36results about How to "With self-balancing function" patented technology

The invention discloses a self-balancing rock all-end-surface true triaxial compression test device, which consists of a triaxial cell, a four link plate mechanism, a sigma 1 loading transfer system, a sigma 2 loading transfer system and a sigma 3 loading transfer system. The device is characterized in that the sigma 1 loading transfer system is positioned at the upper end of the triaxial cell and is connected with the triaxial cell through a piston in a sigma 1 direction; the sigma 2 loading transfer system is positioned at the side end of the triaxial cell and is connected with the triaxial cell through a piston in a sigma 2 direction; the sigma 3 loading transfer system is connected with the triaxial cell through a drain hole and a water inlet hole; and the four link plate mechanism is positioned inside the triaxial cell. The device can perform a plurality of tests on various rocks, and perform true triaxial compression tests on most of soluble rocks and undissolved rocks; the device can apply unidirectional pressure through water solution, and can perform a stress-dissolution coupling test on the soluble rocks; and the device can apply the stress on all end surfaces of a rock specimen to truly reflect the load bearing state of a rock body; and the test device has a simple structure, is easy to operate, and has a self-balancing function.

The invention relates to a fatigue test device for an outer front flap and joint test piece. The device comprises: an integral test bench; a pulley seat assembly supporting structure, an actuator cylinder fixing cross beam and a lever support supporting structure which are fixed on the test bench; a test piece supporting structure which is fixed on the test bench; a front joint loading mechanism which can apply a load to the front joint through a front joint loading actuator cylinder and a lever; and a rear joint loading mechanism which can apply a lateral load to a rear joint through a lateral loading actuator cylinder, can apply a course load to the rear joint through a course loading actuator cylinder, and can convert the applied vertical load into the course load to the rear joint through a vertical loading actuator cylinder and a pulley. According to the invention, the fatigue test function and loading requirements of the outer front flap and the joint can be met, effective test piece boundary condition simulation is carried out, and the rigidity and strength requirements of the test are met.

The invention belongs to the field of mechanical equipment special for mountain tunnel engineering construction and provides a two-arm and two-basket steel arch mounting machine and a steel arch construction method used for a tunnel. The two-arm and two-basket steel arch mounting machine comprises a chassis, a cab, a power system and a control system. The chassis is parallelly provided with two sliding racks which are both slidably provided with sliding supports in a matched mode. All the sliding supports are each provided with a basket arm and a basket. The two sliding racks are provided with fixing supports. All the fixing supports are each provided with a working arm and a clamp head. By adoption of the two-arm and two-basket steel arch mounting machine and the steel arch construction method, mechanization of steel arch mounting and splicing work in tunnel set construction is effectively achieved, tunnel construction efficiency is greatly improved, tunnel construction progress is accelerated, the construction period is shortened, cost is saved, tunnel construction safety is greatly improved, personnel labor intensity is relieved, operation convenience in a construction process is optimized, and the mechanization, set and informatization development progress of tunnel construction is promoted.

The invention discloses a self-balancing unmanned bicycle and a control method thereof. The self-balancing unmanned bicycle comprises a bicycle, a sensor module, a handlebar control module, a vehiclebody middle control module and a vehicle body rear control module. The control method comprises self-balancing control and unmanned control. Realization of self-balancing comprises simulation modeling, automatic modeling and intelligent modeling; the step of unmanned control comprises the content of selecting a desired bicycle variable according to the target motion state, and unmanned driving ofthe bicycle is achieved. According to the unmanned bicycle, a self-balancing function can be achieved in various motion states with a coupled control method, an indirect driving method is adopted, further refitting of the ordinary bicycle is not needed, and self-balancing and unmanned driving of the bicycle can be achieved by only mounting three controller modules on the ordinary bicycle.

The invention discloses a self-balancing unmanned bicycle based on behavior driving and a behavior driving control method thereof. The self-balancing unmanned bicycle based on behavior driving comprises a bicycle, a sensor module, a handlebar control module, a bicycle body middle part control module and a bicycle body rear part control module. The behavior driving control method comprises self-balancing control and unmanned driving control. In the self-balancing control, the self-balancing of the bicycle is finally realized on the basis of behavior driving by establishing a control rule according to bicycle riding data and using secondary mapping between a human body variable and a control variable. The self-balancing unmanned bicycle based on behavior driving can realize a self-balancingfunction in multiple motion states by using a coupled control method; and meanwhile, as an indirect driving method is adopted and the common bicycle does not need to be further remodeled, the self-balancing and unmanned driving of the bicycle can be realized only by mounting three controller modules on a common bicycle.

