CN107161259B - Intelligent balance car and control method thereof - Google Patents

Intelligent balance car and control method thereof Download PDF

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Publication number
CN107161259B
CN107161259B CN201710319436.0A CN201710319436A CN107161259B CN 107161259 B CN107161259 B CN 107161259B CN 201710319436 A CN201710319436 A CN 201710319436A CN 107161259 B CN107161259 B CN 107161259B
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supporting
self
electric
rod
balance car
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CN107161259A (en
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请求不公布姓名
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Changzhou Airwheel Technology Co ltd
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Changzhou Airwheel Technology Co ltd
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    • 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
    • B62K11/00Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62HCYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
    • B62H1/00Supports or stands forming part of or attached to cycles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

The invention discloses an intelligent balance car, which comprises a cabin body, wheels connected to two sides of the cabin body, a battery arranged in the cabin body and a self-balancing control system, wherein the intelligent balance car comprises an electric supporting foot assembly, a self-balancing system switch used for controlling the self-balancing control system to be opened or closed is arranged on the cabin body, and the electric supporting foot assembly can be switched between a ground supporting state and a withdrawing state; when the electric arm brace component starts or in the process of switching from the ground supporting state to the withdrawing state, the electric arm brace component starts a self-balancing system switch; and when the process of converting the electric arm brace component from the withdrawing state to the bracing state is in or finished, closing a self-balancing system switch by the electric arm brace component. According to the intelligent balance car arm brace, the intelligent balance car arm brace component is arranged to be electric, the arm brace does not need to be supported or retracted by hands or feet of a user, and the intelligent balance car arm brace is convenient for the old and the disabled.

