Self-standing balancing device, automatic balancing vehicle and automatic balancing toy

An automatic balancing vehicle comprising:

• an self-standing balancing device comprising a supporting frame, a connecting rod, a motor, an inertia turntable, an inertia sensor, a balance controller and a motor driver;
• wherein the supporting frame comprises a first end and a second end, and the first end is suspended, and the second is located on a supporting surface;
• the connecting rod is located on the supporting frame, the connecting rod comprises a third end and a fourth end, and the third end is located on the supporting surface;
• the motor comprises a fixing base and a rotation axis, and the fourth end of connecting rod is fixed on the fixing base;
• the inertia turntable is fixed on the rotation axis of the motor;
• the inertia sensor is configured to recognize a connecting rod information of the connecting rod;
• the balance controller is configured to obtain a motor information of the motor to keep the connecting rod at a vertical position by calculating the connecting rod information;
• and
• the motor driver is configured to control a rotation of the motor according to the motor information to make the connecting rod to generate a reverse torque, and the torque pushes up the connecting rod and keeps the connecting rod at a vertical position.

An automatic balancing toy comprising:

• an self-standing balancing device comprising a supporting frame, a connecting rod, a motor, an inertia turntable, an inertia sensor, a balance controller and a motor driver;
• wherein the supporting frame comprises a first end and a second end, and the first end is suspended, and the second is located on a supporting surface;
• the connecting rod is located on the supporting frame, the connecting rod comprises a third end and a fourth end, and the third end is located on the supporting surface;
• the motor comprises a fixing base and a rotation axis, and the fourth end of connecting rod is fixed on the fixing base;
• the inertia turntable is fixed on the rotation axis of the motor;
• the inertia sensor is configured to recognize a connecting rod information of the connecting rod;
• the balance controller is configured to obtain a motor information of the motor to keep the connecting rod at a vertical position by calculating the connecting rod information;
• and
• the motor driver is configured to control a rotation of the motor according to the motor information to make the connecting rod to generate a reverse torque, and the torque pushes up the connecting rod and keeps the connecting rod at a vertical position.