CN107284554B - Two-wheel vehicle stability control system and control method - Google Patents
Two-wheel vehicle stability control system and control method Download PDFInfo
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- CN107284554B CN107284554B CN201710537721.XA CN201710537721A CN107284554B CN 107284554 B CN107284554 B CN 107284554B CN 201710537721 A CN201710537721 A CN 201710537721A CN 107284554 B CN107284554 B CN 107284554B
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 110
- 230000000903 blocking effect Effects 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 239000003381 stabilizer Substances 0.000 description 22
- 230000000694 effects Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE 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
- B62H1/00—Supports or stands forming part of or attached to cycles
- B62H1/10—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
- B62H1/12—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride using additional wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L1/00—Brakes; Arrangements thereof
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Cycles, And Cycles In General (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention relates to the technical field of two-wheelers, in particular to a two-wheeler stability control system and a control method, comprising stabilizing wheels arranged at the left side and the right side of a rear wheel of the two-wheeler, the stabilizing wheel is arranged on one end of a stabilizing arm, the other end of the stabilizing arm is connected to a rotating frame, the rotating frame is arranged on a stable control driving motor which can rotate the rotating frame, the stable control driving motor is also electrically connected to a stable system controller, the stable system controller is electrically connected to the power supply equipment, and has the advantages of better stability, higher convenience and more comfortable use.
Description
Technical Field
The invention relates to the technical field of two-wheelers, in particular to a two-wheeler stability control system and a control method.
Background
The existing two-wheel vehicle, such as a two-wheel electric vehicle, a two-wheel fuel vehicle and other vehicles or transportation vehicles, is high in passing efficiency, large in load ratio and small in occupied area, and is an efficient and environment-friendly transportation vehicle for transportation. However, since the two-wheeled vehicle on the market is balanced by supporting the ground with the foot at a low speed and when parked, there are three problems in using the two-wheeled vehicle: inconvenient for legs and feet the person cannot use the device; because of its poor stability, it increases difficulty in learning to drive for some people with poor balance ability; because of poor stability, the fully-closed shed cannot be made, and riders are very uncomfortable in cold weather and rainy days. There is an urgent need for a more controlled and comfortable two-wheeled vehicle.
Disclosure of Invention
The invention aims to provide a two-wheel vehicle stability control system and a control method which are better in stability, higher in convenience and more comfortable in use.
The technical aim of the invention is realized by the following technical scheme: the utility model provides a two wheeler stability control system, includes the stabilizer wheel that sets up in two wheeler rear wheel left and right sides, the stabilizer wheel is installed on one of them end of a stabilizer arm, the other end of stabilizer arm is connected to on the rotating turret, the rotating turret is installed to one and can make it carry out pivoted stability control driving motor, stability control driving motor still electricity is connected to on the stability system controller, stability system controller electricity is connected to on the power supply unit.
Among the above-mentioned technical scheme, through the operation of stable control driving motor of stable system controller control, can make the stabilizer arm swing from top to bottom to, the stabilizer wheel also can swing from top to bottom for the stabilizer wheel is in different heights, reaches different auxiliary state, so that the stability of two wheeler is higher, and the maneuverability is higher, simultaneously, can make the automobile body design more optimize, and the travelling comfort can greatly promote.
As a preferable mode of the invention, the stabilizing system controller is also respectively and electrically connected with a whole vehicle angle sensor for detecting the angle of the whole vehicle and a speed sensor for detecting the speed of the vehicle.
As a preferable mode of the invention, a worm gear reducer is arranged and connected between the rotating frame and the stable control driving motor.
As a preferred aspect of the present invention, the stabilizing system controller is further electrically connected to a turbine sensor for detecting a turbine angle of the worm gear reducer.
Preferably, the stabilizer arm has a cavity therein which opens into the stabilizer wheel, wherein a brake acting on the stabilizer wheel is provided in the cavity, which brake is connected to a brake drive.