The invention discloses a self-balancing unmanned bicycle based on intellectual evolution and an environmental evolution self-adaptive evolution control method thereof. The self-balancing unmanned bicycle based on the intellectual evolution comprises a bicycle body, a sensor module, a handlebar control module, a bicycle body middle part control module and a bicycle body rear part control module. The environmental evolution self-adaptive evolution control method comprises two parts of self-balancing control and unmanned control. The self-balancing control is realized by enabling key variables to gradually establish associations, which enables the bicycle to be balanced, on the basis of physical simulation after setting a basic rule and an evolution target and finally realizing the self-balancing of the bicycle on the basis of environmental evolution self-adaptive evolution. The self-balancing unmanned bicycle based on the intellectual evolution can have a self-balancing function in multiple motion states by using a coupled control method; and meanwhile, as an indirect driving method is adopted, without further remodeling the common bicycle, the self-balancing and unmanned riding ofthe bicycle can be realized only by mounting three controller modules on a common bicycle.

The invention discloses walking accelerator trudging wheel boots. The walking accelerator trudging wheel boots have the independent self-balancing function, and are two power wheels worn at the outer sides of the two human feet, wherein each wheel boot is composed of six parts, including a wearing device, a damping device, a drive device, a transmission device, a power supply device and a control device; the wearing device is composed of a pedal, a pedal fixing frame, a shank backup plate and a magnetic black or buckle belt for connecting and fixing with the human body; the damping device is composed of a semicircular damping spring base, damping springs and a damping spring base cover; the drive device is composed of an annular hollow electromagnetic motor or a coreless annular hollow motor and the inner wall of a large-caliber ultrathin bearing; the drive device is composed of the outer wall of the large-caliber ultrathin bearing, a hub ring and a rubber tire; the power supply device is composed of rated separable modular batteries, and also comprises a battery intelligent protection control panel, an interface and a connecting wire; the control device is a singe-board commuter integrated with a microprocessor, an angular velocity sensor, an acceleration sensor, a pressure sensor and relevant electronic elements.

The invention discloses a self-balancing rock all-end-surface true triaxial compression test device, which consists of a triaxial pressure chamber, a four-link-plate mechanism, a sigma 1 loading transfer system, a sigma 2 loading transfer system and a sigma 3 loading transfer system. The device is characterized in that the sigma 1 loading transfer system is positioned at an upper end of the triaxial pressure chamber and is connected with the triaxial pressure chamber through a piston in a sigma 1 direction; the sigma 2 loading transfer system is positioned at the side end of the triaxial pressure chamber and is connected with the triaxial pressure chamber through a piston in a sigma 2 direction; the sigma 3 loading transfer system is connected with the triaxial pressure chamber through a drain hole and a water inlet hole; and the four-link-plate mechanism is positioned inside the triaxial pressure chamber. The device can perform a plurality of tests on various rocks, and perform true triaxial compression tests on most of soluble rocks and undissolved rocks. The device can apply unidirectional pressure through water solution, and can perform a stress-dissolution coupling test on the soluble rocks. The device can apply the stress on all end surfaces of a rock specimen to truly reflect the load bearing state of a rock body; and the test device has a simple structure, is easy to operate, and has a self-balancing function.

The invention relates to the technical field of self-propelled pesticide spraying equipment, in particular to a spray rod frame of a self-propelled pesticide spraying machine. The frame comprises a suspension frame, a first side spray bar frame used for mounting a first section of a side spray bar, a first folding mechanism mounted between the suspension frame and the first side spray bar frame, asecond side spray bar frame used for mounting a second section of the side spray bar, a second folding mechanism mounted between the first side spray bar frame and the second side spray bar frame, and a third folding mechanism used for connecting the second section of the side spray bar with a third section of the side spray bar; and an intermediate spray bar frame is arranged on the front side of the suspension frame and used for mounting an intermediate spray bar. The spray bar frame can greatly reduce the failure rate of the spray bar, prolong the service life of the spray bar, reduce themaintenance cost of users, and ensure the spraying operation efficiency.

