CN114872822A - Bicycle self-balancing device and control system thereof - Google Patents
Bicycle self-balancing device and control system thereof Download PDFInfo
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- CN114872822A CN114872822A CN202210518714.6A CN202210518714A CN114872822A CN 114872822 A CN114872822 A CN 114872822A CN 202210518714 A CN202210518714 A CN 202210518714A CN 114872822 A CN114872822 A CN 114872822A
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- 238000004891 communication Methods 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 8
- 230000003068 static effect Effects 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims description 10
- 102100031786 Adiponectin Human genes 0.000 claims description 5
- 101000775469 Homo sapiens Adiponectin Proteins 0.000 claims description 5
- 238000002474 experimental method Methods 0.000 claims description 4
- 238000004088 simulation Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
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- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H1/00—Supports or stands forming part of or attached to cycles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/80—Accessories, e.g. power sources; Arrangements thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H2700/00—Supports or stands for two-wheel vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a bicycle self-balancing device and a control system thereof. The master control system comprises a master controller, a serial port display screen and a communication module; the driving system comprises a driving motor and a motor controller, and the bicycle is controlled to move forwards and stop through a serial port remote controller and a mobile phone; the steering system comprises a steering motor and a speed reducer consisting of a large pinion and a small pinion which are meshed with each other, and the steering motor controls the head of the bicycle to rotate through the rotation of the speed reducer; the auxiliary balance system comprises a shell device, an electric screw rod, an auxiliary supporting leg and an auxiliary wheel and is used for assisting in controlling the balance of the bicycle. The main controller detects the inclination angle and the angular speed of the bicycle body, and the inclination angle of the bicycle is recovered to the angle value of the balance state of the bicycle through angle and position closed-loop control according to the inclination angle and the angular speed, so that the bicycle can realize high-speed motion balance and also can realize low-speed motion balance and static balance.
Description
Technical Field
The invention relates to the technical field of new technology and automatic control, in particular to a bicycle self-balancing device and a control system thereof.
Background
In recent years, with the arrival of the artificial intelligence era, the development of the technology of the automatic driving automobile is typical of the artificial intelligence application, compared with the automatic driving automobile, the bicycle is the most popular in use by the public, the most extensive means of transportation can freely pass through the place where the automobile is not easy to pass through, and the automatic driving bicycle has the advantages of simple structure, light and flexible performance, easy operation, energy conservation, environmental protection and the like, and the self-balancing of the bicycle is realized on the premise of realizing the automatic driving of the bicycle.
Most of the current research on self-balancing of bicycles focuses on theoretical research, and experiments performed by partial scholars are simple tests on simplified bicycle models, so that bicycle self-balancing experiments performed by conventional bicycles as experimental objects are relatively few, the motion balance of the bicycles is only under the condition that the bicycles run forwards, and the self-balancing of the bicycles cannot be realized under the conditions of low speed and static conditions.
Disclosure of Invention
The invention aims to provide a bicycle self-balancing device and a control system thereof, which can realize the motion balance of a bicycle, and also can realize the balance in a low-speed state and the static balance.
A bicycle self-balancing device and a control system thereof comprise a bicycle body, a main control system, a driving system, a steering system, an auxiliary balancing system and a power supply system;
the master control system comprises a serial port display screen, a master controller and a communication module, wherein the communication module comprises a wireless serial port remote controller, a wireless receiver, a Bluetooth receiving module and a mobile phone;
the driving system comprises a driving motor and a motor controller, and the steering system comprises a steering motor and a speed reducer formed by meshing a large gear and a small gear;
the auxiliary balance system comprises a shell device, an electric screw, an auxiliary supporting leg and an auxiliary wheel;
the power supply system comprises a power supply and an ACDC module.
The driving motor is connected with the motor controller, the main controller sends PWM signals to a rotating handle line of the motor controller to enable the driving wheel 15 to rotate, and the main controller captures pulse signals of a motor Hall line of the motor controller to detect the running speed of the bicycle.
The steering motor is connected with the head of the bicycle through the speed reducer to control the rotating speed and angle of the head, and the main controller is connected with the encoder of the steering motor to detect the speed and position of the steering motor.