Preferably, the brake driving device comprises a brake return spring connected with the brake, a brake lever connected with one end of the brake return spring opposite to the brake, and a brake driving mechanism arranged on one end of the brake lever opposite to the brake return spring and used for advancing and retreating in the direction of the brake return spring.
As a preferable aspect of the present invention, the brake driving mechanism includes a moving block which can move in a direction crossing a forward and backward direction of the brake lever and which can be moved in and out of the cavity, a moving return spring which has one end attached to an inner wall of the stabilizing arm located in the cavity and the other end of which can be applied to the moving block, and a stopper which is provided outside the stabilizing arm and against which the moving block abuts, wherein the stabilizing arm is provided with a through hole through which the moving block can be moved in and out, and an inclined surface which crosses the direction of the moving block in and out of the cavity and is located at one end of the brake lever opposite to the brake return spring is provided on one side of the moving block which is close to the brake lever so as to advance and retreat the brake lever.
As a preferable mode of the invention, the moving block is positioned at the inclined surface and is provided with a guide rail, and the brake lever is positioned at the position of one end of the backrest opposite to the brake return spring and is provided with a guide groove matched with the guide rail.
Preferably, in the present invention, a guide ring for advancing and retreating the brake lever or the brake is further mounted to the stabilizer arm at the cavity.
A control method based on the two-wheel vehicle stability control system comprises the following steps:
step S1, a stable system controller sends a control instruction to a stable control driving motor;
and S2, driving the stabilizing arm to swing by the stabilizing control driving motor according to the control instruction so as to control the balance of the two-wheel vehicle.
The invention has the beneficial effects that: by adding the auxiliary stabilizing system, the stability of the two-wheel vehicle is improved, so that the two-wheel vehicle can be automatically balanced, therefore, the two-wheel vehicle does not need feet to be balanced at any time, and the two-wheel vehicle is characterized in that: 1. people with inconvenient legs and feet can use the leg-shaped massage device; 2. the driving learning of the two-wheel vehicle is facilitated; 3. the whole sealing can be realized; 4. automatic parking, use more comfortablely, applicable crowd is more, stability is higher, according to safe and reliable, the structure also obtains further optimizing, and the controllability is stronger.
Drawings
FIG. 1 is a front view of an embodiment of the present invention;
FIG. 2 is a top view of an embodiment of the present invention;
FIG. 3 is a schematic view of the structure of the stabilizing arm in a park condition according to an embodiment of the present invention;
FIG. 4 shows an embodiment of the present invention of a stabilizing arm a schematic structural diagram for assisting in balancing the driving state;
fig. 5 is a schematic view of the structure of the normal running state of the embodiment of the present invention;
fig. 6 is a schematic structural view of an auxiliary balance traveling state according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a parking state according to an embodiment of the present invention.
In the figure: 1. the two-wheel vehicle rear wheel, 2, the stabilizing wheel, 3, the stabilizing arm, 4, the rotating frame, 5, the stabilizing control driving motor, 6, the stabilizing system controller, 7, power supply equipment, 45, the worm gear reducer, 20, the cavity, 21, the brake, 22, the braking return spring, 23, the brake lever, 24, the movable block, 25, the movable return spring, 26, the blocking limiting block, 27, the through hole, 240, the inclined plane, 28 and the guide ring.
Detailed Description
The following specific examples are intended to be illustrative of the invention and are not intended to be limiting, as modifications of the invention will be apparent to those skilled in the art upon reading the specification without inventive contribution thereto, and are intended to be protected by the patent law within the scope of the appended claims.