Description

Intelligent balance car and control method thereof
Technical Field
The invention relates to the field of balance cars, in particular to an intelligent balance car with an electric arm brace assembly.
Background
With the increasing global warming effect, people put forward higher requirements on environmental protection, and especially the problem of exhaust emission of various motor vehicles needs to be solved urgently. The intelligent balance car is a green sunward industry, is favored by low-income and low-income grades in cities due to the advantages of low price, convenience and environmental protection. The arm brace of current intelligent balance car needs the user to prop up its ground or withdraw through foot or hand, for example when getting on the bus, needs the user to withdraw the arm brace with foot or hand earlier then get on the bus, after getting off the bus, the user will prop up the ground with foot or hand, wastes time and energy, especially to the old man or the disabled that move inconveniently, it is very inconvenient.
Therefore, it is necessary to improve the supporting foot structure of the existing intelligent balance car, so that the supporting foot structure can be conveniently used for supporting or retracting.
Disclosure of Invention
The invention aims to provide an intelligent balance car with automatically supporting or retracting supporting feet.
In order to solve the technical problems, the invention provides the following technical scheme: an intelligent balance car comprises a cabin body, wheels connected to two sides of the cabin body, a battery arranged in the cabin body and a self-balancing control system, wherein the intelligent balance car comprises an electric supporting foot assembly, a self-balancing system switch used for controlling the self-balancing control system to be opened or closed is arranged on the cabin body, and the electric supporting foot assembly can be switched between a ground supporting state and a withdrawing state; when the electric supporting foot component starts or in the process of converting from the ground supporting state to the withdrawing state, the electric supporting foot component starts a self-balancing system switch; and when the conversion process of the electric supporting foot component from the retraction state to the ground supporting state is in or is finished, the electric supporting foot component closes the switch of the self-balancing system.
Further, the electric arm brace assembly comprises two ground supporting rods, and when the electric arm brace assembly is in a ground supporting state, the two ground supporting rods are respectively positioned at the front side and the rear side of the cabin body.
Furthermore, the electric arm brace assembly comprises an arm brace bracket fixed on the cabin body and two motor push rods, one end of each motor push rod is hinged with the arm brace bracket, the other end of each motor push rod is used for pushing and pulling a corresponding ground brace rod, and the ground brace rod is provided with a pressing part for pressing the self-balancing system switch.
Furthermore, the electric arm brace assembly comprises an arm brace support fixed on the cabin body, two motor push rods and a rocker, one end of each motor push rod is hinged with the arm brace support, the other end of each motor push rod is used for pushing and pulling a corresponding ground brace, a touch pressing block is arranged on each ground brace, the bottom surface of the rocker is hinged on the cabin body, a touch pressing part used for touching and pressing the self-balancing system switch is arranged at the bottom surface of one end of the rocker, the other end of each rocker is connected on the arm brace support through an elastic part, and when the electric arm brace assembly is converted from a withdrawing state to a ground bracing state or is finished, the touch pressing block presses the rocker to enable the touch pressing part to be separated from the self-balancing system switch; when the electric arm brace component starts or in the process of converting from the ground supporting state to the retracting state, the touch and press block is separated from the warped plate, so that the touch and press part touches and presses the self-balancing system switch.
Further, the supporting leg support comprises a first supporting part and a second supporting part, a fixing rod is arranged between the first supporting part and the second supporting part, one end of each motor push rod is hinged to the fixing rod, and the two motor push rods are symmetrically arranged.
Further, prop the ground pole including propping ground portion and movable part, the movable part with the motor push rod is articulated, movable part one end with prop ground portion articulated, the other end with the arm-brace support is articulated.
Further, the movable part comprises a first hinge rod, a second hinge rod, a third hinge rod and a fourth hinge rod, one end of each of the first hinge rod and the third hinge rod is hinged to the ground supporting part, and the other end of each of the first hinge rod and the third hinge rod is hinged to the first supporting part; one end of each of the second hinge rod and the fourth hinge rod is hinged to the ground supporting part, and the other end of each of the second hinge rod and the fourth hinge rod is hinged to the second supporting part; and a touch pressing block is arranged on the first hinged rod and/or the second hinged rod.
Further, the intelligent balance car comprises a hip supporting part which is arranged above the cabin body and is fixedly connected with the cabin body.
Furthermore, the intelligent balance car comprises a handle control rod used for controlling steering, and a first switch used for controlling the power supply of the intelligent balance car to be turned on and off and a second switch used for controlling the two motor push rods to be turned on and off are arranged on the handle control rod.