The electric screw rod pass through the nut and be connected with supplementary landing leg, both ends are fixed in the shell device about the electric screw rod, supplementary landing leg lower extreme is connected with the auxiliary wheel, the shell device plays the effect of protecting whole balanced system, the electric screw rod is connected with the relay, the relay is connected with main control unit, the break-make through main control unit control relay controls the electric screw rod and rises and descends, drives the auxiliary wheel and rises and descend with supplementary landing leg.
The serial port display screen is in serial port communication with the main controller, and displays state information of the bicycle in the running process, such as the running speed of the bicycle, the steering speed and angle of the head of the bicycle and the electric quantity of a power supply; controlling the motion state of the bicycle through the serial port display screen in the running process; the wireless serial port remote controller can carry out remote control, the wireless receiver is connected with a serial port of the main controller, the wireless serial port remote controller sends a remote control signal, the wireless receiver receives the remote control signal and transmits the remote control signal to the main controller through serial port communication, and the main controller analyzes a serial port protocol to control the movement of the bicycle; the cell-phone carries out closely remote control, and the control software of cell-phone communicates through bluetooth and bluetooth receiving module, and bluetooth receiving module carries out serial communication with main control unit, and the cell-phone sends remote control signal, and bluetooth receiving module receives the signal that the cell-phone sent, transmits through serial communication for main control unit, and the master controller analyzes the serial protocol, and then controls the bicycle motion.
The power supply system is connected with the main control system, the steering system, the driving system and the auxiliary balance system and used for providing electric energy.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a bicycle self-balancing device and a control system thereof, which enable a bicycle to generate a balancing device of a left-right direction restoring force through a steering motor to adjust the balance of the bicycle, a main controller detects the inclination angle and the angular speed of a bicycle body, and the inclination angle of the bicycle is restored to the angle value of the balance state of the bicycle through angle and position closed-loop control according to the inclination angle and the angular speed, so that the bicycle can realize high-speed motion balance and also can realize low-speed motion balance and static balance.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic view of the overall structure of a bicycle self-balancing device and a control system thereof according to the present invention.
FIG. 2 is a schematic diagram of a control system of a bicycle self-balancing device and a control system thereof according to the present invention.
FIG. 3 is a schematic diagram of a closed loop control of a bicycle self-balancing device and a control system thereof according to the present invention.
1. The display device comprises a serial display screen, 2, a main controller, 3, a wireless serial remote controller, 4, a mobile phone, 5, a driving motor, 6, a motor controller, 7, a steering motor, 8, a shell device, 9, an electric screw, 10, auxiliary supporting legs, 11, auxiliary wheels, 12, a power supply, 13, a speed reducer, 14, a bicycle head, 15, driving wheels, 16, a bicycle body, 17, a Bluetooth receiving module, 18, a wireless receiver, 19, a relay, 20 and an ACDC module.
Detailed Description
The invention is further described with reference to the following examples and accompanying drawings. Wherein "first," "second," etc. are used in a descriptive sense only and not for purposes of limitation, and the term "coupled" is to be interpreted broadly, including mechanically, electrically, communicatively, etc.
Fig. 2 is a schematic connection diagram of the control system of the present invention, and the arrow direction indicates the power supply and signal transmission directions. The invention relates to a bicycle self-balancing device and a control system thereof, which comprise a bicycle body 16, a main control system, a driving system, a steering system, an auxiliary balancing system and a power supply system. The functions of the respective systems and the connections therebetween will be explained below.
The steering motor 7 in the self-balancing bicycle steering system is parallel to the front shaft of the bicycle and is vertically placed at the front end of the front shaft of the bicycle in an inverted mode, the lower end of the steering motor 7 is fixed with the front shaft of the bicycle through a U-shaped plate, and the middle of the U-shaped plate is perforated and fixed through screws. The upper end of the steering motor 7 is fixed with the mounting bracket through screws, the mounting bracket is welded with a mounting shell at the front end of the bicycle and is connected with the bicycle head 14 through a speed reducer 13, a rotating shaft of the steering motor 7 rotates, and the bicycle head 14 can steer left and right.
A motor controller 6 in the driving system is fixed below a bicycle seat through screws, a power supply 12 in the power supply system and a main controller 2 in the control system are fixed on an oblique beam of a tripod, and a serial display screen 1 is fixed on a handlebar.
