CN115384671B - Single-foot-controllable two-wheel electric balance car and operation method - Google Patents
Single-foot-controllable two-wheel electric balance car and operation method Download PDFInfo
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- CN115384671B CN115384671B CN202111466290.5A CN202111466290A CN115384671B CN 115384671 B CN115384671 B CN 115384671B CN 202111466290 A CN202111466290 A CN 202111466290A CN 115384671 B CN115384671 B CN 115384671B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims abstract description 17
- 230000005520 electrodynamics Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 9
- 230000001960 triggered effect Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/08—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips foot actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention belongs to the technical field of balance vehicles, and particularly relates to a two-wheel electric balance vehicle capable of being controlled by a single foot and a control method. Aiming at the defect that the existing two-wheeled electric balance car needs two-foot control, the invention adopts the following technical scheme: a two-wheeled electrodynamic balance car that can single foot controlled, but single foot controlled two-wheeled electrodynamic balance car includes: a first wheel having a first motor; a second wheel having a second motor; a first pedal; a second pedal; a controller; wherein, the first pedal and/or the second pedal is/are provided with a straight sensor electrically connected with the controller; the two-wheel electric balance car is provided with a single-foot control mode, and in the single-foot control mode, the controller only controls the first motor and the second motor to be synchronous according to the information of a certain straight-running sensor, so that the two-wheel electric balance car can directly run. The two-wheeled electric balance car has the beneficial effects that: realizing single-foot control.
Description
Technical Field
The invention belongs to the technical field of balance vehicles, and particularly relates to a two-wheel electric balance vehicle capable of being controlled by a single foot and an operation method.
Background
The existing two-wheel electric balance car mainly comprises a first wheel, a first sensor, a second wheel, a second sensor and a controller, wherein the controller receives information of the first sensor and the second sensor and controls the first wheel and the second wheel. Specifically, the first sensor collects the front-rear inclination angle of the first pedal, the second sensor collects the front-rear inclination angle of the second pedal, when the front inclination angles of the two pedals are basically consistent, the balance car advances, when the front inclination angles of the two pedals are forwards inclined but larger than a certain value, the balance car forwards turns, when the back inclination angles of the two pedals are basically consistent, the balance car retreats, and when the back inclination angles of the two pedals are backwards inclined but larger than a certain value, the balance car backwards turns.
The existing two-wheeled electric balance car is provided with a left pedal and a right pedal, and needs to be controlled by two feet, so that the electric balance car is extremely unfriendly for handicapped people.
Disclosure of Invention
The invention provides a two-wheel electric balance car capable of being controlled by a single foot, aiming at the defect that the existing two-wheel electric balance car needs to be controlled by two feet, so as to improve the applicability of the two-wheel electric balance car. The invention also provides an operation method of the two-wheeled electric balance car.
In order to achieve the above purpose, the invention adopts the following technical scheme: a two-wheeled electrodynamic balance car that can single foot controlled, but single foot controlled two-wheeled electrodynamic balance car includes:
A controller;
a first wheel having a first motor controlled by the controller;
a second wheel having a second motor controlled by the controller;
A first pedal;
A second pedal;
the straight sensor is electrically connected with the controller and used for detecting the front-rear inclination angle of the first pedal or the second pedal;
The two-wheel electric balance car is provided with a single-foot control mode, and in the single-foot control mode, the controller sends the same instruction to the first motor and the second motor according to the information of the straight-running sensor, and the first motor and the second motor are synchronous, so that the two-wheel electric balance car can run straight.
The two-wheel electric balance car provided by the invention has a single-foot control mode, and in the single-foot control mode, the controller only controls the first motor and the second motor to be synchronous according to the information of a certain straight-running sensor, so that the two-wheel electric balance car can directly run, and single-foot control is realized. In popular terms, the front-back inclined angles acquired by the existing balance car are a and b, the balance car controls two motors according to the sizes of a and b and the difference between a and b, and the two motors may be synchronous or asynchronous; the inclination angle acquired by the straight-running balance car is c, the balance car is synchronous only according to the c controller, or when two straight-running sensors are arranged, only one straight-running sensor works at the same time, or when two straight-running sensors are arranged, the two straight-running sensors work at the same time, but the controller only controls the two motors to be synchronous according to the information of one straight-running sensor, and the information of the other straight-running sensor is not processed. When the balance car controls the first motor and the second motor according to the straight-going sensor on the first pedal, the controller balances the first pedal regardless of whether the second pedal is balanced.
