CN105652881A - Displacement detection based four-wheeled balance car - Google Patents

Displacement detection based four-wheeled balance car Download PDF

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Publication number
CN105652881A
CN105652881A CN201610159796.4A CN201610159796A CN105652881A CN 105652881 A CN105652881 A CN 105652881A CN 201610159796 A CN201610159796 A CN 201610159796A CN 105652881 A CN105652881 A CN 105652881A
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CN
China
Prior art keywords
pedal
described
2nd
module
driving wheel
Prior art date
Application number
CN201610159796.4A
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Chinese (zh)
Inventor
刘耀金
杨焕章
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深圳市踏路科技有限公司
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Filing date
Publication date
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Priority to CN201610159796.4A priority Critical patent/CN105652881A/en
Publication of CN105652881A publication Critical patent/CN105652881A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/01Motorcycles with four or more wheels
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

Abstract

The invention is applicable to the field of balance cars and provides a displacement detection based four-wheeled balance car. The displacement detection based four-wheeled balance car comprises a car body, a control module, a pedal module, a supporting module, a displacement detection module, a driving wheel module, a follower wheel module and a return module. The pedal module detects that an operator is in the car body and pedals a first pedal and a second pedal, the first pedal and the second pedal respectively move with the supporting module as the axis according to different pedal actions of the operator, a first detection device and a second detection device respectively detects the motion displacements of the first pedal and the second pedal and feeds the motion displacements back to the control module, and the control module controls advancing and turning of a first driving wheel and a second driving wheel respectively according to arrangement. If the speeds of the first driving wheel and the second driving wheel are the same, advancing of the four-wheeled balance car is achieved, and if the speeds are different, turning of the four-wheeled balance car is achieved. The displacement detection based four-wheeled balance car has the advantages of being simple in design, high in control accuracy, good in stability and simple in operation and suitable for broader populations.

Description

The four of a kind of deformation based detection take turns balance car

Technical field

The present invention relates to balance car field, four take turns balance car in particular to what a kind of deformation based detected.

Background technology

Traditional balance car generally adopts two to take turns, car body state is detected by gyrostat, and then drive servomotor or stepper-motor adjustment vehicle balance and identification vehicle traveling to operate by control device, the complexity of the adjusted design that such balance car balance for car body and car body traveling and turn-around design is all higher, and causing vehicle cost height, vehicle energy consumption is also high.

Part four takes turns that balance car scheme control accuracy is poor, stability is not good, there is potential safety hazard, applicable crowd is restricted.

Summary of the invention

In view of this, what the present invention proposed the detection of a kind of deformation based four takes turns balance car, it is intended to simplify balanced design and traveling, the turn-around design of balance car.

The technical scheme of the present invention is as follows:

The four of deformation based detection take turns a balance car, comprise car body, control module, pedal module, supporting module, displacement detecting module, driving wheel module, follow-up pulley module, return position module;

Described control module, pedal module, supporting module, displacement detecting module, driving wheel module, follow-up pulley module, time position module machinery are arranged on car body;

Described control module described four is taken turns the balance traveling of car for controlling and turns to;

Described pedal module comprises the first pedal, the 2nd pedal, prolong described four take turns balance car car body traveling direction be set up in parallel; Trample for support human body sole and provide described four take turns the traveling of balance car and turn to instruction action;

Described supporting module is connected with the first pedal, the 2nd pedal machines, and the first pedal, the 2nd pedal are that axle rotates respectively taking supporting module;

Institute's displacement detection module comprises the first displacement detector, the 2nd displacement detector, and machinery is arranged at the first pedal, the 2nd pedal periphery respectively, is the displacement amount that axle rotates respectively taking supporting module for detecting the first pedal, the 2nd pedal;

Described driving wheel module comprises the first driving wheel, the 2nd driving wheel, and machinery is arranged at below described first pedal, the 2nd pedal respectively, takes turns balance garage for providing described four and enters and steering power, and described first driving wheel, the 2nd driving wheel are driven by motor;

