CN109018134B

CN109018134B - Safety protection mechanism for two-wheeled self-balancing vehicle

Info

Publication number: CN109018134B
Application number: CN201810766517.XA
Authority: CN
Inventors: 张伏荣
Original assignee: Yangding Tianjin Technology Co ltd
Current assignee: Yangding Tianjin Technology Co ltd
Priority date: 2018-11-09
Filing date: 2018-11-09
Publication date: 2020-08-11
Anticipated expiration: 2038-11-09
Also published as: CN109018134A

Abstract

The invention relates to a safety protection mechanism for a two-wheeled self-balancing vehicle, which can effectively control the steering speed and steering amplitude of the vehicle. It is possible to prevent the vehicle handle from being operated excessively and to maintain the handle at an appropriate rigidity at any time during the running of the vehicle, so as to provide a rider with a free grip at any time to stabilize the body against an unbalanced side fall. The control means is to operate a steering speed regulation and limiting mechanism through the actions of the palm and the wrist of a rider, the swing of a motorized adjusting handle or the swinging of a locking handle cannot be realized so that the vehicle can only directionally run, therefore, when any unexpected external force influences the gravity center stability of the rider, the rider can randomly hold the handle to stably ride, the phenomenon that the steering function of the handle is mistakenly operated to influence the running performance is not worried, namely, the handle is mistakenly operated to influence the running, the controllable range is preset, and the problem of running safety cannot be caused.

Description

Safety protection mechanism for two-wheeled self-balancing vehicle

Technical Field

The invention relates to an electric two-wheeled self-balancing vehicle, in particular to an electric self-balancing vehicle with a single handle or double handles.

Background

Two-wheeled self-balancing vehicles commonly available on the market have a double-handle type, but mostly have a single-handle type, and representatives such as the two-wheeled self-balancing vehicles disclosed in U.S. Pat. nos. 6,302,230B 1, 9,188,984B 2 and 7,275,607B 2 by Segway corporation have been disclosed for marketing for years, but are smelled when people fall down.

The right center of the front side of the vehicle is provided with an upright handle, the top end of the upright handle is provided with a handle branch for a rider to hold, and the handle can swing left and right to control the steering of the vehicle. When the two-wheeled self-balancing bicycle with the single handle is actually ridden and turned, a rider needs to use the body posture and dynamically distribute two foot forces to keep the body stable, the rider can allow the proper force of both hands to operate the handle to swing left and right only by the aid of the stable body footwall, otherwise, the rider cannot stably and effectively drive the bicycle to turn, and even the bicycle can rotate violently to cause injury to the rider. The handle of the vehicle is a swinging operating rod, the rider cannot hold a stable center of gravity, the riding of the vehicle feels like standing on a bus which falls and undulates without hands, wings fall and collide without caution, and people hold a movable rail on a bow board and feel careless.

The accident that people are hurt by the unbalanced and uncontrolled sudden turning of the self-balancing vehicle is collected and analyzed in detail, wherein the accidents mainly occur in three types, namely the accident that the vehicle is damaged and the people are fallen by the rider who pulls the turning handle in an emergency at the last moment of the unbalanced falling for body balance, the accident that the handle is excessively operated under the interference of external force and the accident that people are hurt by the rider who is not paying attention to road conditions can be avoided if the manual operation technology is not mature and the same situation is replayed if the rider technology is improved.

The applicant considers the production design side to be 'no strange about all operation mistakes of the user, and to provide necessary and possible relief measures when the user has an emergency demand', the handle is the most important thing, so one of the important points of the application is that the self-balancing bicycle must provide the basic function of the handle, the handle has the function of supporting the rider in emergency, the rider is allowed to operate improperly without causing the vehicle to have improper actions to influence the personal safety of the rider, and the riding concentration can be distinguished to be required to be in a 'normal straight running, high speed and turning mode', so the rider can autonomously consciously handle the alarm and give up the mode to be carefully driven, otherwise, the requirement of taking care is equal to no carelessness.

