Electric scooter

Abstract

The invention relates to the technical field of electric wheelchairs, in particular to an electric scooter which comprises a lower scooter body and a foldable seat connected to the lower scooter body through a seat stand column, and the seat stand column comprises a four-bar mechanism used for achieving folding of the foldable seat. The four-connecting-rod mechanism comprises a supporting column base fixedly arranged on the lower vehicle body, a supporting column front section is hinged to one end of the supporting column base, a supporting column top connecting piece is hinged to the end, away from the supporting column base, of the supporting column front section, and a supporting column rear section is hinged to the end, away from the supporting column front section, of the supporting column top connecting piece. The other end of the supporting column rear section is hinged to the supporting column base; the strut motor is used for driving the four-connecting-rod mechanism, and the output end of the strut motor is hinged to the strut rear section.

Description

[0001] Priority application This application claims priority to the Chinese invention patent application [application number 2024102722909] filed on March 8, 2024, "[Invention name: an electric scooter and its folding mechanism, shock absorption device, and sensing system]", which is incorporated by reference in its entirety. Technical Field

[0002] The present invention relates to the technical field of electric wheelchairs, in particular to an electric scooter. Background Art

[0003] Electric wheelchairs and electric scooters are smart travel tools designed for people with limited mobility. They help users achieve autonomous mobility through electric drive, significantly improving the convenience of life and social participation. This type of equipment mainly serves people with walking difficulties, taking into account both medical rehabilitation and daily travel needs.

[0004] The height and position of the seats of traditional wheelchairs or electric scooters are fixed and cannot be adjusted. However, in daily life, people need to move to different application scenarios and adapt to different heights. For example, when a user is at a table in a coffee shop or bookstore, some tables are relatively high, or some tables are relatively low. If the seat height cannot be adjusted, the user will feel uncomfortable. In addition, users will inevitably become tired if they sit in a certain position for a long time, and it does not protect the user's lumbar spine and other physical health. Therefore, the need for adjustable seats is also increasing. Therefore, various scooters with adjustable seats have also been proposed in the prior art.

[0005] For example, the Chinese invention patent application with the announcement number CN201347010Y discloses a seat lifting and rotating device that can conveniently adjust rotation, lifting and prevent the seat from falling off the tube, which includes a receiving seat, a lifting adjustment group, a rotation adjustment group, a limit group and a receiving tube. The main purpose is to use the upper end of the receiving seat to install the seat of the electric scooter, and the receiving tube is installed on the body of the electric scooter, wherein the lifting adjustment component is combined with the limit group and can be assembled in the receiving tube in an upward and downward manner. When in use, the user presses one end of the pressure-opening handle to make the other end of the pressure-opening handle press the control valve of the gas pressure rod to control the piston rod of the gas pressure rod to be pulled up or pressed down by external force and expand and contract, so that the body of the gas pressure rod is lifted and lowered together with the receiving seat. However, this lifting and rotating device can only adjust the height of the seat in the vertical direction. When there is a height difference and a certain horizontal displacement difference between the user and the target such as a table, after adjusting the height through the above-mentioned lifting structure, it is also necessary to control the electric scooter to continue moving forward. However, if the horizontal displacement difference is small, it is difficult to adjust the distance to a suitable distance by simply controlling the movement of the electric scooter wheels. That is, this method not only requires two adjustments, but also the micro-adjustment of the horizontal position is difficult to control.

[0006] In addition, electric wheelchairs need to meet the driving requirements of different road conditions during use, but due to their structural characteristics, they have low stability and risk of tipping over when accelerating, decelerating, turning, and encountering obstacles. Electric wheelchairs usually adopt a four-wheel or six-wheel structure, in which the drive wheels provide power and universal wheels assist in steering, but the overall center of gravity is high, which makes it easy for the center of gravity of the vehicle to shift due to external forces during operation. When an electric wheelchair is driving on a slope, the center of gravity will shift down the slope, especially when the slope is steep or the slope is slippery. The drive wheels may slip due to insufficient traction, causing the wheelchair to lose stability and tip over or over. During emergency braking, due to the large inertia of the electric wheelchair, the body may tilt forward or backward. If there is a lack of effective support or buffer structure, the vehicle is very easy to tip over, causing the user to fall or the wheelchair to be damaged.