As shown in fig. 1, 2, 3, 4, 5, 6 and 7, a two-wheeled vehicle stability control system includes a stabilizing wheel 2 disposed on both left and right sides of a rear wheel 1 of a two-wheeled vehicle, the stabilizing wheel 2 is mounted on one end of a stabilizing arm 3, the other end of the stabilizing arm 3 is connected to a rotating frame 4, the rotating frame 4 is mounted to a stability control driving motor 5 capable of rotating the same, the stability control driving motor 5 is further electrically connected to a stability system controller 6, and the stability system controller 6 is electrically connected to a power supply device 7. The power supply device 7 may be a conventional device for supplying electric energy, such as a battery, and the stabilizing wheels 2 may be only two, and are respectively arranged at the left side and the right side of the rear wheel 1 of the two-wheel vehicle, each stabilizing wheel may be provided with one stabilizing arm 3, and the two stabilizing arms 3 are respectively arranged at the left side and the right side of the rear wheel 1 of the two-wheel vehicle, then the stabilizing arms 3 are connected through the rotating frame 4, and the stabilizing system controller 6 controls the stabilizing control driving motor 5 to start to operate so as to drive the rotating frame 4 to enable the stabilizing arms 3 to swing up and down, thereby changing the position of the stabilizing wheels 2, and when in a normal driving state, the stabilizing system controller 6 controls the stabilizing control driving motor 5 to place the stabilizing wheels 2 at a high position and in a suspended state so as to drive like a common two-wheel vehicle; when the vehicle speed becomes very low or the vehicle inclination angle is large, the vehicle can be overturned, related parameters can be obtained through testing of various sensors, so that the stabilizing system controller 6 makes control instructions according to the parameters to require the stabilizing arm 3 to swing down, and the stabilizing wheel 2 contacts the ground, namely, the stabilizing wheel 2 and the rear wheel 1 of the two-wheel vehicle contact the ground at the moment and keep a running state, and the state can be called an auxiliary balance running state; when parking is needed, the rear wheel 1 of the two-wheel vehicle is supported by only swinging the stabilizing arm 3 lower, so that the rear wheel 1 of the two-wheel vehicle leaves the ground and can be in a parking state. In this application, the stabilization system controller 6 may employ an existing controller SCU.
Further, the stabilizing system controller 6 is also electrically connected with a whole vehicle angle sensor for detecting the angle of the whole vehicle and a speed sensor for detecting the speed of the vehicle respectively, wherein the whole vehicle angle sensor is used for testing the angle of the two-wheel vehicle when the two-wheel vehicle runs and is inclined to the vertical running, namely the larger the angle is, the more the inclination is, and the more unstable the inclination is;
a worm gear reducer 45 is arranged and connected between the rotating frame 4 and the stable control driving motor 5, so that the structure is further optimized, and the effectiveness of transmission is ensured;
the stabilizing system controller 6 is also electrically connected with a turbine sensor for detecting the turbine angle of the worm gear reducer 45, and provides more reference parameters for the stabilizing system controller 6 to perform better stabilizing control.
In addition, the turret 4, the steady control drive motor 5, the worm gear reducer 45, various sensors, and the like may be mounted on the frame.
In addition, the stabilizer arm 3 is further designed:
the stabilizer arm 3 has a cavity 20 leading to the stabilizer wheel 2, a brake 21 acting on the stabilizer wheel 2 is arranged in the cavity 20, the brake 21 is connected to a brake driving device, the design is that the stabilizer wheel 2 can be braked by the brake 21 when parking, the running of the two-wheel vehicle is stopped more easily, but the whole structure needs to be optimized, because the stabilizer wheel 2 is not in a braking state in an auxiliary balance running state;
the brake driving device comprises a brake return spring 22 connected with the brake 21, a brake rod 23 connected with one end of the brake return spring 22 opposite to the brake 21, and a brake driving mechanism arranged at one end of the brake rod 23 opposite to the brake return spring 22 and used for advancing and retreating in the direction of the brake return spring 22;
the brake driving mechanism comprises a moving block 24 which can move in a direction crossing the advancing and retreating direction of the brake rod 23 and can enter and exit the cavity 20, a moving return spring 25 with one end mounted on the inner wall of the stabilizing arm 3 positioned at the cavity 20 and the other end capable of acting on the moving block 24, and a blocking limiting block 26 arranged on the outer side of the stabilizing arm 3 and used for the moving block 24 to abut against, wherein the stabilizing arm 3 is provided with a through hole 27 for the moving block 24 to enter and retreat, and the side, close to the brake rod 23, of the moving block 24 is provided with an inclined surface 240 crossing the moving block 24 in the direction of entering and retreating the cavity 20 and positioned at one end of the brake rod 23 opposite to the braking return spring 22 for the brake rod 23 to advance and retreat. The blocking stopper 26 may be provided on the vehicle frame.