In addition, the application is also concerned with the previous defense means, the improvement of the self-balancing vehicle is the means of detecting the idea of steering operated by the rider and then utilizing a chip program to calculate and control the operating handle and the steering speed of the vehicle according to the steering speed of the vehicle, however, the means are also established in a thinking mode of forcibly limiting the speed difference limit of two wheels on the basis of the operation of the swing type handle so as to prevent the vehicle from over-steering and throwing the rider, the means is a boundary control with a red line drawing type and also has a root accident, the application is to provide a source flow control mode which is to prevent the occurrence of improper reasons from the root and the source of the accident, one of the methods is to use palm wrists of two hands of the rider to synchronously and coordinately operate the steering grip, and establish a new steering control dimension of the vehicle so as to avoid the interference of pulling the handle, secondly, the output intensity of the steering handle is adjusted according to the speed and the steering requirement of the vehicle, only the recognition of the rider is provided, the driving force of the wheels is not excessive, and the possibility of sudden rotation caused by misoperation of the handle is prevented, and thirdly, the mechanical locking handle is timely used for preventing excessive and wrong operation.

Disclosure of Invention

The invention aims to provide a conventional single-handle or double-handle two-wheeled self-balancing vehicle on the market with a mechanism of the invention, which is characterized in that a steering handle has the function of controlling the driving direction, and also has the functions of supporting and stabilizing the body of a rider in an emergency manner, preventing the vehicle from over-steering, preventing the vehicle from rotating violently due to improper operation of the rider, preventing external force interference caused by road conditions or obstacles or hurry pulling of the vehicle handle when the rider is unbalanced, having the function of keeping the vehicle straight by single-hand operation, being capable of randomly converting the straight running function and the turning function of the vehicle according to the intention of the rider, and dynamically adjusting the steering speed and the acceleration of the steering handle if the steering speed and the acceleration of the steering handle are improved slightly, and the like, so that the vehicle is smoothly steered and safe to drive.

The invention is realized by the following technology, which comprises the following steps:

a safety protection mechanism for two-wheeled self-balancing vehicle is composed of a two-wheeled self-balancing vehicle with more than one frame, more than one vertical column axle and balance control system, more than one steering handle for said vehicle, more than one handle connected to upper end of said vertical column, a handle swing limiting mechanism consisting of a limiting block and a movable block for locking said movable block, and a pull unit, the steering handle can be touched by mistake or disturbed by external force, and can not swing to a great extent to cause the vehicle to rotate, the vehicle can still keep the moderate straight-going ability, and the locking mechanism can be driven to release the locking mechanism, so that the upright post can increase the limit of the swing range of the upright post, so as to control and drive the vehicle to turn more forcefully and flexibly, and simultaneously, a rider can self-perceive that the vehicle enters the loose-catch riding mode, and the riding mode needs to be improved in alertness and careful attention so as to ensure safety.

The safety protection mechanism for two-wheeled self-balancing vehicle is characterized in that one of the clamping movable blocks has an inclined shape, the pulling device can be properly used to change the driving mechanical action amplitude of the pulling device so as to generate continuously-changed clamping spacing amount, when the vehicle is operated to turn, the steering handle is pushed to push the clamping movable blocks fixed on the upright posts to lean against the fixed blocks, therefore, the swinging position change of the upright posts can be continuously and unidirectionally limited by the aid of the variable clamping spacing amount, and the dynamic swinging speed and the acceleration of the upright posts are controlled.

The safety protection mechanism for the two-wheeled self-balancing vehicle is characterized by comprising more than one frame and an electric control system, wherein the electric control system can continuously and dynamically provide a maximum speed difference allowable value of a turning outer wheel compared with an inner wheel according to the real-time linear speed and the two-wheeled speed difference of the self-balancing vehicle, the maximum speed difference allowable value is as described in the patent application No. 201710194992 of the people's republic of China, an interface for setting and using the maximum speed difference allowable value of the wheels is adopted, the interface is provided with a user to participate in setting and using and determining, more than one vehicle steering handle is fixed on the frame corresponding to the vehicle and moves together with the frame but cannot swing, a right steering handle and a left steering handle which can generate a steering electric control signal when the steering handle is operated and rotated are arranged at the upper end of the steering handle, the handle steering signal interlocking device is used for outputting an effective electrical control signal of only one of the left and right steering handles to the electrical control system in the same time period and is used as a basis for judging and calculating the steering intention and speed requirement of the rider operating the handle of the vehicle.