As an improvement, in the single-foot control mode, the controller keeps the balance of the first pedal by controlling the first motor, and ensures that the second pedal is synchronous with the first pedal by controlling the second motor.
As an improvement, the two-wheeled electric balance car comprises a car body fixedly connected with the first motor and the second motor, the first pedal and the second pedal are connected with the car body in a back-and-forth swinging way, and a detachable anti-swing piece for preventing the pedals from swinging is arranged between the first pedal or the second pedal and the car body.
As an improvement, the lower surfaces of the first pedal and the second pedal are provided with a mode change-over switch which is electrically connected with the controller and triggered by the anti-swing piece.
As an improvement, the two-wheeled electrodynamic balance car comprises two straight-running sensors. The two pedals are provided with straight sensors, and can swing back and forth. But the controller controls the two motors to synchronize based on information from only one of the linear motion sensors.
As an improvement, the two straight-running sensors synchronously move, and when one of the straight-running sensors is damaged, the running of the balance car is not influenced, and the balance car is special for single-foot control. In other aspects, two straight travel controllers are mounted on the first pedal and the second pedal, respectively.
As an improvement, a first human body detection switch is arranged on the first pedal, and a second human body detection switch is arranged on the second pedal.
As an improvement, the first pedal and/or the second pedal is/are also provided with a steering sensor connected with the controller.
As an improvement, the first pedal and/or the second pedal can swing left and right, and the controller controls the first motor and the second motor to be asynchronous according to the left and right inclination angles of the first pedal and/or the second pedal, so that left and right steering is realized.
As an improvement, the controller controls the first motor and the second motor asynchronously according to the left-right inclination angle difference of the two steering sensors so as to realize left-right steering. When the road surface is uneven left and right, the motor is controlled according to the left and right inclination angle difference, and the control is more accurate compared with the motor which is controlled according to only one left and right inclination angle.
As an improvement, the first pedal and/or the second pedal is/are also provided with a left turning trigger piece which can be inclined leftwards along with the lower leg and a right turning trigger piece which can be inclined rightwards along with the lower leg.
As an improvement, the controller controls the first motor and the second motor asynchronously according to the left-right inclination amplitude of the left-turning trigger piece and the right-turning trigger piece, so that left-right turning is realized.
As an improvement, pressure sensors are arranged at the left turning trigger piece and the right turning trigger piece; the left turning trigger piece and the right turning trigger piece are provided with resetting pieces.
An operation method of a two-wheeled electric balance car, the operation method of the two-wheeled electric balance car comprises the following steps:
s1, turning on a power switch to select or directly enter a single-pin control mode;
S2, stepping on one or two feet, operating a single pedal to incline forwards or backward after the balance car runs at high power, and controlling the first motor and the second motor to be synchronous by the controller according to the information of a certain straight-going sensor so as to enable the two-wheel electric balance car to move straight;
S3, realizing left and right steering by tilting the single leg left and right, or realizing left and right steering by tilting the single leg left and right.
The two-wheeled electric balance car has the beneficial effects that: the controller controls the first motor and the second motor to be synchronous only according to the information of a certain straight-running sensor in the single-foot control mode, so that the two-wheel electric balance car can move straight, and single-foot control is achieved.
The operation method of the two-wheeled electric balance car has the beneficial effects that: single foot manipulation can be achieved.
Drawings
Fig. 1 is a block diagram of a two-wheeled electrodynamic balance car according to a first embodiment of the present invention.
Fig. 2 is a step diagram of an operation method of the two-wheeled electric balance vehicle according to the first embodiment of the present invention.
Fig. 3 is a block diagram of a two-wheeled electric balance car according to a second embodiment of the present invention.
Fig. 4 is a step diagram of an operation method of the two-wheeled electric balance vehicle according to the second embodiment of the present invention.
Fig. 5 is a block diagram of a two-wheeled electric balance car according to a third embodiment of the present invention.
Fig. 6 is a step diagram of an operation method of the two-wheeled electric balance vehicle according to the third embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a two-wheeled electric balance car according to a first embodiment of the present invention.
Fig. 8 is an exploded view of a two-wheeled electric balance car according to the first embodiment of the present invention.
Fig. 9 is a schematic structural diagram of a pedal and a mode switch of a two-wheeled electric balance car according to the first embodiment of the present invention.