Described follow-up pulley module comprises the first follow-up pulley, the 2nd follow-up pulley, and machinery is arranged at below described first pedal, the 2nd pedal respectively; And prolong described four take turns balance garage enter direction respectively machinery be arranged at described first driving wheel, the 2nd driving wheel rear; For following driving wheel motion, take turns balance car to described four and play poising action;

Described time position module installation, in the lower section of the first pedal, the 2nd pedal, replys original position for the first pedal, the 2nd pedal after trampling motion;

Described four take turns balance car moving process is: pedal module has detected that operator are on car body, and trample the first pedal and the 2nd pedal, first pedal, the 2nd pedal are that axle moves taking supporting module according to the trample action difference of operator respectively, first detection device and second detection device detect the first pedal and the moving displacement amount of the 2nd pedal respectively, and feeding back to control module, control module is according to arranging the traveling controlling the first driving wheel and the 2nd driving wheel respectively and turns to;

If the first driving wheel is identical with the 2nd driving wheel speed, realizes described four and take turns balance garage and enter, if speed is variant, realizes described four and take turns balance the turning to of car;

Return position module and then after trampling, reply original position at the first pedal, the 2nd pedal.

Preferably, described first pedal, the 2nd pedal are suitable for the whole sole of human body and trample, described supporting module machinery is arranged at below the first pedal, the 2nd pedal, first pedal, the 2nd pedal can be that axle moves with seesaw form respectively taking supporting module, and described time position module is positioned at least one side-lower of the first pedal, the 2nd pedal.

More particularly, it is seen that supporting module is positioned at the first pedal, the 2nd pedal prolongs described four and takes turns balance garage and enter direction medullary ray forward end position machinery and arrange.

Preferably, described pedal module also comprises fixing pedal, described fixing pedal be positioned at pedal module prolong described four take turns balance garage enter direction plane rear end arrange, trample for being suitable for human body hind paw; Described first pedal, the 2nd pedal are mechanically connected with supporting module respectively contacting side with fixing pedal, or described first pedal, the 2nd pedal be connected with fixing pedal machines by supporting module; Described first pedal, the 2nd pedal are used for being suitable for human body forefoot and trample, and described time position module is positioned at a side-lower of the first pedal, the 2nd pedal.

Preferably, if the first driving wheel is identical with the 2nd driving wheel speed, realizes described four and take turns balance garage and enter, if speed is variant, realizes described four and take turns balance the turning to of car;

It is specially: set described four and take turns balance car driving wheel module velocity original value; Set the starting position of the first pedal, the 2nd pedal; Rotational displacement corresponding first driving wheel of difference of the first pedal, the 2nd pedal, the linear speed of the 2nd driving wheel; Described displacement amount increases then corresponding linear speed correspondence and increases, and vice versa;

The displacement amount of the first pedal, the 2nd pedal is greater than starting position, then the first driving wheel, the 2nd driving wheel action, otherwise, the displacement amount of the first pedal, the 2nd pedal is less than starting position, then the first driving wheel, the 2nd driving wheel are failure to actuate.

Preferably, described first detection device, second detection device comprise displacement magnet, Huo Er element, described displacement magnet machinery is arranged on the first pedal, the 2nd pedal, for taking supporting module as the rotation of axle and synchronous action along with the first pedal, the 2nd pedal, described Huo Er element is for detecting the action displacement amount of described displacement magnet.

More particularly, it is seen that displacement magnet is bar magnet, machinery is arranged at supporting module with external position, the straight line displacement of Huo Er element testing bar magnet.

More particularly, it is seen that displacement magnet is magnetic cake, machinery is arranged at supporting module position, can be that axle rotates and circumferentially action respectively taking supporting module along with the first pedal, the 2nd pedal, the angular travel of Huo Er element testing magnetic cake.

Preferably, described first displacement detector, the 2nd displacement detector are laser displacement inspecting device.

Preferably, described first driving wheel, the 2nd driving wheel is by stepper-motor or driven by servomotor.