In addition, as the safety protection mechanism for the two-wheeled self-balancing vehicle is characterized in that the handle steering signal interlocking device is a mechanical coaxial reversing mechanism which is used for coupling the left handle and the right handle to form a relation that the left handle and the right handle can be mutually twisted by two palms and the rotation directions are opposite to each other to act synchronously, the stability of a rider holding the handles can be improved by utilizing the mutual twisting effect of the palms, and the interference of external force on the vehicle and personnel is resisted to improve the driving safety.

In addition, the safety protection mechanism for two-wheeled self-balancing vehicle is characterized in that the left handle and the right handle are respectively provided with an electric switch and switch, the electric switches can be operated by a rider or automatically started when the rider operates the steering handle, and the output signal of one of the two rotating handles is preferably effective by locking the electric switch which is started first as a preferential selection mode.

In addition, the safety protection mechanism for the two-wheeled self-balancing vehicle is characterized in that the handle steering signal interlocking device utilizes the left steering handle and the right steering handle to drive the rotary encoder together so as to achieve the purpose that only one group of effective signals representing the operation intention of a rider can be output at the same time.

Drawings

FIG. 1 is a single-handle two-wheel self-balancing vehicle exterior configuration diagram with a brake-handle type operation interface

FIG. 1-2 is a configuration diagram of a two-wheel self-balancing vehicle with two handles for an electromagnetic iron puller

FIG.2 is a partial block diagram of the handle swing limiting mechanism of FIG. 1 in a detent mode

FIG. 2-1 is a schematic view of a section of the transition action of the release latch

FIG. 2-2 is a schematic view of two single-side latches of the transition action of the release latch

FIGS. 2-3 are schematic views of a fully released latch

FIG. 3 is a view showing the external configuration of a column-fixed single-handle two-wheel self-balancing vehicle

FIG. 3-1 is a block diagram of a vehicle travel steering control operation of the apparatus of the present invention

FIG.4 is a structural layout of the mechanical coaxial reversing mechanism of the device of the present invention

FIG. 5 is a two-wheeled self-balancing vehicle exterior layout drawing of a handle electric button type fixed column

FIG. 6 is a structural layout of a handle of the encoder of the device

Detailed Description

The invention is further described below with reference to the accompanying drawings;

as shown in figure 1, it is a single handle type two-wheeled self-balancing vehicle appearance layout of a device brake handle type operation interface, in the figure 1 is a two-wheeled self-balancing vehicle, it has a pair of parallel left wheel 3 and right wheel 2 to receive the control and drive of the vehicle balance control system, 4 is a frame on which a column pivot axis 5 is set up to pivot the column 6 and output the pivot angle signal of the column 6 to the vehicle balance control system through 7 related components (including a rotating block potentiometer) in order to make the vehicle balance upright, straight and steering function, 8 is a steering handle comprising a left handle 9, a right handle 10 and a column 6 connected together to allow the rider to hold and pivot the whole steering handle 8 to swing left and right, 11 is an operation interface, is a conventional brake handle for bicycle, it will drive the pulling rope 13 of the pulling device 12 when pulled, the mechanical action generated by the brake pull handle 11 is transmitted to the clamping