In the figure, 1, a first wheel;
2. A second wheel;
3. A first pedal;
4. A second pedal; 41. a positioning groove;
5. a vehicle body;
6. An anti-swing member;
7. A mode switch.
Detailed Description
The technical solutions of the inventive embodiments of the present invention will be explained and illustrated below with reference to the drawings of the inventive embodiments of the present invention, but the following embodiments are only preferred embodiments of the inventive embodiments of the present invention, not all. Based on the examples in the implementation manner, other examples obtained by a person skilled in the art without making any inventive effort fall within the scope of protection created by the present invention.
Referring to fig. 1, 7 to 9, a single-foot controllable two-wheeled electric balance vehicle, the single-foot controllable two-wheeled electric balance vehicle includes:
A controller;
a first wheel 1 having a first motor controlled by the controller;
A second wheel 2 having a second motor controlled by the controller;
a first pedal 3;
a second pedal 4;
a straight sensor electrically connected to the controller for detecting the front-rear inclination angle of the first pedal 3 or the second pedal 4;
The two-wheel electric balance car is provided with a single-foot control mode, and in the single-foot control mode, the controller sends the same instruction to the first motor and the second motor according to the information of the straight-running sensor, and the first motor and the second motor are synchronous, so that the two-wheel electric balance car can run straight.
In this embodiment, the first pedal 3 is provided with a first human body detection switch, and the second pedal 4 is provided with a second human body detection switch. The first human body detection switch and the second human body detection switch can be set to perform power output by the balance car when only one trigger is performed, so that the robot is suitable for disabled persons without artificial limbs, or perform power output when both trigger is performed, so that the robot is suitable for disabled persons with artificial limbs.
In this embodiment, the first pedal 3 and the second pedal 4 are both provided with a straight-going sensor electrically connected to the controller. The straight-going sensor comprises a first straight-going sensor on the first pedal 3 and a second straight-going sensor on the second pedal 4, when a user steps on the first pedal 3 firstly and then steps on the second pedal 4, or the user steps on the first pedal 3 only, the controller controls the left motor and the right motor to synchronously operate according to the information of the first straight-going sensor, and the information of the second straight-going sensor is not processed, so that the balance car can move straight.
In other embodiments, the first pedal 3 and the second pedal 4 swing synchronously, and the two straight-running sensors swing synchronously, so that when one of the straight-running sensors is damaged, the balance car can still operate normally.
In this embodiment, the two-wheeled electrodynamic balance car includes with the automobile body 5 of first motor and second motor rigid coupling, first footboard 3 and second footboard 4 with automobile body 5 back-and-forth swing is connected, be equipped with detachable prevent pedal wobbling anti-swing spare 6 between first footboard 3 or second footboard 4 and automobile body 5.
In this embodiment, the first pedal 3 and the second pedal 4 are provided with positioning grooves 41, the anti-swing member 6 has a tapered portion, and the anti-swing member 6 is positioned in the positioning grooves 41 and supported by the vehicle body 5. The anti-swing member 6 is installed between the pedal and the vehicle body 5 from the axial end portion to the axial center. The anti-swing parts 6 are arranged in front and back relative to the rotation center of the pedals.
In this embodiment, the lower surfaces of the first pedal 3 and the second pedal 4 are provided with a mode switch 7 electrically connected to the controller and triggered by the anti-swing member 6. The mode changeover switch 7 may employ an optoelectronic proximity switch. The controller of the balance car of this embodiment stores a two-foot control mode and a single-foot control mode, when the anti-swing part 6 is not installed, the controller defaults to the two-foot control mode, and when the anti-swing part 6 is installed, the anti-swing part 6 triggers the mode switch 7 to switch from the two-foot control mode to the single-foot control mode. Meanwhile, one pedal cannot swing back and forth, the handicapped can tread on the pedal capable of swinging back and forth with flexible feet, the handicapped can tread on the pedal not capable of swinging back and forth with inflexible feet, and the operation is easier.
In this embodiment, there are two mode switches 7, and the two mode switches 7 are triggered in parallel, that is, when any one mode switch 7 is triggered, a mode switching signal is sent to the controller.
The two-wheeled electric balance car of the present embodiment can only travel straight during single-foot operation, but is still a new option for handicapped people.
The two-wheeled electric balance car provided by the embodiment of the invention has a single-foot control mode, and in the single-foot control mode, the controller only controls the first motor and the second motor to be synchronous according to the information of a certain straight-running sensor, so that the two-wheeled electric balance car can move straight, and single-foot control is realized.
