CN108919822A - Fall apparatus for correcting - Google Patents
Fall apparatus for correcting Download PDFInfo
- Publication number
- CN108919822A CN108919822A CN201810775249.8A CN201810775249A CN108919822A CN 108919822 A CN108919822 A CN 108919822A CN 201810775249 A CN201810775249 A CN 201810775249A CN 108919822 A CN108919822 A CN 108919822A
- Authority
- CN
- China
- Prior art keywords
- motor
- balancer
- shell
- computer module
- machine controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005484 gravity Effects 0.000 claims abstract description 20
- 230000001133 acceleration Effects 0.000 claims abstract description 12
- 230000005611 electricity Effects 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
One kind falling apparatus for correcting, by acceleration transducer, gravity sensor, balancer and micro computer module composition, balancer is made of two mutually perpendicular rectifiers of center line, rectifier is by shell, idler wheel, motor and electric machine controller composition, shell is cylindrical, on the inside of the shell of motor installation, the shaft centerline of motor and the center line of shell coincide, idler wheel is mounted in the shaft of motor, electric machine controller can control the rotation direction and revolving speed of motor, the input electricity grade of motor is connected on power supply through electric machine controller, balancer is mounted on the object for needing to be corrected when falling；The signal input part of electric machine controller is connected to the signal output end of micro computer module, and the signal output end of acceleration transducer and gravity sensor is connected to the signal input part of micro computer module.During the object where its balancer falls, correction can be quickly balanced to it, so that it keeps balance in landing.
Description
Technical field
One kind falling apparatus for correcting.
Background technique
The equipment such as sweeping robot, unmanned plane, remote-control car in walking or flight course, may because of various reasons and
Appearance the case where falling from eminence, if its balance cannot be made in falling process, be likely to result in its cannot walk on or
Flight, or even will cause its damage.
Summary of the invention
In order to solve the problems, such as some objects in falling process it cannot be guaranteed that its balance, the present invention provide one kind fall it is strong
Equipment.Object where the micro computer module for falling apparatus for correcting detects balancer by acceleration transducer is falling
When falling, i.e., gravity direction is detected by gravity sensor, while two rectifiers on balancer are controlled according to gravity direction and are borrowed
Helping the reaction force of rotation roller makes object balance.
The technical solution adopted by the present invention to solve the technical problems is：This fall apparatus for correcting by acceleration transducer,
Gravity sensor, balancer and micro computer module composition, balancer are made of two mutually perpendicular rectifiers of center line, are corrected
Device is made of shell, idler wheel, motor and electric machine controller, and shell is cylindrical, on the inside of the shell of motor installation, the shaft of motor
The center line of center line and shell coincides, and idler wheel is mounted in the shaft of motor, and electric machine controller can control the rotation of motor
The input electricity grade of direction and revolving speed, motor is connected on power supply through electric machine controller, balancer be mounted on needs when falling into
On the object of row correction；The signal input part of electric machine controller is connected to the signal output end of micro computer module, acceleration sensing
The signal output end of device and gravity sensor is connected to the signal input part of micro computer module；When micro computer module passes through acceleration
Sensor detect balancer where object when falling, i.e., gravity direction, while basis are detected by gravity sensor
Two rectifiers on gravity direction control balancer make object balance by the reaction force of rotation roller.
The invention has the advantages that can quickly be carried out to it during the object where its balancer falls
Balance correction, so that it keeps balance in landing.
Detailed description of the invention
The following further describes the present invention with reference to the drawings.
Fig. 1 is the composed structure schematic top plan view of balancer in the present invention.
In figure（1）Idler wheel,（2）Shaft,（3）Shell,（4）Motor,（5）Shaft,（6）Idler wheel,（7）Motor,（8）Shell.