movable blocks

16 and 17 included in the handle swing limiting operating mechanism 15 through the transmission interface 14, a limiting block is fixed on the upper surface of the frame 4 and moves along with the handle swing limiting operating mechanism, and the limiting block 17 is provided with a local circular arc concentric with the upright post swing axis and a clamping inclined groove. The shown clamping movable block 16 and the limiting block 17 are at the clamping position of the vehicle clamping mode, and if the clamping movable block 16 is pulled to rise away from the clamping groove of the limiting block 17, the vehicle is in the vehicle releasing mode. The rider is in a neutral braking mode when not pulling the brake handle 11, the upright post 6 can only swing moderately and slightly to enable the vehicle to go straight and keep proper direction correction, at the moment, if the steering handle is touched by mistake or is interfered by external force, the steering handle can not swing greatly to cause the vehicle to rotate violently, the vehicle still can keep proper straight-going ability, if the brake handle 11 is operated to pull up the braking movable block 16 to run in a braking loosening mode, the upright post can increase the swing amplitude so as to control and drive the vehicle to turn more powerfully and flexibly, the rider can self-perceive that the vehicle enters the braking loosening riding mode by utilizing the action of pulling the brake handle, and the riding mode has to improve the alertness and concentrate on carefully to ensure the safety. The handle swing limiting operation mechanism 15 shown in fig. 1 can be operated by manpower, or can be an electric power assisting mode of an electric button matching with a direct-acting electromagnetic magnet or a direct-acting motor set, and any mechanism which can be operated by a palm part to achieve the purpose of clamping and releasing the clamping can be adopted and applied to the embodiment as long as the conventional various modes in engineering can be arranged near a vehicle handle.

Fig. 1-2 is an external view of a double-handle type two-wheel self-balancing vehicle equipped with an electromagnetic magnet puller, wherein 1-1 is a double-handle type two-wheel self-balancing vehicle, the structure is as the new patent application number of the people's republic of China: 201710033323.4 is disclosed, which is characterized in that, the upper device is provided with two frames 4, a left handle 9 and a right handle 10, the right handle is provided with an electric button 9-a, the left handle can also be selectively provided with an electric button of the same type, the two frames 4 which are pivoted together and can freely rotate relatively can be clamped by utilizing a limiting block 17 to be matched with a clamping movable block 16, the two frames 4 which can freely rotate relatively can not rotate relatively again and can be synchronously moved, and then the two handles fixed on the frames can not be relatively swung by clamping at the same time, further, the vehicle can not turn but can only go straight, and if the clamping is loosened, the direct-acting type electromagnetic attracting iron 12-1 is fixed to achieve the aim.

Fig.2 is a partial structure diagram of a detent mode of the handle swing limiting mechanism in fig. 1, in the diagram, an oblique cone of the detent movable block 16 is clamped into an oblique groove of the limiting block 17 to be located at a vehicle detent mode position, a small proper gap can be seen from a position indicated by an arrow 18, in actual measurement, a vehicle uses a domestic ips factory brand self-balancing controller, the gap amplitude indicated by the arrow 18 is +/-1.5 degrees, so that smooth and straight running of the vehicle on a flat road can be maintained, fine adjustment and correction can be achieved, and the main column 6 is guaranteed not to cause a vehicle sudden-turning injury event even if being mistakenly moved.

Fig. 2-1 is a sectional schematic view of the transition action of releasing the brake, the brake handle 11 can be operated stably to pull 16 the movable block to rise to generate a variable braking distance, and the gap indicated by the arrow 19 is much wider than that in fig. 2.

Fig. 2-2 is a schematic diagram of two single-side locking actions of the releasing locking device, at this time, the rider can properly operate the upright post 6 to drive the locking movable block 16 to lean against the limit block 7 with a proper force without locking the locking movable block 16, as shown by an arrow 20, so that the rider can utilize the cooperation and continuous actions of the brake holding handle 11 and the rotating upright post 6 to achieve more stable steering of the vehicle. Although not entirely effective, it may also serve an auxiliary function.