[0007] In view of this, we propose an electric scooter. Summary of the invention

[0008] An object of the present invention is to provide an electric scooter that can partially solve or alleviate at least one of the above problems, and can achieve height adjustment of the seat, thereby improving user experience.

[0009] In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions: An electric scooter comprises a lower body, a foldable seat connected to the lower body via a seat column, the seat column comprising a four-bar linkage for folding the foldable seat, the four-bar linkage comprising: A support base is fixedly arranged on the lower vehicle body, one end of the support base is hingedly connected to a support front section, one end of the support front section away from the support base is hingedly connected to a support top connecting piece, one end of the support top connecting piece away from the support front section is hingedly connected to a support rear section, and the other end of the support rear section is hingedly connected to the support base; The electric scooter also includes a pillar motor for driving the rear section of the pillar. The connecting end of the pillar motor is hinged on the lower body and close to the front section of the pillar. The output end of the pillar motor passes through the front section of the pillar, extends toward the rear section of the pillar, and is hinged on the rear section of the pillar.

[0010] In some embodiments, both sides of the rear section of the support are bent along a direction close to the front section of the support to form a first side wing, and both sides of the front section of the support are bent along a direction close to the rear section of the support to form a second side wing, wherein the second side wing is located inside the first side wing, and there is a gap between the two; When the foldable seat is raised to the highest position, the front end of the second side wing close to the rear section of the pillar is blocked by the front end of the first side wing close to the front section of the pillar; When the foldable seat is lowered to the lowest position, the first side wing completely covers the second side wing.

[0011] In some embodiments, the output end of the support motor includes a telescopically connected upper support rod and a lower support rod of the support motor, and the free end of the upper support rod of the support motor passes through the front section of the support and is hinged to the rear section of the support.

[0012] In some embodiments, a front support bracket and a rear support bracket are respectively provided at both ends of the seat pillar base, a hinge point between the pillar base and the front pillar is provided on the front support bracket, and a hinge point between the pillar base and the rear pillar is provided on the rear support bracket.

[0013] In some embodiments, a seat cushion is disposed on the top connecting piece of the pillar, a backrest is disposed on the seat cushion, a headrest is disposed on the top of the backrest, and armrests are rotatably connected to both sides of the backrest.

[0014] In some embodiments, a seat adjustment button is provided on the backrest, and the seat adjustment button is used to control the support motor.

[0015] In some embodiments, the armrest is provided with a control handle and a mobile phone holder.

[0016] In some embodiments, the electric scooter further includes a perception system, which includes: an ultrasonic sensor module and a laser radar module arranged at the front end of the lower body, a distance sensor arranged on the armrest of the foldable seat, and an image acquisition module arranged at the rear of the electric scooter; wherein, The ultrasonic sensor module includes: two ultrasonic radars symmetrically arranged on the front side of the pedal at the front end of the lower body, ultrasonic radars respectively arranged on both sides of the pedal, and at least two ultrasonic radars respectively arranged on the protective covers of the rear wheels; The laser radar module is arranged in front of the two ultrasonic radars on the front side of the pedal; The image acquisition module comprises: a rear camera arranged on the rear side of a backrest in the electric scooter.

[0017] In some embodiments, the electric scooter further comprises a shock absorbing device arranged on the lower body, the shock absorbing device comprising: a suspension for supporting wheels, and a rear shock absorber rotatably connected to the suspension; wherein, The suspension includes: a suspension ear fixedly connected to the lower body frame of the lower body, a rear swing arm rotatably connected to the suspension ear, one side of the rear swing arm fixedly connected to the wheel motor mounting frame, the bottom of the rear swing arm rotatably connected to one end of the rear shock absorber, the connection point between the rear swing arm and the wheel motor mounting frame, the connection point between the rear swing arm and the rear shock absorber and the rotating shaft of the rear swing arm form a triangle, so that the vertical vibration of the wheel motor mounting frame in the longitudinal direction is converted into the axial movement of the elastic buffer component in the rear shock absorber through the rear swing arm.