The upper ends of two side plates of an auxiliary balance system shell device 8 are perforated through screws and fixed, an auxiliary supporting leg 10 is connected with a bearing on an electric screw 9, the bearing on the electric screw 9 drives the auxiliary supporting leg 10 to ascend or descend, the lower ends of the two side plates of the shell device 8 are grooved, the auxiliary supporting leg 10 enters and exits from the grooves, an installation base is fixed below the shell device 8 and used for fixing the electric screw 9 in the shell device 8, the upper end of the electric screw 9 is fixed through a rectangular support, and the left side and the right side are perforated and fixed through the screws and the side plates of the shell device 8.
A bicycle self-balancing device and a control system thereof, wherein the control method of the control system comprises the following steps:
the power supply 12 is switched on, the ACDC module 20 is used for respectively supplying power to the steering motor 7, the motor controller 6, the main controller 2 and the electric screw 9, and whether the power supply and the bicycle state information of each part of the system are normal or not is checked through the control software of the mobile phone 4 and the serial display screen 1;
acquiring attitude simulation information of the bicycle through an attitude sensor module in the main controller 2, directly converting the acquired attitude simulation information into digital quantity, transmitting the attitude information to control software of the serial port display screen 1 and the mobile phone 4 from a corresponding register channel, calibrating the attitude sensor module before an experiment is started, and reading data of the attitude sensor module in real time;
before the bicycle starts to run, the main controller 2 controls the electric screw 9 to start to be electrified through the relay 19, and controls the auxiliary supporting leg 10 to descend, so that the auxiliary wheel 11 is in contact with the ground, the bicycle is supported, and the bicycle is prevented from falling down in a static state; the wireless serial port remote controller 3 controls the bicycle to start moving, when the bicycle starts to run, the main controller 2 captures the pulse number of a Hall signal wire of the motor controller 6, calculates the running speed of the bicycle, maintains the bicycle at a set speed through speed closed-loop control, and controls the electric screw 9 to start reverse energization through the relay 19 by the main controller 2 to control the auxiliary supporting leg 10 to ascend so that the auxiliary wheel 11 ascends;
during the running process of the bicycle, an attitude sensor module in the main controller 2 detects the inclination angle and the inclined angular velocity of the bicycle, the rotation of the bicycle head 14 is controlled according to the inclination angle, the bicycle body 16 is continuously returned to a balanced state and kept, the inclination angle on the bicycle is restored to the angular value of the balanced state of the bicycle through closed-loop control, the bicycle head 14 cannot move leftwards and rightwards or rotate infinitely, therefore, the rotating angle is controlled and limited during the rotation process of the bicycle head 14, when the bicycle needs to be stopped, the wireless serial port remote controller 3 gradually reduces the speed of the bicycle, when the running speed of the bicycle is reduced to a set speed lower limit, the main controller 2 controls the electric screw 9 to start electrifying through the relay 19, controls the auxiliary supporting legs 10 to descend, and enables the auxiliary wheels 11 to be in contact with the ground, the wireless serial remote controller 3 and the control software of the mobile phone 4 send out a braking instruction, the main controller 2 sends out a braking signal to a brake cable of the motor controller 6, and the bicycle stops;
the closed-loop control is divided into a position closed loop and an angle closed loop, the position closed loop control is carried out according to the measured position and the target position of the bicycle head 14, the target angle is output, the angle closed loop control is carried out according to the target angle and the measured angle detected by the main controller 2, and the steering motor 7 is controlled to rotate the head 14 for balance control.
Claims (7)
1. A bicycle self-balancing device and a control system thereof are characterized by comprising a bicycle body (16), a main control system, a driving system, a steering system, an auxiliary balancing system and a power supply system;
the master control system comprises a serial port display screen (1), a master controller (2) and a communication module, wherein the communication module comprises a wireless serial port remote controller (3), a wireless receiver (18), a Bluetooth receiving module (17) and a mobile phone (4);
the driving system comprises a driving motor (5) and a motor controller (6), and the steering system comprises a steering motor (7) and a speed reducer (13) formed by meshing a large gear and a small gear;
the auxiliary balance system comprises a shell device (8), an electric screw (9), an auxiliary supporting leg (10) and an auxiliary wheel (11);
the power supply system includes a power supply (12) and an ACDC module (20).
