US 11,054,209 B2
Two-wheel balancing vehicle
Yiqi Chen, Shenzhen (CN); Fang Liu, Shenzhen (CN); and Zihan Wei, Shenzhen (CN)
Assigned to SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Nov. 14, 2019, as Appl. No. 16/683,733.
Application 16/683,733 is a continuation of application No. PCT/CN2017/091272, filed on Jun. 30, 2017.
Prior Publication US 2020/0096281 A1, Mar. 26, 2020
Int. Cl. F41A 23/30 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 19/00 (2006.01); F41H 7/00 (2006.01); G05D 1/08 (2006.01)
CPC F41A 23/30 (2013.01) [B25J 9/162 (2013.01); B25J 11/002 (2013.01); B25J 19/0008 (2013.01); F41H 7/005 (2013.01); G05D 1/0891 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A two-wheel balancing vehicle, comprising:
a chassis comprising one or more mounting interfaces configured to detachably mount one or more fighting modules for robotic competition;
two wheel assemblies respectively mounted at a left side and a right side of the chassis, each of the two wheel assemblies comprising a wheel and a driving motor drivingly connected with the wheel and mounted to the chassis;
an inertial measurement unit; and
a control system communicatively connected with the inertial measurement unit and the driving motor, the control system configured to receive sensing signals provided by the inertial measurement unit and to control a balancing state of the two-wheel balancing vehicle, wherein:
the inertial measurement unit and the control system are mounted to the chassis;
the fighting module for robotic competition comprises one or more of a shooting module, a gimbal module, a sensor module, and a mechanical arm module; and
the shooting module comprises:
a mounting shaft configured to detachably mount in the mounting interface;
an ammunition storage box configured to mount to the mounting shaft and to store bullets;
a launcher configured to rotatably connect with the mounting shaft and to launch the bullets; and
two friction wheels provided on two sides of a shooting entry port of the launcher opposing each other, wherein:
the ammunition storage box and the launcher are connected through a conduit; and
a launching channel for launching the bullets is formed between the two friction wheels.
 
10. A two-wheel balancing vehicle, comprising:
a chassis comprising one or more mounting interfaces configured to detachably mount one or more fighting modules for robotic competition;
two wheel assemblies respectively mounted at a left side and a right side of the chassis, each of the two wheel assemblies comprising a wheel and a driving motor drivingly connected with the wheel and mounted to the chassis;
an inertial measurement unit;
a control system communicatively connected with the inertial measurement unit and the driving motor, the control system configured to receive sensing signals provided by the inertial measurement unit and to control a balancing state of the two-wheel balancing vehicle; and
a referee system configured to sense a signal indicating that the two-wheel balancing vehicle is under attack by another two-wheel balancing vehicle or another fighting vehicle,
wherein the inertial measurement unit and the control system are mounted to the chassis, and
wherein the control system is configured to:
control an operating parameter of the driving motor to control the balance state of the two-wheel balancing vehicle, the operating parameter of the driving motor comprising one or more of: a rotation speed, a rotation direction, and an acceleration; and
communicatively connect with the referee system, and to transmit an alarm signal to an alarming system based on a sensing signal received from the referee system.