The invention also provides a control method of the intelligent balance car, which comprises the following steps: when the electric supporting foot component starts or is in the process of converting from the ground supporting state to the retracting state, the electric supporting foot component starts a self-balancing system switch; and in the process or at the end of the conversion process of the electric supporting foot component from the retraction state to the ground supporting state, the electric supporting foot component closes the self-balancing system switch.
The invention has the following beneficial effects: according to the intelligent balance car arm brace, the intelligent balance car arm brace component is set to be electric, the arm brace does not need to be supported or retracted by hands or feet of a user, and the use convenience is improved. Meanwhile, the self-balancing system switch is linked with the electric supporting foot component, namely when the electric supporting foot component starts or is in the process of converting from the ground supporting state to the withdrawing state, the self-balancing system switch is opened by the electric supporting foot component, and when the electric supporting foot component is in the process of converting from the withdrawing state to the ground supporting state or is finished, the self-balancing system switch is closed by the electric supporting foot component. Therefore, the self-balancing control system of the intelligent balance car disclosed by the invention is automatically opened or closed through the electric supporting foot assembly, so that the convenience is further improved, and particularly, the cheapness of the intelligent balance car for old people and disabled people is improved.
Drawings
Fig. 1 is a schematic perspective view of an intelligent balance car according to a first embodiment of the invention;
FIG. 2 is a schematic view of the smart balance car electric arm brace assembly shown in FIG. 1 in a ground supporting state;
FIG. 3 is a schematic view of a motorized temple bar assembly according to one embodiment;
FIG. 4 is a schematic view of a ground supporting rod according to a first embodiment;
FIG. 5 illustrates a retracted state of the power temple assembly according to one embodiment;
FIG. 6 is a schematic view of a second embodiment of the motorized temple bar assembly;
FIG. 7 is a schematic view of another angle of the electric temple piece assembly according to the second embodiment (without the second supporting portion);
FIG. 8 is a schematic view of the ground supporting rod according to the second embodiment.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings, which are included to illustrate and not to limit the scope of the invention.
Example one
Referring to fig. 1 and 2, the intelligent balance car of the present invention includes a cabin 10, wheels 11 connected to two sides of the cabin 10 through a rotating shaft, and an electric arm brace assembly 12 disposed on the cabin 10. The cabin 10 is internally provided with a battery and a self-balancing control system, the self-balancing control system is used for maintaining the balance of the vehicle after the vehicle is started and operated, and the cabin 10 is provided with a self-balancing system switch for controlling the self-balancing system to be opened and closed. The motorized temple piece assembly 12 is transitionable between an open position and a retracted position, the motorized temple piece assembly 12 activating the self-balancing system switch when or during the transition of the motorized temple piece assembly 12 from the open position to the retracted position; during or at the end of the transition of the power temple assembly 12 from the retracted state to the temple state, the power temple assembly 12 closes the self-balancing system switch.
As shown in fig. 3 and 4, the electric arm brace assembly 12 includes an arm brace bracket fixed to the cabin, two motor push rods 124, and two ground support rods 121, wherein one end of each motor push rod 124 is hinged to the arm brace bracket, and the other end is used for pushing and pulling the corresponding ground support rod 121. Specifically, the spike support includes first supporting part 122 and second supporting part 123, first supporting part 122 and second supporting part 123 all are fixed in on the cabin body 10 through screw or bolt spare, be provided with dead lever 125 between first supporting part 122 and the second supporting part 123, the one end of each motor push rod 124 articulate in on the dead lever 125, and two motor push rod 124 symmetry sets up, will two motor push rod 124 symmetry sets up to be in order to guarantee the flexible or the extension action synchronization of two motor push rods 124, can guarantee two prop ground pole 121 and retrieve simultaneously or prop ground, avoid intelligent electric motor car because two prop ground pole 121 and retrieve or prop ground and have the vehicle unbalance that the time difference leads to, and then fall to hinder user's phenomenon and take place.
As shown in fig. 4, each ground supporting rod 121 includes a movable portion and a ground supporting portion 1215 hinged to the movable portion, the movable portion includes a first hinge rod 1211, a second hinge rod 1212, a third hinge rod 1213 and a fourth hinge rod 1214, each of the first hinge rod 1211 and the third hinge rod 1213 has one end hinged to the ground supporting portion 1215 and the other end hinged to the first supporting portion 122; one end of each of the second hinge rod 1212 and the fourth hinge rod 1214 is hinged to the supporting portion, the other end is hinged to the second supporting portion 123, and the push rod motor 124 is used for pushing and pulling one end of the corresponding supporting rod 121 to be hinged between the third hinge rod 1213 and the fourth hinge rod 1214. The first hinge rod 1211 and the second hinge rod 1212 are provided with the pressing portion 1216, but it is also possible to provide the pressing portion 1216 only on the first hinge rod 1211 or the second hinge rod 1212, which is determined by the number of switches of the self-balancing system.