The invention relates to the technical field of excavators, and discloses a chassis with a self-balancing function of an excavator for a construction site. The chassis comprises a chassis body, a horizontal rod is arranged in the chassis body, a gravity block is slidably connected to the surface of the horizontal rod, a toothed plate is fixedly connected to the side face of the chassis body, and a clamping rod is slidably connected to the side face of the toothed plate; and the left side of the clamping rod is fixedly connected with a connecting rod, the side, away from the clamping rod, of the connecting rod is rotationally connected with a climbing wheel, the side face of the sliding block is rotationally connected with an ejector rod, the right side of the ejector rod is fixedly connected with a balance block, the side, away from the balance block, of the clamping rod is provided with an insertion rod, and the side, away from the clamping rod, of the insertion rod is rotationally connected with a balance rod. According to the chassis with the self-balancing function of the excavator for the construction site, the gravity block and the balance block are matched for use, so that the effect of preventing the excavator from overturning due to inclination when the excavator works is achieved.

The invention belongs to the technical field of bridge construction, and particularly relates to a multifunctional bridge erecting machine and a bridge erecting construction method.The multifunctional bridge erecting machine is characterized in that two longitudinal main spandrel girders are arranged on a front supporting device and a rear supporting device, and a front lifting crown block and a rear lifting crown block are arranged on the main spandrel girders; side fixed lifting trolleys are respectively arranged at two ends of a transverse bearing beam of the lifting crown block; the movable lifting trolleys are arranged on the section, located between the two main bearing beams, of the transverse bearing beam, and due to the fact that the three lifting trolleys are arranged on the lifting crown block, the bridge girder erection machine can lift middle prefabricated beams and side prefabricated beams, and the multifunctional bridge girder erection machine has a self-balancing function and is convenient to use. The situation that the bridging efficiency is affected due to the fact that counterweight needs to be carried out when the lateral precast beam is hoisted is avoided; in the hoisting process of the side precast beam, the multifunctional bridge girder erection machine does not need to be moved to the space outside the side edge of a bridge, so that the multifunctional bridge girder erection machine can be used for bridging under the working condition of narrow space of existing lines such as expressways and urban rails, and normal traffic operation cannot be influenced.

A friction wear device comprises a micro displacement generation device, a laser ranging and resultant force measurement device, a displacement conduction device, a sample clamp device, a control anddata acquisition device and a positive pressure applying device; the displacement conduction device comprises a first supporting plate, a second supporting plate and a third supporting plate which arearranged in parallel, wherein the second supporting plate is slidably embedded in the first supporting plate, and the third supporting plate is slidably embedded in the second supporting plate; a first push block and a second push block are oppositely arranged at two ends of the third support plate; a micro displacement generating device and a laser ranging and resultant force measuring device are oppositely arranged at two ends of the second support plate; the left end of the first push block is fixedly connected with the micro-motion displacement generation device, and the right end of thesecond push block abuts against the laser ranging and resultant force measurement device. A sample groove is formed in the middle of the third supporting plate, and a positive pressure applying deviceis arranged above the sample groove. The friction coefficient of the material surface can be measured in real time when a fretting friction test is carried out.

The invention relates to a micro solar reconnaissance flight vehicle incorporated with a Coanda effect. The micro solar reconnaissance flight vehicle comprises a propeller, a plurality of solar cell panels, a power control unit and a balance control unit, wherein the plurality of solar cell panels are symmetrically erected with a rotating shaft as center; an edge frame of each solar cell panel is fixedly arranged on a carbon fiber ring; the gaps of the solar cell panels are uniform and connected with a bottom circular framework of the flight vehicle; the axis of the propeller coincides with the rotating shaft on which the plurality of solar cell panels are erected; the propeller is positioned at the top; the areas of the erected solar cell panels are greater than that of the surface of the propeller; the plurality of solar cell panels are erected beyond an airflow area generated by the propeller; and total center-of-mass of motors in the power control unit and the balance control unit coincides with a symmetric line of a frame. The micro solar reconnaissance flight vehicle incorporated with the Coanda effect, provided by the invention, is advantaged in that full solar endurance is realized; the volume of the micro solar reconnaissance flight vehicle is small; the weight of the micro solar reconnaissance flight vehicle is light; the heat value of the micro solar reconnaissance flight vehicle in operation process is less; and the micro solar reconnaissance flight vehicle flies stably, hovers in the air for a long time and can be used for transmitting passenger flow and traffic flow in real time.