Preferably, described first follow-up pulley, the 2nd follow-up pulley are universal wheel.

Useful effect

The design of balance car is adopted two driving wheels coordinate with two follow-up pulleys four to take turns balance scheme by the present invention, enormously simplify the balanced design of balance car, and balance garage enters and turns to instruction to adopt the mode to pedal displacement detection to identify, simplicity of design, control accuracy height, good stability, operates also more simple, is applicable to all kinds of crowd.

Accompanying drawing explanation

Fig. 1 is that balance car enforcement mode one schematic diagram a is taken turns in the four of deformation based detection;

Fig. 2 is that balance car enforcement mode one, two schematic diagram b is taken turns in the four of deformation based detection;

Fig. 3 is that balance car enforcement mode two schematic diagram a is taken turns in the four of deformation based detection;

Fig. 4 is that balance parking stall shifting detection module principle schematic is taken turns in the four of deformation based detection.

Embodiment

Enforcement mode one:

As shown in Figure 1, 2, the four of a kind of deformation based detection take turns balance car, comprise car body 13, control module 27, pedal module, supporting module 26, displacement detecting module, driving wheel module, follow-up pulley module, return position module 25.

Described control module 27, driving wheel module, follow-up pulley module, pedal module, supporting module 26 are mechanically mounted on car body.

Described control module 27 described four is taken turns the balance traveling of car for controlling and turns to.

Described pedal module comprises the first pedal 11, the 2nd pedal 12, prolong described four take turns balance car car body traveling direction be set up in parallel; Trample for support human body sole and provide described four take turns the traveling of balance car and turn to instruction action.

Described first pedal 11, the 2nd pedal 12 are suitable for the whole sole of human body and trample, described supporting module 26 machinery is arranged at below the first pedal 11, the 2nd pedal 12, first pedal 11, the 2nd pedal 12 can move by axle of supporting module 26 with seesaw form respectively, described time position module 25 is positioned at supported underneath module 26 both sides of the first pedal 11, the 2nd pedal 12, goes back to position for the first pedal 11, the 2nd pedal 12 after trampling.

Institute's displacement detection module comprises the first displacement detector, the 2nd displacement detector, machinery is arranged at below the first pedal 11, the 2nd pedal 12 respectively, for detecting the displacement amount that the first pedal 11, the 2nd pedal 12 rotate respectively by axle of supporting module 26.

As shown in Figure 4, pedal module rotates by axle of supporting module 26, and the first detection device, second detection device can be arranged in two ways:

Mode one: the first detects device, second detection device comprises bar magnet C, Huo Er element; Bar magnet C is arranged at pedal module one end, and on car body 13 providing holes H, hole H is used for passing through of bar magnet C, bar magnet C can the synchronous action with the action of pedal module, Huo Er element is arranged in the H of hole and magnetic flux change for detecting bar magnet C, and then magnetic flux change amount is fed back to control module 27, control module 27 is by calculating the mobile displacement change of pedal module, and then control driving wheel block motion.

Mode two: the first detects device, second detection device comprises magnetic cake C, Huo Er element;

Magnetic cake C arranges with on supporting module 26, and on car body 13 providing holes H, hole H passes through when being used for magnetic cake C action, magnetic cake C can with pedal module taking the synchronous axial system as axle rotates of supporting module 26, Huo Er element arrange with hole H in and magnetic flux change for detecting magnetic cake C, and then magnetic flux change amount is fed back to control module 27, control module 27 is by calculating the angular displacement change of pedal module, and then control driving wheel block motion.

Wherein in mode one and mode two, supporting module 26 is positioned at pedal module and prolongs described four and take turns balance garage and enter the forward end position machinery of direction medullary ray and arrange, and its schematic diagram is as shown in Figure 4.

Described driving wheel module comprises the first driving wheel 21, the 2nd driving wheel 22, machinery is arranged at below described first pedal 11, the 2nd pedal 12 respectively, take turns balance garage for providing described four to enter and steering power, described first driving wheel 21, the 2nd driving wheel 22 are driven by motor, preferably, first driving wheel 21, the 2nd driving wheel 22 also can be servomotor or stepper-motor, for improving the control accuracy that described four take turns balance car.