Referring to fig. 1 and 2, an operation method of a two-wheeled electric balance car according to an embodiment of the present invention includes:
s1, turning on a power switch to select or directly enter a single-pin control mode;
S2, after one or two feet are stepped on, the balance car runs at high power, a single pedal is operated to tilt forwards or backwards, and the controller only controls the first motor and the second motor to be synchronous according to the information of a certain straight-going sensor, so that the two-wheel electric balance car moves straight.
Example two
Referring to fig. 3, a two-wheeled electric balance car capable of being operated by a single foot according to a second embodiment of the present invention includes:
A controller;
a first wheel having a first motor controlled by the controller;
a second wheel having a second motor controlled by the controller;
A first pedal;
A second pedal;
the first steering sensor is electrically connected with the controller and used for detecting the left-right inclination angle of the first pedal;
the second steering sensor is electrically connected with the controller and used for detecting the left-right inclination angle of the second pedal;
The two-wheeled electric balance car is provided with a single-foot control mode, and in the single-foot control mode, the controller controls the first motor and the second motor to be asynchronous according to the information of the first steering sensor and the second steering sensor, so that the two-wheeled electric balance car can steer left and right.
In this embodiment, the left-right steering can be achieved by a gyroscope that detects the front-rear inclination angle and the left-right inclination angle of the pedal. The structure that the pedal can swing back and forth and can swing left and right can refer to the prior art.
In other embodiments, the first pedal and/or the second pedal is further provided with a left turn trigger tiltable left with the lower leg and a right turn trigger tiltable right with the lower leg to achieve left-right steering. The left turn trigger and the right turn trigger are higher than the pedals. The steering sensor is a left-turning trigger piece and a pressure sensor arranged at the right-turning trigger piece, and a reset piece is acted on the left-turning trigger piece and the right-turning trigger piece. When the lower leg touches the left-right rotation sensor, the balance car turns left-right, and the specific structure can be used for referencing the existing flat car.
Referring to fig. 3 and 4, in a first embodiment of the present invention, an operation method of a two-wheeled electric balance vehicle includes:
s1, turning on a power switch to select or directly enter a single-pin control mode;
S2, stepping on one or two feet, operating the pedal to incline left and right after the balance car runs at high power, and controlling the first motor and the second motor to be asynchronous by the information of the steering sensor of the controller to realize left and right steering.
Example III
Referring to fig. 5, a two-wheeled electric balance car capable of being operated by a single foot according to a third embodiment of the present invention includes:
A controller;
a first wheel having a first motor controlled by the controller;
a second wheel having a second motor controlled by the controller;
A first pedal;
A second pedal;
the first straight sensor is electrically connected with the controller and used for detecting the front-rear inclination angle of the first pedal;
The second straight sensor is electrically connected with the controller and used for detecting the front-rear inclination angle of the second pedal;
the first steering sensor is electrically connected with the controller and used for detecting the left-right inclination angle of the first pedal;
the second steering sensor is electrically connected with the controller and used for detecting the left-right inclination angle of the second pedal;
The two-wheel electric balance car is provided with a single-foot control mode, and in the single-foot control mode, the controller controls the first motor and the second motor to be synchronous according to information of one of the first straight-moving sensor and the second straight-moving sensor so that the two-wheel electric balance car can move straight; the controller controls the first motor and the second motor to be asynchronous according to the information of the first steering sensor and the second steering sensor, so that the two-wheeled electrodynamic balance car steers left and right.
In this embodiment, the controller controls the first motor and the second motor asynchronously according to the left-right inclination angle difference of the two steering sensors, so as to realize left-right steering.
Referring to fig. 5 and 6, the operation method of the two-wheeled electric balance vehicle according to the third embodiment of the present invention includes:
s1, turning on a power switch to select or directly enter a single-pin control mode;
S2, stepping on one or two feet, and operating the balance car in high power;
s31, operating the pedal to incline forwards or backwards, and controlling the first motor and the second motor to be synchronous by the controller according to the information of a certain straight-going sensor so as to enable the two-wheel electric balance car to move straight;
S32, tilting the single foot left and right, wherein the controller controls the first motor and the second motor to be asynchronous according to the information of the steering sensor, so that left and right steering is realized.
While the invention has been described in terms of specific embodiments, it will be apparent to those skilled in the art that the invention is not limited to the specific embodiments described. Any modifications which do not depart from the functional and structural principles of the present invention are intended to be included within the scope of the appended claims.