2. The self-balancing apparatus of claim 1, wherein: the bicycle driving device is characterized in that the driving motor (5) is connected with the motor controller (6), the main controller (2) sends PWM wave signals to a rotating handle line of the motor controller (6) to enable the driving wheel (15) to rotate, the main controller (2) captures pulse signals of a motor Hall line of the motor controller (6), and the driving speed of the bicycle is detected.
3. The self-balancing apparatus of claim 1, wherein: the steering motor (7) is connected with a bicycle head (14) through a speed reducer (13) to control the rotating speed and angle of the bicycle head (14), and the main controller (2) is connected with an encoder of the steering motor (7) to detect the speed and position of the steering motor (7).
4. The self-balancing apparatus of claim 1, wherein: electric screw (9) be connected through nut and auxiliary leg (10), both ends are fixed in shell device (8) about electric screw (9), auxiliary leg (10) lower extreme is connected with auxiliary wheel (11), shell device (8) play the effect of protecting whole balanced system, electric screw (9) are connected with relay (19), relay (19) are connected with main control unit (2), the break-make through main control unit (2) control relay (19) controls electric screw (9) and rises and descend, it rises and descends to drive auxiliary wheel (11) and auxiliary leg (10).
5. The self-balancing apparatus of claim 1, wherein: the serial port display screen (1) is in serial port communication with the main controller (2), and the serial port display screen (1) displays state information of the bicycle in the running process, such as the running speed of the bicycle, the steering speed and angle of a head (14) and the electric quantity of a power supply (12); the motion state of the bicycle is controlled through the serial port display screen (1) in the running process; the wireless serial port remote controller (3) can carry out remote control, the wireless receiver (18) is connected with a serial port of the main controller (2), the wireless serial port remote controller (3) sends a remote control signal, the wireless receiver (18) receives the remote control signal and transmits the remote control signal to the main controller (2) through serial port communication, and the main controller (2) analyzes a serial port protocol and controls the bicycle to move; cell-phone (4) carry out closely remote control, the control software of cell-phone (4) communicates through bluetooth and bluetooth receiving module (17), bluetooth receiving module (17) carries out serial communication with main control unit (2), cell-phone (4) send remote control signal, bluetooth receiving module (17) receive the signal that cell-phone (4) sent, give main control unit (2) through serial communication transmission, main control unit (2) analysis serial protocol, and then control bicycle automobile body (16) motion.
6. The self-balancing apparatus of claim 1, wherein: the power supply system is connected with the main control system, the steering system, the driving system and the auxiliary balance system and used for providing electric energy.
7. A bicycle self-balancing device and a control system thereof are characterized in that the control method of the control system comprises the following steps:
a power supply (12) is conducted, power is respectively supplied to a steering motor (7), a motor controller (6), a main controller (2) and an electric screw (9) through an ACDC module (20), and whether power supply and bicycle state information of each part of the system are normal or not is checked through control software of a mobile phone (4) and a serial display screen (1);
acquiring attitude simulation information of the bicycle through an attitude sensor module in the main controller (2), directly converting the acquired attitude simulation information into digital quantity, transmitting the attitude information to control software of the serial port display screen (1) and the mobile phone (4) from a corresponding register channel, calibrating the attitude sensor module before an experiment is started, and reading data of the attitude sensor module in real time;
before the bicycle starts to run, the main controller (2) controls the electric screw (9) to start to be electrified through the relay (19) and controls the auxiliary supporting leg (10) to descend, so that the auxiliary wheel (11) is in contact with the ground, the bicycle is supported, and the bicycle is prevented from falling down in a static state; the wireless serial port remote controller (3) controls the bicycle to start moving, when the bicycle starts to run, the main controller (2) captures the pulse number of a Hall signal wire of the motor controller (6), the running speed of the bicycle is calculated, the bicycle is maintained at a set speed through speed closed-loop control, the main controller (2) controls the electric screw (9) to start reverse power-on through a relay (19), and the auxiliary supporting leg (10) is controlled to ascend, so that the auxiliary wheel (11) is lifted;