In this embodiment, the ground supporting rods 121 are provided with two, and are respectively arranged at the front part and the rear part of the intelligent balance car, so that the stability of the intelligent balance car is improved, in the process of getting off or getting on the car by a user, the intelligent balance car is likely to shake, and the intelligent electric car is not easy to fall down due to shaking after being provided with the electric supporting foot assembly at the front and the rear, so that the danger that the user is broken is avoided. Especially for the old or the disabled, it is necessary to arrange two ground supporting rods at the front and the back.
When the intelligent balance car stops and the electric arm brace assembly 12 needs to support the ground, the two push rod motors 124 are powered on and then extended outward, so as to drive the first hinge rod 1211, the second hinge rod 1212, the third hinge rod 1213 and the fourth hinge rod 1214 to simultaneously turn over outward, when the ground support portion 1215 supports the ground, the pressing portion 1216 will be disengaged from the self-balancing system switch disposed on the cabin 10, and the self-balancing control system is closed, that is, the user can safely get off the car at this time, as shown in fig. 2.
In other embodiments, the pressing portion 1216 may be disengaged from the self-balancing system switch before the two ground supporting portions 1215 are supported, and the self-balancing control system may be turned off. In this manner, the self-balancing control system is preferably turned off when the two legs 1215 are a small distance from the ground.
When the intelligent balance vehicle needs to be started, after a user gets on the vehicle and sits stably, firstly, the two push rod motors 124 are powered on and then retract inwards, so that the first hinge rod 1211, the second hinge rod 1212, the third hinge rod 1213 and the fourth hinge rod 1214 are driven to simultaneously turn inwards, at this time, the pressing part 1216 touches the self-balancing system switch, the self-balancing control system is opened, and the vehicle can run under the control of the self-balancing control system.
In other embodiments, the pressing unit 1216 may press the self-balancing system switch to turn on the self-balancing control system and operate the vehicle when the two ground supporting units 1215 are separated from the ground by a certain distance. In this manner, the self-balancing control system is preferably opened when the two legs 1215 are a small distance from the ground.
Further preferably, as shown in fig. 1 and 2, in the present embodiment, the intelligent balance car includes a hip support portion 14 disposed above the cabin 10 and fixedly connected to the cabin 10, so that comfort of a user driving the intelligent balance car can be improved, and particularly for the elderly or the disabled, the hip support portion 14 can effectively reduce fatigue when driving the intelligent balance car. Handrails 15 are arranged on two sides of the hip support portion 14, when a user sits on the hip support portion 14, the handrails 15 on the two sides can be held by two hands, safety of the intelligent balance car is improved, and a handle control rod 16 used for controlling steering of the intelligent balance car is arranged on the handrails 15. It should be noted here that, in order to facilitate the user to control the power supply of the intelligent balance car and the two motor push rods 124, the handle control rod 16 is provided with a first switch for controlling the power supply of the intelligent balance car to be turned on and off and a second switch for controlling the two motor push rods 124 to be turned on and off, and since the first switch and the second switch are both arranged on the handle control rod 16, the user can easily touch the switch, which is very convenient for the old or disabled who is not convenient to move.
The invention has the following beneficial effects: the intelligent balance car arm brace assembly is arranged to be electric, the arm brace does not need to be supported or retracted by hands or feet of a user, and the use convenience is improved. Meanwhile, the self-balancing system switch is linked with the electric supporting foot component, namely when the electric supporting foot component starts or is in the process of converting from the ground supporting state to the withdrawing state, the self-balancing system switch is opened by the electric supporting foot component, and when the electric supporting foot component is in the process of converting from the withdrawing state to the ground supporting state or is finished, the self-balancing system switch is closed by the electric supporting foot component. Therefore, the self-balancing control system of the intelligent balance car disclosed by the invention is automatically opened or closed through the electric supporting foot assembly, so that the convenience is further improved, and particularly, the cheapness of the intelligent balance car for old people and disabled people is improved.
Example two