Described follow-up pulley module comprises the first follow-up pulley 23, the 2nd follow-up pulley 24, first follow-up pulley 23, the 2nd follow-up pulley 24 are specially universal wheel, and machinery is arranged at below described first pedal 11, the 2nd pedal 12 respectively; And prolong described four take turns balance garage enter direction respectively machinery be arranged at described first driving wheel 21, the 2nd driving wheel 22 rear; For following driving wheel motion, take turns balance car to described four and play poising action.

Described time position module 25 is arranged at the lower section of the first pedal 11, the 2nd pedal 12, replys original position for the first pedal 11, the 2nd pedal 12 after trampling motion, and described time position module 25 can be spring.

Described four take turns balance car moving process is: pedal module has detected that operator are on car body, and trample the first pedal 11 and the 2nd pedal 12, first pedal 11, the 2nd pedal 12 move by axle of supporting module 26 respectively according to the trample action difference of operator, first detection device and second detection device detect the first pedal 11 and the moving displacement amount of the 2nd pedal 12 respectively, and feeding back to control module 27, control module 27 is according to arranging the traveling controlling the first driving wheel 21 and the 2nd driving wheel 22 respectively and turns to.

Concrete control mode is: sets described four and takes turns balance car driving wheel module velocity original value; Set the starting position of the first pedal 11, the 2nd pedal 12; Rotational displacement corresponding first driving wheel of difference of the first pedal 11, the 2nd pedal 12, the linear speed of the 2nd driving wheel; Described displacement amount increases then corresponding linear speed correspondence and increases, and vice versa.

The displacement amount of the first pedal 11, the 2nd pedal 12 is greater than starting position, then the first driving wheel 21, the 2nd driving wheel 22 action, otherwise, the displacement amount of the first pedal 11, the 2nd pedal 12 is less than starting position, then the first driving wheel 21, the 2nd driving 22 are taken turns and be failure to actuate.

If the first driving wheel 21 is identical with the 2nd driving 22 wheel speeds, realizes described four and take turns balance garage and enter, if speed is variant, realizes described four and take turns balance the turning to of car.

Return position module 25 and after trampling, reply original position at the first pedal 11, the 2nd pedal 12, wherein return a module 25 for spring.

Enforcement mode two:

As shown in Figure 2,3, enforcement mode two is only with the difference of enforcement mode one: described pedal module also comprises fixing pedal 33, described fixing pedal 33 be positioned at pedal module prolong described four take turns balance garage enter direction plane rear end arrange (specifically as shown in Figure 3), trample for being suitable for human body hind paw; Described first pedal 31, the 2nd pedal 32 are mechanically connected on car body with supporting module respectively contacting side with fixing pedal 33; Or described first pedal 31, the 2nd pedal 32 are connected with fixing pedal machines by supporting module, and the form one of supporting module can be hinge; The form two of supporting module can be and the rotating shaft of fixing pedal Integral design, and the first pedal 31, the 2nd pedal 32 can directly be fastened in described rotating shaft; Described first pedal 31, the 2nd pedal 32 for being suitable for human body forefoot trample, described time position module is positioned at a side-lower of the first pedal 31, the 2nd pedal 32, is replying original position for the first pedal 31, the 2nd pedal 32 after trampling.

Described in enforcement mode one, the first detection device, second detection device comprise bar magnet C, Huo Er element; Bar magnet C is arranged at pedal module one end, and on car body 13 providing holes H, hole H is used for passing through of bar magnet C, bar magnet C can the synchronous action with the action of pedal module, Huo Er element is arranged in the H of hole and magnetic flux change for detecting bar magnet C, and then magnetic flux change amount is fed back to control module 27, control module 27 is by calculating the mobile displacement change of pedal module, and then control driving wheel block motion; Which is suitable for equally in enforcement mode two.