The invention relates to the technical field of tricycles, and particularly discloses a self-balancing tricycle which comprises a bottom fork, a support and a balancing assembly, wherein the support is rotationally connected with the bottom fork; the balancing assembly comprises a first sliding block, a second sliding block, a reset piece and a driving piece, the first sliding block and the second sliding block are in sliding fit with the support and have a first state in which the first sliding block and the second sliding block abut against each other and a second state in which the first sliding block and the second sliding block are separated from each other, and the driving piece is fixedly connected with the bottom fork.When the support is stressed and rotates relatively with the bottom fork, the driving piece enables the first sliding block and the second sliding block to change from the first state to the second state, and the reset piece always applies force to the first sliding block and the second sliding block from the second state to the first state. According to the self-balancing tricycle, on one hand, a rider can exercise the waist conveniently, uncomfortable symptoms caused by the fact that the waist does not move for a long time are relieved, and on the other hand, under the condition that the support is not subjected to external force, the support has the self-balancing function of automatic returning.

The invention relates to the technical field of mechanical equipment, and discloses a mechanical supporting equipment with self-balancing function, which includes a base, a rectangular slot is opened on the top of the base, four sets of supporting mechanisms are arranged on the bottom of the base, and the supporting mechanisms include supporting columns, Four sets of supporting columns are respectively arranged at four right angles at the bottom of the base. The mechanical support device with self-balancing function, the present invention sets the support mechanism, the bottom end of the balance ball is set by the support column, the support spring and the bottom plate, the bottom plate is set on the ground so that the base and the mechanical body can be stable, and the top of the balance ball is set by setting The buffer column, the limit plate and the limit spring, under the joint elastic force of the limit spring and the support spring, enable the four sets of balance balls to be stably arranged in the corresponding balance chambers, and then two adjacent balance balls pass through the balance bar With a stable connection, the further stabilized balance ball enables the bottom plate to maintain the overall stability of the base.

The invention discloses a behavior-driven self-balancing driverless bicycle and a behavior-driven control method thereof. The self-balancing driverless bicycle includes a bicycle, a sensor module, a handlebar control module, a middle control module of the vehicle body and a vehicle body. Rear control module. The control method includes two parts: self-balancing control and driverless control. Self-balancing control is based on the data of people riding bicycles to establish control rules, and through the secondary mapping of human body variables and control variables, it finally realizes the self-balancing of bicycles based on behavioral driving. The driverless bicycle of the present invention can have a self-balancing function in a variety of motion states through the coupling control method. At the same time, it adopts an indirect drive method and does not require further modification of ordinary bicycles. It only needs to combine three controls. If the controller module is installed on an ordinary bicycle, the bicycle can realize self-balancing and unmanned driving.

The invention discloses a behavior-driven self-balancing unmanned bicycle and a control method of its equivalent mapping. The self-balancing unmanned bicycle includes a bicycle, a sensor module, a handlebar control module, a middle control module of the vehicle body and a vehicle body. Rear body control module. The control method includes two parts: self-balancing control and driverless control. Self-balancing control regards the rear wheel as a ball and establishes a coordinate system based on this, decomposes the bicycle variables under this coordinate system, and then projects the controller variables to this coordinate system to establish correlation, and finally realizes the self-balancing of the bicycle based on equivalent mapping. balance. The driverless bicycle of the present invention can have a self-balancing function in a variety of motion states through the coupling control method. At the same time, it adopts an indirect drive method and does not require further modification of ordinary bicycles. It only needs to combine three controls. If the controller module is installed on an ordinary bicycle, the bicycle can realize self-balancing and unmanned driving.

The invention discloses a bladeless aircraft based on an electro-aerodynamic adaptive environment and a control method thereof, comprising a wing, a frame, a flight control module, an airborne central processing unit, an airborne camera, a servo motor group and a power components. The bladeless aircraft is powered by the ion generator. The control method of the aircraft is divided into two parts, one is the control method of the self-evolution of the aircraft and the adaptive environment; the other is the control method of the aircraft motion. The control method of self-evolution and self-adaptive environment is to establish the control rule set and iterate continuously to realize the self-stabilization of the aircraft during flight. The attitude of the aircraft is controlled by three sets of servo motors. Under the three-dimensional model of the space, the angles of the aircraft's wings rotating around the three axes are controlled to change the movement direction of the aircraft. The invention has a self-balancing function under various motion conditions, and has no liquid fuel consumption, thereby eliminating the noise and emission pollution of the driving aircraft.