Fig. 2-3 are schematic views of a fully released latch. In the figure, the clamping movable block 1 and the limiting block 17 are completely positioned at the position of loosening the clamping as shown by an arrow 21, the aim is to increase the swing of the upright post 6 so as to facilitate a rider to more flexibly and powerfully control and drive the vehicle to turn, the operating brake handle 11 is consciously operated by the rider to enter a loosening clamping riding mode by self-perceiving the driving requirement, and the rider can be forcibly informed of riding needing to independently improve the alertness and carefully concentrate on riding to ensure the safety. In addition, the applicant team has found in actual measurement that the upright post can be limited by a set of swing limits of ± 5.5 degrees in the loose-catch mode, so that the vehicle can meet the operation requirement, and the requirement of over-operation and emergency support of the steering handle 8 can be further improved.

FIG. 3 is a view showing the external arrangement of a single-handle two-wheel self-balancing bicycle with fixed upright posts, wherein the lower end of the upright post 6 is fixed on the frame 4 of the bicycle, the steering handle 8 of the bicycle and the upright post 6 are fixed and can not swing left and right to steer the bicycle 1, the rider can operate the right handle thumb ring 10-1 to induce a right eye ring 10-2 and operate the left handle thumb ring 9-1 to induce a left eye ring 9-2 to generate angle change signals and steering control intentions of the rider, and then the angle change signals and the steering control intentions are transmitted to a self-balancing controller of the bicycle through signal output lines 9-3 and 10-3 to execute the steering of the bicycle, 22 is a handle interlocking device whose internal detailed structure is shown in FIG.4 and used for coupling the left handle thumb ring 9-1 and the right handle thumb ring 10-1, the interlocking relationship of operation with opposite rotation directions and synchronous action is formed, only the neutral and effective output signal areas of the fingering rotary ring and the corresponding ear loops are defined, so that the rotary ring can be operated in the same time period to output only one of the effective electric control signals to the electric control system, and the effective electric control signals are used as the basis for judging and calculating the vehicle steering intention and speed requirement of the rider for operating the handle, thereby achieving the purpose of operating the vehicle steering. By adopting the mode of the figure 3, on the basis of fixing the non-swing handle, the action areas of the handle with two hands can be separated from the action areas of the handle with two hands by simultaneously twisting a pair of finger-dialing rotating rings by fingers without mutual interference, the basic function of stabilizing the body by returning the handle is achieved, the risk of vehicle false violence caused by the fact that a rider mistakenly moves the handle steering mechanism when the rider urgently opens and pulls down the handle can be fundamentally prevented, in addition, the left handle 9 and the right handle 10 are fixed and do not rotate, the handle can provide sufficient holding stability in the left and right directions of the rider at any time, and in addition, the handle is not a part which can cause false operation to lead to the violent rotation of the rider.

FIG. 3-1 is a block diagram of the vehicle steering operation of the apparatus of the present invention, wherein the adjustment and control method of the effective signal outputted from the left and right steering grips is to use the real-time default wheel maximum speed difference tolerance described in (the invention patent application number of the people's republic of China: 201710194992.X instruction) as the whole range of the real-time steering of the vehicle by the rider, and in combination with the scheme proposed in the present application, the rider adjusts the percentage value of the wheel maximum speed difference tolerance by using the rotating grip, in order to dynamically and real-time limit the maximum value of the rider steering operation and the driving wheel differential speed to prevent the over-operation and the over-driving wheel speed difference, so that the re-rough operation is also limited within the real-time default wheel maximum speed difference tolerance, and then the rider operates the steering grip gradually from 0-100% to release the maximum speed difference tolerance to have the fine-adjustment and the stabilization The function of steering operation makes the driving turn more smoothly.

The internal set of wheel maximum speed difference allowable value is a set of multiple sets of driving strength data set by a manufacturer, and the driving strength data are stored in a vehicle control system database for a rider to select and use through a user interface according to the operation proficiency or preference of the rider, and in addition, the internal set of wheel maximum speed difference allowable value can also be provided with data for memorizing the steering driving process of the rider for operating the vehicle, so that the rider can select the corresponding speed difference data of the maximum speed of the driving data as the wheel maximum speed difference allowable value, and the internal set of wheel maximum speed difference allowable value belongs to a mechanism of interaction participation of users which are popular at present and has individuation. When riding, the rider operates the left and right handles to correspondingly control the left and right wheels, at the moment, the controller gives the allowable maximum speed difference driving value of wheel steering in real time, and the wheel driving value is released by gradually increasing from 0-100% through the handle rotating by the rider. This is a precautionary control means to prevent sudden steering, unlike Segway's arbitrary steering speed, which then checks its performance and imposes a limit. In addition, the vehicle provided by the application has the capability of resisting external force to interfere driving and steering, and when the vehicle is in bad road conditions and is impacted, a rider who does not cause unbalance can not pull a handle to mistakenly touch a steering function, so that secondary proliferation is caused, and the vehicle is damaged.