during the running process of the bicycle, an attitude sensor module in a main controller (2) detects the inclination angle and the inclined angular speed of the bicycle, the rotation of a bicycle head (14) is controlled according to the inclination angle, a bicycle body (16) is continuously returned to a balanced state and kept, the inclination angle of the bicycle is recovered to the angle value of the bicycle balanced state through closed-loop control, the bicycle head (14) cannot move left and right or rotate infinitely, and therefore, the rotating angle is controlled and limited during the rotation process of the bicycle head (14); when the bicycle needs to be stopped, the wireless serial remote controller (3) enables the speed of the bicycle to be gradually reduced, when the running speed of the bicycle is reduced to a set speed lower limit, the main controller (2) controls the electric screw (9) to start to be electrified through the relay (19) to control the auxiliary supporting leg (10) to descend, so that the auxiliary wheel (11) is contacted with the ground, the control software of the wireless serial remote controller (3) and the mobile phone (4) sends a braking instruction, the main controller (2) sends a braking signal to a braking wire of the motor controller (6), and the bicycle stops;
the closed-loop control is divided into a position closed loop and an angle closed loop, the position closed-loop control is carried out according to the measurement position and the target position of the bicycle head (14), the target angle is output, the angle closed-loop control is carried out according to the target angle and the measurement angle detected by the main controller (2), and the steering motor (7) is controlled to rotate the bicycle head (14) for balance control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210518714.6A CN114872822A (en) | 2022-05-12 | 2022-05-12 | Bicycle self-balancing device and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210518714.6A CN114872822A (en) | 2022-05-12 | 2022-05-12 | Bicycle self-balancing device and control system thereof |
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| Publication Number | Publication Date |
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| CN114872822A true CN114872822A (en) | 2022-08-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210518714.6A Pending CN114872822A (en) | 2022-05-12 | 2022-05-12 | Bicycle self-balancing device and control system thereof |
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| CN (1) | CN114872822A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115489654A (en) * | 2022-09-27 | 2022-12-20 | 广西汽车集团有限公司 | Dynamic self-balancing auxiliary system of bicycle |
| CN116489261A (en) * | 2023-04-17 | 2023-07-25 | 科莱德(惠州)电子有限公司 | Control method, device and equipment of multifunctional vehicle-mounted auxiliary equipment and storage medium |
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| CN106080941A (en) * | 2016-08-04 | 2016-11-09 | 清华大学 | A kind of unmanned bicycle realizing speed change balance control |
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| CN111284629A (en) * | 2020-02-28 | 2020-06-16 | 山东建筑大学 | Self-balancing bicycle and control method thereof |
| CN111361681A (en) * | 2020-03-19 | 2020-07-03 | 北京大学 | Device and method capable of realizing self-balancing of bicycle and bicycle |
| CN113978589A (en) * | 2021-12-15 | 2022-01-28 | 山东陀螺电子科技股份有限公司 | Self-balancing unmanned bicycle |
| JP2022038419A (en) * | 2020-08-26 | 2022-03-10 | アール株式会社 | Auxiliary wheel |
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| CN2298185Y (en) * | 1997-08-21 | 1998-11-25 | 罗子宜 | Automatic lifting device for motocycle studdle |
| JP2013212232A (en) * | 2012-04-01 | 2013-10-17 | Tamaden Kogyo Kk | Unmanned two-wheeler with attitude control |
| CN106080941A (en) * | 2016-08-04 | 2016-11-09 | 清华大学 | A kind of unmanned bicycle realizing speed change balance control |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115489654A (en) * | 2022-09-27 | 2022-12-20 | 广西汽车集团有限公司 | Dynamic self-balancing auxiliary system of bicycle |
| CN116489261A (en) * | 2023-04-17 | 2023-07-25 | 科莱德(惠州)电子有限公司 | Control method, device and equipment of multifunctional vehicle-mounted auxiliary equipment and storage medium |
| CN116489261B (en) * | 2023-04-17 | 2024-04-09 | 科莱德(惠州)电子有限公司 | Control method, device and equipment of multifunctional vehicle-mounted auxiliary equipment and storage medium |
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Application publication date: 20220809 |
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| RJ01 | Rejection of invention patent application after publication |