The invention discloses a turbine extraction control valve which is provided with a plurality of valves connected in parallel, the valve body is a cylinder body of the turbine; the valve core is a disk valve core and comprises a valve disc and a disc set, the valve disc is connected with a valve rod, the disc set is in fixed connection with a valve cover, the valve disc is covered in the disc setand in longitudinal slide fit with the same; the valve disc is provided with a balance cavity which is communicated with a steam outlet cavity through a balance hole, the top surface of the valve discforms an upper pressure bearing surface, the bottom surface of the valve disc forms a lower pressure bearing surface, a circular boss is arranged on the peripheral surface of the lower end of the valve disc, which makes the pressure bearing area of the upper pressure bearing surface and the lower pressure bearing surface meet the relation formula: S1 / S2 is approximated to 0.78; a valve cover is asharing valve cover of the whole structure. The turbine extraction control valve has the advantages that: a valve core has self-balancing function, has no need to assemble a pre-start valve, simplifying the structure, reducing the size, weight greatly and so does the cost and also improving the flow regulation performances; the sharing valve is convenient to assemble and disassemble and can shorten the time for installation and maintenance.

The invention discloses a self-balancing driverless bicycle based on intelligent evolution and a control method for its self-evolution. The self-balancing driverless bicycle includes a bicycle, a sensor module, a handlebar control module, a middle control module of the vehicle body and a vehicle body. Rear control module. The control method includes two parts: self-balancing control and driverless control. After setting the basic rules and evolution goals, self-balancing control generates a basic control rule set based on physical simulation, and on this basis, the control rules are self-evolved by continuously improving the control accuracy and environmental complexity. Finally, the bicycle is realized based on self-evolution. Self-balancing. The driverless bicycle of the present invention has a self-balancing function in a variety of motion states through a coupled control method. At the same time, it adopts an indirect drive method and does not require further modification of ordinary bicycles. It only requires three controller modules. When installed on an ordinary bicycle, the bicycle can be self-balancing and driverless.

The invention relates to a method for connecting electrochemical devices, and relates to the field of electrochemistry, aiming at smartly solving the problems that a plurality of electrochemical devices connected in groups are inconsistent in reactions, serious in liquid deficiency, great in maintenance amount and great in production operation amount. Each electrochemical device internally comprises electrodes, electrolytic substances and a shell, wherein the electrolytic substances comprise electrolyte and generated gas. Each electrochemical device is characterized in that a connecting channel for communicating of the electrolytic substances is further arranged among the electrochemical devices so that the interface, density, ingredients, temperature and pressure are consistent; outlets in the two sides of the channel are formed in the electrodes for electrical connection among the electrochemical devices so as to prevent short circuit. The method is used for batteries, or electrolysis, electroplating, electroforming and electrophoresis devices, and in particularly suitable for vehicle batteries frequently bumped, so that the service life, reaction consistency and safety of the electrochemical devices, particularly an electric vehicle liquor-rich lead-acid battery pack, are greatly prolonged or improved, while the rate of water loss, maintenance work load, process change and cost are reduced; the method is simple and practical, and the performance is obviously excellent.

The invention discloses an action-driven self-balancing unmanned bicycle and an equivalent mapping control method thereof. The self-balancing unmanned bicycle comprises a bicycle, a sensor module, a handlebar control module, a bicycle body middle part control module and a bicycle body rear part control module. The control method comprises self-balancing control and unmanned driving control. The self-balancing control regards a rear wheel as a ball and establishes a coordinate system based on the ball, bicycle variables are decomposed in the coordinate system, then controller variables are projected to the coordinate system so as to establish association, and finally self-balancing of the bicycle is realized based on equivalent mapping. The self-balancing unmanned bicycle can realize a self-balancing function in multiple motion states by using a coupled control method; and meanwhile, an indirect driving method is adopted, and the common bicycle does not need to be further modified, andthe self-balancing and unmanned driving of the bicycle can be realized only by mounting three controller modules on the common bicycle.

The invention relates to the technical field of stage equipment, in particular to a wading translation arc-shaped cover plate trolley platform which is installed on a lower concentric circle foundation sinking platform in a matched mode and comprises an arc-shaped track, an arc-shaped cover plate framework and a transmission control mechanism; the arc-shaped cover plate framework is mounted on the arc-shaped track in a matched manner through a guide sliding component; the transmission control mechanism is installed on the upper portion of the arc-shaped cover plate framework in a matched mode; a power output shaft of the transmission control mechanism is connected with a power shaft of the guide sliding component; and a platform face plate is arranged on the arc-shaped cover plate framework. The problems that an existing cover plate trolley platform cannot move and needs to be manually moved, the structure is loose, and the stage effect is poor, and the maintenance cost is increased are solved. The wading translation arc-shaped cover plate trolley platform is light in weight, compact in structure, small in inertia, stable in equipment starting, stopping and running, long in running time and convenient and fast to operate.