The innovative point of the above manner is clearly distinguished from the claimed scope of Segway self-balancing vehicle in its U.S. patent, and as can be seen from the descriptions in Segway in US9,188,984B 2, fig.2, 3A, 3B, 3C and 4, and in paragraph 5, line 21 to line 67 and paragraph 13, line 57, Segway proposes an optimal steering (speed difference) control scheme to be put into the automatic vehicle control system, leaving only one interface (fig. 3B #800 yard gripperbelmply) for the rider to operate the same type of steering handle as in the present application, and only allowing the rider to operate an intention signal for "acceleration/deceleration tendency of the speed difference", which is compared with the real-time steering speed difference (refer to fig.2, #522/current yaw) generated by other steering components of the vehicle to obtain the actual steering difference (refer to "hall command value 2", yaw Command and fig.4, #2, and ya velocity error), one of the differences arises here, that Segway riders need to operate with more than two limbs to complete the steering operation, whereas the present application only needs to use one handle twisting action. The other difference is that the strength of freely operating and steering by the rider in the Segway vehicle system is still maintained in the old mode, the strength is forcibly corrected according to program operation when the vehicle steering performance does not meet the speed difference allowable value of the vehicle system, and the safety of the rider is expected to be a method for preventing the rider from sudden steering.

FIG.4 is a structural layout diagram of the mechanical coaxial reversing mechanism of the device of the present invention, in which the coaxial shaft 25 is a through shaft, the left fixed grip 9-5 and the right fixed grip 10-5 are fixed at two ends thereof to provide a stable and strong holding support for the rider, the rider can rotate the left grip ring 9-1 and the right grip ring 10-1 with multiple magnetic poles by using his fingers, and simultaneously sense the corresponding outer left Hall ring 9-2 and right Hall ring 10-2 to generate electric sensing signals, and then output the electric sensing signals to the self-balancing control system of the vehicle by two sets of control signal output lines 9-3,10-3, the grip, Hall ring and their related components can be obtained in public fields, namely Hall accelerating twist commonly used in electric locomotives, 22-1 is a mechanical coaxial reversing device and is a conventional engineering device, the two-sided synchronous rotation type electric wire cutting machine consists of a left helical gear 9-6, a middle gear 24 and a right helical gear 10-6, wherein the outer sides of the two helical gears and the finger-poking rotating ring are provided with clamping teeth 10-7 which are coupled and rotate synchronously, so that the structure achieves the effect of synchronous reversion of the two finger-poking rings, an operator can contract two hands simultaneously to exert force without generating an electric message 24-1 for shielding in the direction of wrong rotation of the two hands, and the operator 24-2 is a plane lining ring.

Fig. 5 is a layout of a two-wheel self-balancing vehicle with an electric button type fixed upright, wherein the steering interlock device is characterized in that an open-close type left handle electric button 9-b is arranged on the left rotary handle 9-a and an open-close type right handle electric button 10-b is arranged on the right rotary handle 10-a, so that the rider can select the steering intention and output effective signals, the handle can be used by adopting a common electric locomotive with an electric horn rotary handle, and the rider can select and lock the output signal of one of the two rotary handles in a mode of pressing the rider first to avoid simultaneously outputting signals to the shield to achieve the purpose of interlocking. Although the mode is simple and low in cost, the problem that if the grip on the non-acting side is righted timely when a rider makes an S-shaped turn, the grip on the other side is started, the problem that the operation is empty or the steering is not smooth is solved, and a grip righting prompt signal can be additionally arranged on the remedy to remind the rider to correct the problem.