The whole design of the stabilizing arm 3 and the blocking limiting block 26 has the following action key: when the two-wheel vehicle is in an unstable state, if auxiliary balance running is required during low-speed running, the stabilizer arm 3 swings downwards, the stabilizer wheel 2 and the rear wheel 1 of the two-wheel vehicle are operated, at the moment, the brake 21 is designed to not brake the stabilizer wheel 2, namely, the blocking limiting block 26 cannot prop against the moving block 24 to push into the cavity 20, and when parking is required, the stabilizer arm 3 continues to swing downwards, at the moment, the moving block 24 can prop against the blocking limiting block 26, so that the moving block 24 is compressed into the cavity 20, the inclined surface 240 can enable the brake rod 23 to move downwards and compress the brake return spring 22, then the brake rod 21 acts on the brake rod 21, and finally the brake rod 21 brakes the stabilizer wheel 2, so that not only the rear wheel 1 of the two-wheel vehicle is supported, but also the braking effect is achieved, the parking effect of the automobile is equivalent, the two-wheel vehicle is prevented, and of course, in a normal running state, the moving block 24 does not prop against the inclined surface 240, and the far end of the brake rod 21 is abutted against the brake rod 23, so that the parking effect is achieved only when the moving block 24 moves towards the inclined surface 23, and the front end of the brake rod 23 can play the braking effect.
For further design at the stabilizing arm: the moving block 24 is located at the inclined surface 240 and is provided with a guide rail, and the brake lever 23 is located at a position of one end of the backrest opposite to the brake return spring 22 and is provided with a guide groove matched with the guide rail;
the stabilizing arm 3 is positioned at the cavity 20 and is also provided with a guide ring 28 for advancing and retreating the brake rod 23 or the brake 21;
in addition, the stabilizing arm 3 can start to supply the moving block 24 to enter and exit the sliding groove of the cavity 20, and then a corresponding sliding rod is arranged on the moving block 24, so that on one hand, the moving direction is ensured, on the other hand, the moving block 24 can be supported on the stabilizing arm 3 to a certain extent, and the structure is further optimized.
A control method based on the two-wheel vehicle stability control system comprises the following steps:
step S1, a stable system controller 6 sends a control instruction to a stable control driving motor 5;
in step S2, the stabilizing control driving motor 5 drives the stabilizing arm 3 to swing according to the control command to control the balance of the two-wheeled vehicle.
The implementation of step S1 also requires obtaining various parameters, such as the angle of the whole vehicle, the speed of the vehicle, etc., which are sent to the stabilizing system controller 6 to make a judgment and issue a command, or the stabilizing system controller 6 may be manually operated to issue a control command to control the stabilizing control driving motor 5, and then the stabilizing arm 3 is swung to adjust the position of the stabilizing wheel 2 to complete various balancing actions, and several situations are described below:
1. when the vehicle speed is lower than the vehicle speed threshold V, the vehicle is regarded as an unstable state, the stable system controller 6 sends out a control instruction to require an auxiliary balance running state of low-speed running, the stable control driving motor 5 drives, the stable arm 3 swings downwards, the stable wheel 2 contacts the ground to assist running, and the auxiliary balance running state is achieved;
2. when the vehicle speed is greater than or equal to a vehicle speed threshold V and the whole vehicle angle is greater than an inclination angle threshold alpha, the vehicle is regarded as an unstable state, the stabilizing system controller 6 sends out a control instruction, an auxiliary balance running state requiring inclination running is required, the stabilizing control driving motor 5 drives, the stabilizing arm 3 swings downwards, the stabilizing wheel 2 contacts the ground, running is assisted, and the auxiliary balance running state is achieved;
3. when the vehicle speed is greater than or equal to the vehicle speed threshold V and the whole vehicle angle is smaller than the inclination angle threshold alpha, the vehicle is considered to be in a stable state, and the two-wheel vehicle is in a normal running state.