Claims (9)
1. A but two-wheeled electrodynamic balance car that single foot controlled, its characterized in that: the two-wheeled electrodynamic balance car that can single foot controlled includes:
A controller;
a first wheel having a first motor controlled by the controller;
a second wheel having a second motor controlled by the controller;
A first pedal;
A second pedal;
the straight sensor is electrically connected with the controller and used for detecting the front-rear inclination angle of the first pedal or the second pedal;
The two-wheel electric balance car is provided with a single-foot control mode, and in the single-foot control mode, the controller sends the same instruction to the first motor and the second motor according to the information of the straight-running sensor, and the first motor and the second motor are synchronous, so that the two-wheel electric balance car can run straight;
Be equipped with first human body detection switch on the first footboard, be equipped with the human body detection switch of second on the second footboard, all trigger when two human body detection switches, just carry out power take off by the balance car.
2. The two-wheeled electric balance vehicle capable of being operated by one foot according to claim 1, wherein: in the single-foot control mode, the controller keeps balance of the first pedal by controlling the first motor, and ensures synchronization of the second pedal and the first pedal by controlling the second motor.
3. The two-wheeled electric balance vehicle capable of being operated by one foot according to claim 1, wherein: the two-wheeled electrodynamic balance car includes with first motor and second motor rigid coupling's automobile body, first footboard and second footboard with the automobile body back-and-forth swing is connected, first footboard or second footboard with be equipped with detachable prevent pedal wobbling anti-swing spare between the automobile body.
4. A two-wheeled electrodynamic balance car capable of being operated by a single foot according to claim 3, wherein: the lower surfaces of the first pedal and the second pedal are provided with a mode change-over switch which is electrically connected with the controller and triggered by the anti-swing piece.
5. The two-wheeled electric balance vehicle capable of being operated by one foot according to claim 1, wherein: the two-wheel electric balance car comprises two straight-running sensors, and the controller controls the first motor and the second motor to be synchronous only according to one of the straight-running sensors at the same time; the first pedal and/or the second pedal are/is further provided with a steering sensor connected with the controller, the first pedal and/or the second pedal can swing left and right, and the controller controls the first motor and the second motor to be asynchronous according to the left and right inclination angle of the first pedal and/or the second pedal, so that left and right steering is realized.
6. The two-wheeled electric balance vehicle capable of being operated by one foot according to claim 1, wherein: the first pedal and/or the second pedal are/is also provided with a left turning trigger piece which can be inclined leftwards along with the lower leg and a right turning trigger piece which can be inclined rightwards along with the lower leg.
7. The two-wheeled electric balance car capable of being operated by one foot according to claim 6, wherein: the controller controls the first motor and the second motor to be asynchronous according to the left-right inclination amplitude of the left-turning trigger piece and the right-turning trigger piece, so that left-right turning is realized; pressure sensors are arranged at the left turning trigger piece and the right turning trigger piece; the left turning trigger piece and the right turning trigger piece are provided with resetting pieces.
8. An operation method of a two-wheeled electric balance car, wherein the two-wheeled electric balance car is a two-wheeled electric balance car capable of being controlled by a single foot according to any one of claims 1 to 7, and is characterized in that: the operation method of the two-wheeled electrodynamic balance car comprises the following steps:
s1, turning on a power switch to select or directly enter a single-pin control mode;
s2, stepping on one or two feet, operating the pedals to incline forwards or backwards after the balance car runs at high power, and controlling the first motor and the second motor to be synchronous by the controller only according to the information of a certain straight-going sensor, so that the two-wheel electric balance car moves straight.
9. The method of operating a two-wheeled electrodynamic balance car of claim 8, wherein: the operation method of the two-wheeled electrodynamic balance car comprises the following steps:
S3, realizing left and right steering by tilting the single leg left and right, or realizing left and right steering by tilting the single leg left and right.
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| WO2017166296A1 (en) * | 2016-04-01 | 2017-10-05 | 深圳乐行天下科技有限公司 | Self-balancing electric vehicle having two wheels |
| CN106394760A (en) * | 2016-10-27 | 2017-02-15 | 深圳乐行天下科技有限公司 | Foot-controlled balance vehicle |
| CN109969312A (en) * | 2017-12-23 | 2019-07-05 | 汪俊霞 | Intelligent castor |
| CN216580833U (en) * | 2021-12-03 | 2022-05-24 | 钭俊龙 | Two-wheeled electrodynamic balance car that can single foot controlled |
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