[0018] In some embodiments, the electric scooter further comprises an anti-dumping mechanism disposed on the lower body, and the anti-dumping mechanism comprises: A compression spring, one end of which is fixedly connected to the inner wall of the lower vehicle body, the other end of which is fixedly connected to a guide plate, the outer wall of which is slidably connected to the inner wall of the lower vehicle body, and the outer wall of which is rotatably connected to an anti-tilt roller; A trigger spring, one end of which is fixedly connected to the inner wall of the lower body, the other end of which is fixedly connected to a trapezoidal block, the outer wall of the trapezoidal block is slidably connected to the inner wall of the lower body, the bottom of the trapezoidal block is fixedly connected to a vertical rod, and the bottom of the vertical rod is rotatably connected to a trigger roller.

[0019] Beneficial effects: 1. The present invention provides a seat pillar, so that the pillar motor (i.e., driving mechanism) of the folding mechanism in the seat pillar can drive the pillar motor upper support rod and the pillar motor lower support rod to extend and shorten, thereby driving the pillar rear section in the four-bar linkage mechanism to rotate relative to the lower vehicle body frame and the pillar base, and the pillar rear section drives the pillar top connecting piece and the pillar front section to rotate differently, thereby making the foldable seat move more smoothly in the vertical and horizontal directions under the action of the four-bar linkage structure, thereby realizing the adjustment of the seat position. Compared with a two-link or three-link mechanism, the lifting device has better stability and safety; and, in order to adapt to different sitting postures in different application scenarios and to adapt to the adjustment of different sitting postures, the four-link mechanism does not adopt a parallelogram structure, wherein the length of the front section of the support is greater than the length of the rear section of the support, so that the four-link mechanism forms an irregular trapezoid, for example, the length of the side between the fourth rotating axis O4 and the third rotating axis O3 is less than the length of the side between the first rotating axis O1 and the second rotating axis O2, and the length of the side between the first rotating axis O1 and the fourth rotating axis O4 is less than the length of the side between the second rotating axis O2 or the third rotating axis O3, such as Figure 5aAs shown in the figure, such a design makes it possible that when the seat cushion is raised to the highest position, a certain angle (e.g., 15°-25°) is formed between the axial direction of the seat cushion and the ground, and the user's back is closely against the backrest when sitting, which makes the user feel more comfortable and safer; and when the seat cushion is about to reach the lowest position, the axial direction of the seat cushion is almost parallel to the ground, and the bottom of the seat cushion just rests against the wheel (e.g., Figure 3 As shown in the figure, the volume is smaller and it is also convenient to store. Furthermore, the front section of the pillar and the rear section of the pillar can move toward each other, so that when the seat cushion is in the highest position, the distance between the two is the largest, and when the seat cushion is in the lowest position, the distance between the two is the smallest, further reducing the volume and facilitating storage.

[0020] 2. The electric scooter of the present invention adopts suspension shock absorption, which has better comfort. And by installing the rear shock absorber in front of the rear wheel, not only the overall width of the electric scooter is reduced, but also the passability of the electric scooter is further improved.

[0021] 3. The electric scooter of the present invention is also provided with a sensing system, an indicator light and a screen system, so that it can provide prompts through the sound and light system during the moving process, thereby having higher safety.