The vehicle speed threshold V and the inclination angle threshold α may be set in advance according to the shape, size, power, and the like of the entire vehicle.
In addition, when the vehicle needs to park, a driver can directly give a control command signal to the stabilizing system controller 6, the stabilizing system controller 6 sends a command to stably control the driving motor 5, the stabilizing arm 3 swings down until the rear wheel 1 of the two-wheel vehicle leaves the ground, when the stabilizing arm 3 touches the blocking limiting block 26, the stabilizing wheel 2 is blocked, and the stabilizing wheel 2 can be braked and cannot rotate, so that the parking effect is achieved.
When the vehicle needs to run, a driver can directly give a control command signal to the stabilizing system controller 6, the stabilizing system controller 6 sends a command to stably control the driving motor 5, so that the stabilizing arm 3 in a parking state swings upwards, the rear wheel contacts the ground, the two-wheel vehicle reaches a running state, the brake 21 of the stabilizing wheel 2 loses braking action, the stabilizing wheel 2 can freely rotate to become a low-speed running state, and when the vehicle speed becomes high, the stabilizing arm 3 is continuously swung upwards, so that the stabilizing wheel 2 is separated from the ground and returns to the normal running state.
Claims (5)
1. A two-wheeled vehicle stability control system is characterized in that: the stabilizing device comprises stabilizing wheels (2) arranged on the left side and the right side of a rear wheel (1) of a two-wheel vehicle, wherein the stabilizing wheels (2) are arranged on one end of a stabilizing arm (3), the other end of the stabilizing arm (3) is connected to a rotating frame (4), the rotating frame (4) is arranged on a stabilizing control driving motor (5) capable of enabling the stabilizing arm to rotate, the stabilizing control driving motor (5) is further electrically connected to a stabilizing system controller (6), the stabilizing system controller (6) is electrically connected to a power supply device (7), the stabilizing wheels (2) are only provided with two stabilizing arms and are respectively arranged on the left side and the right side of the rear wheel (1) of the two-wheel vehicle, each stabilizing wheel (2) is provided with one stabilizing arm (3), and the two stabilizing arms (3) are respectively arranged on the left side and the right side of the rear wheel (1) of the two-wheel vehicle, and the rotating frame (4) is used for connecting the stabilizing arms (3) so that the stabilizing control driving motor (5) can be operated and the rotating frame (4) can be driven to operate, and the stabilizing arms (3) can swing to change the positions of the stabilizing wheels (2) which swing down;
the stabilizing arm (3) is internally provided with a cavity (20) leading to the stabilizing wheel (2), a brake (21) acting on the stabilizing wheel (2) is arranged in the cavity (20), and the brake (21) is connected to a brake driving device;
the brake driving device comprises a brake return spring (22) connected with the brake (21), a brake rod (23) connected with one end of the brake return spring (22) opposite to the brake (21), and a brake driving mechanism arranged at one end of the brake rod (23) opposite to the brake return spring (22) and used for driving the brake rod to advance and retreat in the direction of the brake return spring (22);
the brake driving mechanism comprises a moving block (24) which can move in a direction crossing the advancing and retreating direction of the brake rod (23) and enter and exit the cavity (20), a moving return spring (25) with one end mounted on the inner wall of the stabilizing arm (3) positioned at the cavity (20) and the other end capable of acting on the moving block (24), and a blocking limiting block (26) which is arranged outside the stabilizing arm (3) and is used for the abutting of the moving block (24), the stabilizing arm (3) is provided with a through hole (27) for the moving block (24) to enter and exit, one side of the moving block (24) close to the brake rod (23) is provided with an inclined surface (240) which is intersected with the moving block (24) in and out of the cavity (20) and is positioned at one end of the brake rod (23) opposite to the brake return spring (22) for the brake rod (23) to advance and retreat;
the moving block (24) is positioned at the inclined surface (240) and is provided with a guide rail, and the brake rod (23) is positioned at the position of one end of the backrest opposite to the brake return spring (22) and is arranged in a guide groove matched with the guide rail;
the stabilizing arm (3) is positioned at the cavity (20) and is also provided with a guide ring (28) for advancing and retreating the brake rod (23) or the brake (21);
when the vehicle needs to be parked, a driver directly gives a control command signal to the stabilizing system controller (6), the stabilizing system controller (6) sends a command to stably control the driving motor (5), the stabilizing arm (3) swings down until the rear wheel (1) of the two-wheel vehicle leaves the ground, when the stabilizing arm (3) touches the blocking limiting block (26), the blocking limiting block is blocked, and the stabilizing wheel (2) can be braked and cannot rotate.