The invention provides a mold table conveying platform and a working method thereof. The mold table conveying platform comprises a platform body, multiple drive mechanisms for driving a mold table to displace along a length direction of the platform body, and multiple conveying wheel assemblies for bearing the mold table and guiding the mold table, wherein the platform body is of a frame structure with a holding chamber; the holding chamber is provided with an opening for the mold table to enter and exit along the length direction of the platform body; and the drive mechanisms and the conveying wheel assemblies are arranged on two sides of the bottom part of the holding chamber along the length direction of the platform body. Compared with a correlation technique, according to the mold table conveying platform provided by the invention, the mold table conveying platform has a self-balance function through the conveying wheel assemblies, and is not easy to incline and high in production efficiency.

The invention discloses an action-driven self-balancing unmanned bicycle and a decomposed key balancing control method thereof. The self-balancing unmanned bicycle comprises a bicycle body, a sensor module, a handlebar control module, a body middle control module and a body back control module. The control method includes self-balancing control and unmanned control. During self-balancing control,coordinate systems are built in the front, in the middle and at the back of the bicycle, bicycle variables are decomposed in the coordinate systems, controller variables are projected to the coordinate systems to establish association, and the bicycle is self-balanced based on decomposed key balancing. The unmanned bicycle can achieve a self-balancing function in various motion states by the coupling control method, further modification for a common bicycle is omitted as an indirect driving method is adopted, and the bicycle can be self-balanced and unmanned only by mounting three controller modules on the common bicycle.

The invention discloses a structure with a self-balancing function. The structure with the self-balancing function comprises a frame and supporting leg assemblies, wherein supporting leg mounting plates are arranged on the two sides of the frame; two first shaft mounting blocks are symmetrically arranged at the upper ends of the supporting leg mounting plates, and two second shaft mounting blocks are symmetrically arranged at the lower ends of the supporting leg mounting plates; the supporting leg assemblies are symmetrically arranged on the left side and right side of the frame; each supporting leg assembly comprises an oil cylinder and a supporting plate assembly; a short shaft is arranged on each supporting plate assembly; one end of the oil cylinder is hinged with the two first shaft mounting blocks through a first long shaft, the other end of the oil cylinder is connected with the short shaft; one end of each supporting plate assembly is hinged with the two second shaft mounting blocks through a second long shaft, and a supporting wheel is arranged at the other end of each supporting plate assembly; each oil cylinder is a double-acting cylinder and is connected with a pump station; the extension and the retraction of a piston rod of each oil cylinder can realize the unfolding and folding of the corresponding supporting plate assembly. The structure with the self-balancing function can increase the support of the ground to a vehicle, so that the vehicle is enabled not to easily roll over and the safety of cargoes and personnel on the vehicle is improved.

The invention discloses a self-balancing unmanned bicycle and a control method thereof. The self-balancing unmanned bicycle comprises a bicycle, a sensor module, a handlebar control module, a vehiclebody middle control module and a vehicle body rear control module. The control method comprises self-balancing control and unmanned control. Realization of self-balancing comprises simulation modeling, automatic modeling and intelligent modeling; the step of unmanned control comprises the content of selecting a desired bicycle variable according to the target motion state, and unmanned driving ofthe bicycle is achieved. According to the unmanned bicycle, a self-balancing function can be achieved in various motion states with a coupled control method, an indirect driving method is adopted, further refitting of the ordinary bicycle is not needed, and self-balancing and unmanned driving of the bicycle can be achieved by only mounting three controller modules on the ordinary bicycle.

The invention discloses an action-driven self-balancing unmanned bicycle and a decomposed key balancing control method thereof. The self-balancing unmanned bicycle comprises a bicycle body, a sensor module, a handlebar control module, a body middle control module and a body back control module. The control method includes self-balancing control and unmanned control. During self-balancing control,coordinate systems are built in the front, in the middle and at the back of the bicycle, bicycle variables are decomposed in the coordinate systems, controller variables are projected to the coordinate systems to establish association, and the bicycle is self-balanced based on decomposed key balancing. The unmanned bicycle can achieve a self-balancing function in various motion states by the coupling control method, further modification for a common bicycle is omitted as an indirect driving method is adopted, and the bicycle can be self-balanced and unmanned only by mounting three controller modules on the common bicycle.