The difference from the first embodiment is that the electric temple bar assembly in this embodiment is further provided with a warped plate 226, and the touch and press portion is disposed on the warped plate 226. As shown in fig. 5 and 6, the electric arm brace assembly in this embodiment includes an arm brace bracket fixed to the cabin, two motor push rods 224, two ground braces 221 and a rocker 226, wherein one end of each motor push rod 224 is hinged to the arm brace bracket, and the other end is used for pushing and pulling the corresponding ground brace 221. Specifically, the arm brace support includes a first supporting portion 222 and a second supporting portion 223, the first supporting portion 222 and the second supporting portion 223 are fixed on the cabin 10 through screws or bolts, a fixing rod 225 is disposed between the first supporting portion 222 and the second supporting portion 223, one end of each motor push rod 224 is hinged to the fixing rod 225, the two motor push rods 224 are symmetrically disposed to ensure that the two motor push rods 224 are telescopic or extend synchronously, and it can be ensured that the two ground supporting rods 121 are simultaneously retracted or supported.
The bottom surface of the rocker 226 is provided with a hinge 228, the rocker 226 is hinged to the cabin 10 via the hinge 228, and the rocker 226 can move on the cabin 10 like a seesaw via the hinge 228. The bottom surface of one end of the rocker 226 is provided with a pressing portion 227 for pressing the self-balancing system switch, and the other end of the rocker 226 is connected to the first support portion 222 or the second support portion 223 through an elastic member 229, when the electric foot supporting assembly is in a retracting state, the elastic member is in a stretching state when the electric foot supporting assembly is in the retracting state, so that the end of the rocker 226 connected with the elastic member 229 is higher than the end of the rocker 226 provided with the pressing portion 227, and the pressing portion 227 can be pressed to the self-balancing system switch.
Each of the ground supporting rods 221 includes a movable portion and a ground supporting portion 2215 hinged to the movable portion, as shown in fig. 8, the movable portion includes a first hinge rod 2211, a second hinge rod 2212, a third hinge rod 2213 and a fourth hinge rod 2214, one end of each of the first hinge rod 2211 and the third hinge rod 2213 is hinged to the ground supporting portion 2215, and the other end is hinged to the first supporting portion 222; the second and fourth hinge bars 2212 and 2214 are hinged to the ground-supporting portion 2215 at one end and to the second supporting portion 223 at the other end, and the push rod motor 224 is used to push and pull the other end of the corresponding ground-supporting bar 221 and is hinged between the third and fourth hinge bars 2213 and 2214. The first and second hinge bars 2211 and 2212 are provided with touch blocks 2216.
It should be noted that in this embodiment, there are two rocker plates 226, there are two corresponding contact blocks 2216, each rocker plate 226 is provided with a contact portion 227, and the cabin 10 is also provided with two corresponding self-balancing system switches, so as to ensure that when one of the self-balancing system switches fails, the other self-balancing system switch can continue to operate, so that the intelligent balance car can still be started and operated normally. Of course, in other embodiments, there may be one rocker 226 and one self-balancing system switch, and there is only one pressing portion 227, and accordingly, only one pressing block 2216 needs to be disposed on the first hinge rod 2211 or the second hinge rod 2212.
When the intelligent balance car stops, and the electric foot supporting assembly needs to support the ground, the two push rod motors 224 are powered on and then extend outwards, so as to drive the first hinged rod 2211, the second hinged rod 2212, the third hinged rod 2213 and the fourth hinged rod 2214 to turn outwards at the same time, the touch pressure block 2216 touches one end of the warped plate 226 connected with the elastic piece 229, so that the end of the warped plate 226 provided with the touch pressure portion 227 is lifted, the touch pressure portion 227 is separated from the self-balancing system switch, the self-balancing control system is closed, and a user can get off the car safely at the moment.
In other embodiments, before the two widening portions 2215 widen the ground, the pressing portion 227 may be disengaged from the self-balancing system switch by pressing the pressing block 2216 to the end of the rocker 226 connected to the elastic member 229, and the self-balancing control system may be turned off; in this manner, it is preferable to close the self-balancing control system when the two standoffs 2215 are a small distance from the ground.
When the intelligent balance car needs to be started, after a user gets on the car and sits stably, the two motor push rods 224 contract to drive the first hinge rod 2211, the second hinge rod 2212, the third hinge rod 2213 and the fourth hinge rod 2214 to turn inwards, so that the touch pressure block 2216 is separated from one end of the warped plate 226 connected with the elastic piece 229, one end of the warped plate 226 connected with the elastic piece 229 is separated from the touch pressure block 2216 and then can restore the original height position under the stretching of the elastic piece 229, the height of the other end of the warped plate 226 is reduced, the touch pressure part 227 arranged at the other end can touch the self-balance system switch again, the self-balance control system is started, and the car can run.
In other embodiments, of course, when the two supporting portions 2215 are away from the ground, the pressing portion 2216 may press the self-balancing system switch, so that the self-balancing control system is turned on, and the vehicle runs. In this manner, the self-balancing control system is preferably opened when the two legs 2215 are a small distance from the ground.
While there has been described what are believed to be the preferred embodiments of the present invention, it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the principles of the invention, and it is intended to cover all such changes and modifications as fall within the true scope of the invention.