Described in enforcement mode one, the first detection device, second detection device comprise magnetic cake C, Huo Er element; Magnetic cake C arranges with on supporting module 26, and on car body 13 providing holes H, hole H passes through when being used for magnetic cake C action, magnetic cake C can with pedal module taking the synchronous axial system as axle rotates of supporting module 26, Huo Er element arrange with hole H in and magnetic flux change for detecting magnetic cake C, and then magnetic flux change amount is fed back to control module 27, control module 27 is by calculating the angular displacement change of pedal module, and then control driving wheel block motion; Which is equally applicable in enforcement mode two.

Detection module described in enforcement mode one, two is the displacement amount by Huo Er element testing pedal module, and other the displacement amount detection mode for pedal module includes in patent formula of the present invention as laser ranging mode detects the modes such as displacement.

Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that the specific embodiment of the present invention is confined to these explanations. For general technical staff of the technical field of the invention; make some equivalent replacements without departing from the inventive concept of the premise or obviously it is out of shape; and performance or purposes identical, all should be considered as the scope of patent protection that the present invention is determined by the claim book submitted to.

Claims (10)

1. the four of a deformation based detection take turns balance car, it is characterised in that: comprise car body, control module, pedal module, supporting module, displacement detecting module, driving wheel module, follow-up pulley module, return position module;
Described control module, driving wheel module, follow-up pulley module, pedal module, supporting module, time position module machinery are arranged on car body;
Described control module described four is taken turns the balance traveling of car for controlling and turns to;
Described pedal module comprises the first pedal, the 2nd pedal, prolong described four take turns balance car car body traveling direction be set up in parallel; Trample for support human body sole and provide described four take turns the traveling of balance car and turn to instruction action;
Described supporting module is connected with the first pedal, the 2nd pedal machines, and the first pedal, the 2nd pedal are that axle rotates respectively taking supporting module;
Institute's displacement detection module comprises the first displacement detector, the 2nd displacement detector, and machinery is arranged at the first pedal, the 2nd pedal periphery respectively, is the displacement amount that axle rotates respectively taking supporting module for detecting the first pedal, the 2nd pedal;
Described driving wheel module comprises the first driving wheel, the 2nd driving wheel, and machinery is arranged at below described first pedal, the 2nd pedal respectively, takes turns balance garage for providing described four and enters and steering power, and described first driving wheel, the 2nd driving wheel are driven by motor;
Described follow-up pulley module comprises the first follow-up pulley, the 2nd follow-up pulley, and machinery is arranged at below described first pedal, the 2nd pedal respectively; And prolong described four take turns balance garage enter direction respectively machinery be arranged at described first driving wheel, the 2nd driving wheel rear; For following driving wheel motion, take turns balance car to described four and play poising action;
Described time position module installation, in the lower section of the first pedal, the 2nd pedal, replys original position for the first pedal, the 2nd pedal after trampling motion;
Described four take turns balance car moving process is: pedal module has detected that operator are on car body, and trample the first pedal and the 2nd pedal, first pedal, the 2nd pedal are that axle moves taking supporting module according to the trample action difference of operator respectively, first detection device and second detection device detect the first pedal and the moving displacement amount of the 2nd pedal respectively, and feeding back to control module, control module is according to arranging the traveling controlling the first driving wheel and the 2nd driving wheel respectively and turns to;
If the first driving wheel is identical with the 2nd driving wheel speed, realizes described four and take turns balance garage and enter, if speed is variant, realizes described four and take turns balance the turning to of car;
Return position module and then after trampling, reply original position at the first pedal, the 2nd pedal.
2. the four of deformation based detection take turns balance car as claimed in claim 1, it is characterized in that: described first pedal, the 2nd pedal are suitable for the whole sole of human body and trample, described supporting module machinery is arranged at below the first pedal, the 2nd pedal, first pedal, the 2nd pedal can be that axle moves with seesaw form respectively taking supporting module, and described time position module is positioned at least one side-lower of the first pedal, the 2nd pedal.