Specific embodiment
This falls apparatus for correcting and is made of acceleration transducer, gravity sensor, balancer and micro computer module, balancer
It is made of two mutually perpendicular rectifiers of center line, rectifier is by shell（3）（8）, idler wheel（1）（6）, motor（4）（7）And electricity
Machine controller composition, shell is cylindrical, on the inside of the shell of motor installation, the shaft of motor（2）（5）In center line and shell
Heart line coincides, and idler wheel is mounted in the shaft of motor, and electric machine controller can control the rotation direction and revolving speed of motor, motor
It inputs electric grade to be connected on power supply through electric machine controller, balancer is mounted on the object for needing to be corrected when falling；Electricity
The signal input part of machine controller is connected to the signal output end of micro computer module, the letter of acceleration transducer and gravity sensor
Number output end is connected to the signal input part of micro computer module；When micro computer module detects balancer by acceleration transducer
When the object at place is falling, i.e., gravity direction is detected by gravity sensor, while balancer is controlled according to gravity direction
On two rectifiers make object balance by the reaction force of rotation roller.
Disclosed above is only the specific embodiment of the application, and however, this application is not limited to this, any this field
The thinkable variation of technical staff, should all fall into the protection scope of the application.
Claims (1)
1. one kind falls apparatus for correcting, it is made of acceleration transducer, gravity sensor, balancer and micro computer module, it is special
Sign is：Balancer is made of two mutually perpendicular rectifiers of center line, and rectifier is by shell, idler wheel, motor and motor control
Device composition, shell is cylindrical, and on the inside of the shell of motor installation, the shaft centerline of motor and the center line of shell coincide,
Idler wheel is mounted in the shaft of motor, and electric machine controller can control the rotation direction and revolving speed of motor, the input electricity grade warp of motor
Electric machine controller is connected on power supply, and balancer is mounted on the object for needing to be corrected when falling；Electric machine controller
Signal input part is connected to the signal output end of micro computer module, the signal output end company of acceleration transducer and gravity sensor
Connect the signal input part in micro computer module；Object where micro computer module detects balancer by acceleration transducer
When falling, i.e., gravity direction is detected by gravity sensor, while two controlled on balancer according to gravity direction are strong
Positive device makes object balance by the reaction force of rotation roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810775249.8A CN108919822A (en) | 2018-07-16 | 2018-07-16 | Fall apparatus for correcting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810775249.8A CN108919822A (en) | 2018-07-16 | 2018-07-16 | Fall apparatus for correcting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108919822A true CN108919822A (en) | 2018-11-30 |
Family
ID=64413951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810775249.8A Pending CN108919822A (en) | 2018-07-16 | 2018-07-16 | Fall apparatus for correcting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108919822A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103189267A (en) * | 2010-03-16 | 2013-07-03 | Lit汽车公司 | Gyroscopic stabilized vehicle |
| CN103453287A (en) * | 2013-07-02 | 2013-12-18 | 南京工业职业技术学院 | Electronic stability augmentation platform |
| US20150153734A1 (en) * | 2004-09-13 | 2015-06-04 | Deka Products Limited Partnership | Control of a personal transporter based on user position |
| CN104834316A (en) * | 2015-04-10 | 2015-08-12 | 北京航天自动控制研究所 | Attitude holding method of strapdown inertial measurement unit in long-time standby process under vehicular environment |
| CN107922025A (en) * | 2015-08-10 | 2018-04-17 | 北京凌云智能科技有限公司 | Self-balancing carrier |
-
2018
- 2018-07-16 CN CN201810775249.8A patent/CN108919822A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150153734A1 (en) * | 2004-09-13 | 2015-06-04 | Deka Products Limited Partnership | Control of a personal transporter based on user position |
| CN103189267A (en) * | 2010-03-16 | 2013-07-03 | Lit汽车公司 | Gyroscopic stabilized vehicle |
| CN103453287A (en) * | 2013-07-02 | 2013-12-18 | 南京工业职业技术学院 | Electronic stability augmentation platform |
| CN104834316A (en) * | 2015-04-10 | 2015-08-12 | 北京航天自动控制研究所 | Attitude holding method of strapdown inertial measurement unit in long-time standby process under vehicular environment |
| CN107922025A (en) * | 2015-08-10 | 2018-04-17 | 北京凌云智能科技有限公司 | Self-balancing carrier |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181130 |