Claims (7)

1. The utility model provides an intelligence balance car, includes the cabin body, connect in the wheel of cabin body both sides, set up in the inside battery and the self-balancing control system of cabin body, its characterized in that: the intelligent balance car comprises an electric supporting foot assembly, wherein a self-balancing system switch used for controlling a self-balancing control system to be opened or closed is arranged on the cabin body, and the electric supporting foot assembly can be switched between a ground supporting state and a withdrawing state;
when the electric arm brace component starts or in the process of switching from the ground supporting state to the withdrawing state, the electric arm brace component starts a self-balancing system switch;
when the conversion process of the electric supporting foot component from the retraction state to the ground supporting state is in or is finished, the electric supporting foot component closes a self-balancing system switch;
the electric supporting foot assembly comprises two ground supporting rods, and when the electric supporting foot assembly is in a ground supporting state, the two ground supporting rods are respectively positioned at the front side and the rear side of the cabin body;
the electric supporting foot component comprises a supporting foot support fixed on the cabin body, two motor push rods and a rocker, one end of each motor push rod is hinged to the supporting foot support, the other end of each motor push rod is used for pushing and pulling a corresponding ground supporting rod, a contact pressing block is arranged on each ground supporting rod, a hinged portion is arranged on the bottom surface of the rocker, the rocker is hinged to the cabin body through the hinged portion, a contact pressing portion used for contacting and pressing the self-balancing system switch is arranged at the bottom surface of one end of the rocker, the other end of the rocker is connected to the supporting foot support through an elastic piece, and the other end of the rocker is hinged to the cabin body through the elastic piece
When the conversion process of the electric supporting foot component from the retraction state to the ground supporting state is in or is finished, the touch pressing block presses the rocker plate to enable the touch pressing part to be separated from the self-balancing system switch;
when the electric arm brace component starts or in the process of switching from the ground supporting state to the withdrawing state, the touch and press block is separated from the warped plate, so that the touch and press part touches and presses the self-balancing system switch.
2. The intelligent balance car of claim 1, wherein: the kickstand support includes first supporting part and second supporting part, be provided with the dead lever between first supporting part and the second supporting part, the one end of each motor push rod articulate in on the dead lever, and two motor push rod symmetries set up.
3. The intelligent balance car of claim 2, wherein: the ground supporting rod comprises a ground supporting part and a movable part, the movable part is hinged to the motor push rod, one end of the movable part is hinged to the ground supporting part, and the other end of the movable part is hinged to the supporting foot support.
4. The intelligent balance car of claim 3, wherein: the movable part comprises a first hinge rod, a second hinge rod, a third hinge rod and a fourth hinge rod, one end of each of the first hinge rod and the third hinge rod is hinged to the supporting part, and the other end of each of the first hinge rod and the third hinge rod is hinged to the first supporting part;
one ends of the second hinge rod and the fourth hinge rod are hinged to the ground supporting part, and the other ends of the second hinge rod and the fourth hinge rod are hinged to the second supporting part;
and a touch pressing block is arranged on the first hinged rod and/or the second hinged rod.
5. The intelligent balance car of claim 1, wherein: the intelligent balance car comprises a hip supporting part arranged above the cabin body and fixedly connected with the cabin body.
6. The intelligent balance car of claim 5, wherein: the intelligent balance car comprises a handle control rod for controlling steering, wherein a first switch for controlling the power supply of the intelligent balance car to be turned on and off and a second switch for controlling the two motor push rods to be turned on and off are arranged on the handle control rod.
7. A control method of the intelligent balance car as claimed in any one of claims 1-6: the method is characterized in that: when the electric arm brace component starts or in the process of switching from the ground supporting state to the retracting state, the electric arm brace component starts a self-balancing system switch; and when the process of converting the electric arm brace assembly from the retracting state to the ground supporting state is in or finished, the electric arm brace assembly closes the self-balancing system switch.
CN201710319436.0A 2017-05-09 2017-05-09 Intelligent balance car and control method thereof Active CN107161259B (en)

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CN107161259B true CN107161259B (en) 2023-02-10

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CN107696914B (en) * 2017-09-20 2024-03-26 常州摩本智能科技有限公司 Manned robot

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CN2327353Y (en) * 1998-01-19 1999-07-07 上海铁道大学 Electric wheel-chair
JP2011162161A (en) * 2010-02-15 2011-08-25 Toyota Motor Corp Moving body and controlling method therefor
CN203032844U (en) * 2012-12-18 2013-07-03 武济群 Self-balanced vehicle auxiliary wheel structure and self-balanced vehicle with same
JP2015156897A (en) * 2014-02-21 2015-09-03 株式会社幸和製作所 Handcart
CN204798166U (en) * 2015-07-28 2015-11-25 滁州学院 Electronic wheelchair of four -wheel
CN205010370U (en) * 2015-08-04 2016-02-03 东莞威信运动用品有限公司 Seat formula balance car
CN207045538U (en) * 2017-05-09 2018-02-27 常州爱尔威智能科技有限公司 intelligent balance car

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