3. as claimed in claim 3 deformation based detection four take turns balance car, it is characterised in that: described supporting module is positioned at the first pedal, the 2nd pedal prolongs described four and takes turns balance garage and enter the forward end position machinery of direction medullary ray and arrange.
4. the four of deformation based detection take turns balance car as claimed in claim 1, it is characterized in that: described pedal module also comprises fixing pedal, described fixing pedal be positioned at pedal module prolong described four take turns balance garage enter direction plane rear end arrange, trample for being suitable for human body hind paw; Described first pedal, the 2nd pedal are mechanically connected with supporting module respectively contacting side with fixing pedal, or described first pedal, the 2nd pedal be connected with fixing pedal machines by supporting module; Described first pedal, the 2nd pedal are used for being suitable for human body forefoot and trample, and described time position module is positioned at a side-lower of the first pedal, the 2nd pedal.
5. as described in claim 1 or 2 or 4 deformation based detection four take turns balance car, it is characterized in that: if the first driving wheel is identical with the 2nd driving wheel speed, realize described four and take turns balance garage and enter, if speed is variant, realizes described four and take turns balance the turning to of car;
It is specially: set described four and take turns balance car driving wheel module velocity original value; Set the starting position of the first pedal, the 2nd pedal; Rotational displacement corresponding first driving wheel of difference of the first pedal, the 2nd pedal, the linear speed of the 2nd driving wheel; Described displacement amount increases then corresponding linear speed correspondence and increases, and vice versa;
The displacement amount of the first pedal, the 2nd pedal is greater than starting position, then the first driving wheel, the 2nd driving wheel action, otherwise, the displacement amount of the first pedal, the 2nd pedal is less than starting position, then the first driving wheel, the 2nd driving wheel are failure to actuate.
6. as described in claim 1 or 2 or 4 deformation based detection four take turns balance car, it is characterized in that: described first detection device, second detection device comprise displacement magnet, Huo Er element, described displacement magnet machinery is arranged on the first pedal, the 2nd pedal, for taking supporting module as the rotation of axle and synchronous action along with the first pedal, the 2nd pedal, described Huo Er element is for detecting the action displacement amount of described displacement magnet.
7. as claimed in claim 6 deformation based detection four take turns balance car, it is characterised in that: described displacement magnet is bar magnet, and machinery is arranged at supporting module with external position, the straight line displacement of Huo Er element testing bar magnet.
8. the four of deformation based detection take turns balance car as claimed in claim 6, it is characterized in that: described displacement magnet is magnetic cake, machinery is arranged at supporting module position, can be that axle rotates and circumferentially action respectively taking supporting module along with the first pedal, the 2nd pedal, the angular travel of Huo Er element testing magnetic cake.
9. as described in claim 1 or 2 or 4, take turns balance car based on be positioned at detection four, it is characterised in that: described first displacement detector, the 2nd displacement detector are laser displacement inspecting device.
10. as described in claim 1 or 2 or 4, take turns balance car based on be positioned at detection four, it is characterised in that: described first follow-up pulley, the 2nd follow-up pulley are universal wheel.
CN201610159796.4A 2016-03-21 2016-03-21 Displacement detection based four-wheeled balance car CN105652881A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610159796.4A CN105652881A (en) 2016-03-21 2016-03-21 Displacement detection based four-wheeled balance car

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CN201610159796.4A CN105652881A (en) 2016-03-21 2016-03-21 Displacement detection based four-wheeled balance car
PCT/CN2017/077235 WO2017162111A1 (en) 2016-03-21 2017-03-20 Four-wheeled balance vehicle based on displacement detection

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CN2898764Y (en) * 2006-02-07 2007-05-09 常州信德电器厂 Angle sensor of electronic pedal
CN102849156A (en) * 2012-09-20 2013-01-02 上海新世纪机器人有限公司 Steering device of self-balance two-wheeler
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WO2017162111A1 (en) * 2016-03-21 2017-09-28 深圳市踏路科技有限公司 Four-wheeled balance vehicle based on displacement detection

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