2. The two-wheeled vehicle stability control system of claim 1, wherein: the stabilizing system controller (6) is also respectively and electrically connected with a whole car angle sensor for detecting the angle of the whole car and a speed sensor for detecting the speed of the car.
3. A two-wheeled vehicle stability control system according to claim 2, wherein: a worm gear reducer (45) is arranged and connected between the rotating frame (4) and the stable control driving motor (5).
4. A two-wheeled vehicle stability control system according to claim 3, wherein: the stabilizing system controller (6) is also electrically connected with a worm gear sensor for detecting the turbine angle of the worm gear reducer (45).
5. A control method based on the two-wheeled vehicle stability control system according to any one of claims 1 to 4, characterized in that: the method comprises the following steps:
step S1, a stable system controller (6) sends a control instruction to a stable control driving motor (5);
and S2, driving the stabilizing arm (3) to swing by the stabilizing control driving motor (5) according to the control instruction so as to control the balance of the two-wheel vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710537721.XA CN107284554B (en) | 2017-07-04 | 2017-07-04 | Two-wheel vehicle stability control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710537721.XA CN107284554B (en) | 2017-07-04 | 2017-07-04 | Two-wheel vehicle stability control system and control method |
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| Publication Number | Publication Date |
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| CN107284554A CN107284554A (en) | 2017-10-24 |
| CN107284554B true CN107284554B (en) | 2024-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710537721.XA Active CN107284554B (en) | 2017-07-04 | 2017-07-04 | Two-wheel vehicle stability control system and control method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205365820U (en) * | 2016-01-08 | 2016-07-06 | 黄勇利 | Prevent falling device and have this two wheeler of preventing falling device |
| CN105774948A (en) * | 2016-03-15 | 2016-07-20 | 付佩民 | Two-wheeled vehicle supporting wheel stand system capable of rising and falling automatically and control method |
| CN205801302U (en) * | 2016-06-08 | 2016-12-14 | 高国喜 | A kind of closed two-wheel four-wheel is changed trains mutually |
| CN106741319A (en) * | 2016-12-30 | 2017-05-31 | 戴震班 | A kind of electric motor car with intelligent heel brace |
| CN207000652U (en) * | 2017-07-04 | 2018-02-13 | 浙江长兴德纳克斯动力科技有限公司 | A kind of two wheeler stabilizing control system |
-
2017
- 2017-07-04 CN CN201710537721.XA patent/CN107284554B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205365820U (en) * | 2016-01-08 | 2016-07-06 | 黄勇利 | Prevent falling device and have this two wheeler of preventing falling device |
| CN105774948A (en) * | 2016-03-15 | 2016-07-20 | 付佩民 | Two-wheeled vehicle supporting wheel stand system capable of rising and falling automatically and control method |
| CN205801302U (en) * | 2016-06-08 | 2016-12-14 | 高国喜 | A kind of closed two-wheel four-wheel is changed trains mutually |
| CN106741319A (en) * | 2016-12-30 | 2017-05-31 | 戴震班 | A kind of electric motor car with intelligent heel brace |
| CN207000652U (en) * | 2017-07-04 | 2018-02-13 | 浙江长兴德纳克斯动力科技有限公司 | A kind of two wheeler stabilizing control system |
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| CN107284554A (en) | 2017-10-24 |
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