FIG. 6 is a schematic view showing the arrangement of the handle structure of the device encoder, wherein the steering interlock device is a rotary encoder inner ring 24-3 driven by the straight left steering handle 9-a and the straight right steering handle 10-a so as to output only one set of valid signals representing the rider's operation intention. As long as the relative angle of the position signal of the decoder relative to the left and right rotating grips is defined as the usage area of the neutral, left and right wheels, the effective signals of the two grips can be read by the encoder reading head 24-4, and the steering and turning speed intention of the steering of the rider can be effectively output to the self-balancing controller. 24-5 is a good position for fixing the reading head 24-4 of the encoder to the outer casing 24-7 by the reading head bracket, 24-8 is a coaxial reversing mechanism with three bevel gears because the encoder driving ring has one end group with a clamping tooth 24-6 and a left bevel gear 9-6 coupled together to synchronously rotate on a common shaft 25, and the rider needs to simultaneously twist the left and right rotating handles 9-a and 10-a to drive the inner ring 24-3 of the encoder to output signals.

Claims

1. A safety protection mechanism for two-wheeled self-balancing vehicle is composed of a two-wheeled self-balancing vehicle with more than one frame, more than one steering handle consisting of a vertical column fixed to said vertical column, a handle limiting unit consisting of a limiting block and a movable block for locking said movable block, and a pull unit consisting of an operation interface near the palm of hand, The movement of the wrist and fingers can operate the operation interface of the puller to generate driving mechanical action, the puller also comprises a motion transmission interface for transmitting mechanical motion generated by the puller operation interface to the handle swing limiting mechanism to drive the clamping movable block to move between the clamping mode position and the clamping release mode position, so that the puller can run a clamping function to limit the upright post to swing only a proper amount of rotation in the upright neutral position, and the vehicle can move straightly and keep a proper direction correction amount, in the clamping mode, if the steering handle is touched by mistake or is interfered by external force, the steering handle cannot swing greatly to cause the vehicle to rotate violently, the vehicle still can keep proper straight-going capability, and the clamping device loosening function can be performed, so that the swing amplitude limit of the upright post is increased, and the vehicle can be controlled and driven to turn more powerfully and flexibly.

2. The safety protection mechanism of claim 1, wherein one of the locking moving blocks has a slope shape, and when the pulling device is properly operated to change the mechanical action amplitude, the continuously variable locking distance can be generated, and when the vehicle is operated to turn, the steering handle is pushed to push the locking moving block fixed on the upright column to lean against the limiting block, so that the variable locking distance can continuously and unidirectionally limit the swing position change of the upright column, and the dynamic swing speed and acceleration of the upright column can be controlled.

3. A safety protection mechanism for two-wheeled self-balancing vehicle is composed of more than one frame and electric control system for providing a maximum speed difference between the wheel at outer side and the wheel at inner side, more than one steering handle fixed to relative frame and moving with frame but not swinging, a right steering handle and a left steering handle for generating electric steering control signals, and a handle steering signal interlocking unit for outputting the effective electric control signal of left or right steering handle in same time period And the electric control system is used as a basis for judging and calculating the vehicle steering intention and the speed requirement of the rider for operating the handle.

4. The safety guard mechanism of claim 3, wherein the handle steering signal interlock is a mechanical coaxial reversing mechanism for coupling the left and right steering handles to a synchronized relationship of opposite rotation directions by twisting the two hands together.

5. The safety guard mechanism of claim 3, wherein an electric switch is attached to each of the left and right steering grips to allow the rider to operate the safety guard mechanism or to automatically activate the safety guard mechanism when the rider operates the steering grips, and the output signal of one of the left and right steering grips is preferentially activated by the electric switch that is activated first.

6. The safety protection mechanism of claim 4, wherein the handle steering signal interlock device drives a rotary encoder by using the left steering handle and the right steering handle to output only one set of valid signals representing the operation intention of the rider.