: the road wheel (9) of described walking unit is arranged on the below of system, the top of road wheel (9) is provided with frame (6), the top of frame (6) is provided with balance roller box (3), be provided with the balance wheel (42) of control left and right sides balance in the balance roller box (3), the top of balance roller box (3) is provided with the seesaw control handle (2) of speed of control wheelbarrow; Be provided with powerhouse dome (7) and controller cabin (5) in the described frame (6), described control handle (2) is connected on the sensor module (11);
Described control unit comprises: based on the motion control unit (51) of DSP, with motion control unit (51) bonded assembly control handle (2), the sensor module of forming by obliquity sensor, inertial sensor (11), and balance wheel wheel hub motor driver element (41) and road wheel wheel hub motor driver element (91);
The axis normal of the axis of described balance wheel (42) and road wheel (9) and non-intersect.
2. the manned wheelbarrow of self-balancing according to claim 1 system, it is characterized in that: two sides of described road wheel (9) are provided with manned pedal (8).
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010206501881U CN201907604U (en) | 2010-12-03 | 2010-12-03 | Self-balancing manned unicycle system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010206501881U CN201907604U (en) | 2010-12-03 | 2010-12-03 | Self-balancing manned unicycle system |
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| CN201907604U true CN201907604U (en) | 2011-07-27 |
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| CN2010206501881U Expired - Lifetime CN201907604U (en) | 2010-12-03 | 2010-12-03 | Self-balancing manned unicycle system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102717854A (en) * | 2012-07-05 | 2012-10-10 | 张军凯 | Self-balanced single-wheel electric vehicle |
| CN103253152A (en) * | 2013-05-14 | 2013-08-21 | 杭州亿脑智能科技有限公司 | Method for determining torque of motor of balance car |
| CN110155192A (en) * | 2018-03-22 | 2019-08-23 | 洪定生 | Use the front and back wheel balance car of inertial flywheel structure |
-
2010
- 2010-12-03 CN CN2010206501881U patent/CN201907604U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102717854A (en) * | 2012-07-05 | 2012-10-10 | 张军凯 | Self-balanced single-wheel electric vehicle |
| CN103253152A (en) * | 2013-05-14 | 2013-08-21 | 杭州亿脑智能科技有限公司 | Method for determining torque of motor of balance car |
| CN110155192A (en) * | 2018-03-22 | 2019-08-23 | 洪定生 | Use the front and back wheel balance car of inertial flywheel structure |
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Granted publication date: 20110727 |
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