[0022] 4. The electric scooter of the present invention is also equipped with a perception system, such as a laser radar, an ultrasonic radar, and a TOF ranging sensor, which can provide assistance for automatic driving in scenes such as obstacle avoidance, narrow roads, and ramps when used by the driver, and has higher intelligence. Most existing electric scooters are equipped with a central controller for automatic driving. Therefore, the setting of the perception system can provide reliable data for automatic driving, so as to perform obstacle avoidance or path planning. Specifically, by setting a combination of ultrasonic radars and laser radars adapted to different environments and with different detection ranges and detection angles at the front end of the lower body, the cost of the electric scooter is not greatly increased while ensuring accuracy. For example, for close-range detection, two ultrasonic radars are symmetrically arranged on the front side of the pedal at the front end of the lower body to realize close-range detection in front, and an ultrasonic radar is arranged on both sides of the pedal to realize close-range detection in the left front and right front, thereby realizing not only detection in front, but also detection in the left front and right front and near the front wheel, that is, multi-directional detection. For another example, since ultrasonic radar is easily interfered by noise and its accuracy decreases once the distance increases, a laser radar that can detect in a 360° range is set up on this basis to work together with multiple ultrasonic radars to achieve multi-directional detection. Furthermore, in order to achieve detection at a longer distance, a distance sensor is also set on the armrest for detection. For the rear end of the scooter, corresponding ultrasonic radars are set at different heights for the rear wheels and anti-dumping mechanism, respectively, to avoid blind spots when reversing and ensure safety when reversing. That is, through the combination of ultrasonic radar, laser radar and distance sensor, a cost-controllable perception system that can detect different distances and in multiple directions is realized, and compared with the method of setting up a certain detection component alone, its reliability is stronger, and compared with the method of using all laser radars as detection components, its cost is lower.

[0023] 5. The present invention is provided with an anti-dumping mechanism. When the lower body tilts, the lower body tilts with the ground. At this time, the trigger roller continues to move downward under the action of the trigger spring, so that the trigger spring drives the trapezoidal block to move downward. At this time, the trapezoidal block no longer engages with the guide plate, so that the guide plate pops out under the action of the compression spring, so that the guide plate drives the anti-dumping roller to extend and contact the ground, so that the tilted lower body has an additional support point with the ground, which plays a role in preventing tipping, improves the stability of the electric scooter in a tilted state, and avoids safety hazards caused by tipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without paying creative labor.

[0025] Figure 1 It is a schematic diagram of the front structure of an embodiment of the electric scooter of the present invention; Figure 2 It is a schematic diagram of the rear structure of an embodiment of the electric scooter of the present invention; Figure 3 A schematic diagram of folding and unfolding a foldable seat in an embodiment of the electric scooter of the present invention; Figure 4 To reflect Figure 1 A schematic diagram of the structure of the seat support pillars on the middle and lower body; Figure 5a A schematic diagram showing the folding mechanism in the seat support of the electric scooter of the present invention; Figure 5b A schematic diagram showing the structure of the folding mechanism of the electric scooter of the present invention when the foldable seat is in the highest position; Figure 5c A schematic diagram showing the structure of the folding mechanism of the electric scooter of the present invention when the foldable seat is in the lowest position; Figure 6 A schematic diagram showing the coordination between the front section of the support pillar and the rear section of the support pillar when the foldable seat of the electric scooter of the present invention is in the highest position; Figure 7 A schematic diagram showing the coordination between the front section of the support and the rear section of the support when the foldable seat of the electric scooter of the present invention is in the lowest position; Figure 8 It is a schematic structural diagram of a rear shock absorber in the electric scooter of the present invention; Fig. 9 A schematic structural diagram of the rear shock absorber in the electric scooter of the present invention from another perspective; Fig.10 It is a structural schematic diagram of the anti-dumping mechanism in the electric scooter of the present invention; Fig.11 for Fig.10 Schematic diagram of the enlarged structure at point A in the middle.

[0026] In the figure: 1, lower body; 100, seat cushion; 101, lower body frame; 2, front wheel; 3, rear wheel; 303, rear wheel motor; 6, backrest; 7, headrest; 8, armrest; 9, control handle; 10, distance sensor; 11, mobile phone holder; 12, armrest shaft; 13, laser radar; 14, ultrasonic radar; 15, rear camera; 16, rear indicator light; 17, rear display; 19, battery; 20, seat adjustment button; 21, pedal; 22, front shock absorber; 23, anti-collision groove; 4. Seat pillar; 103. Support bracket for the front section of the pillar; 1041. Lifting ear base; 1042a. First body; 1042b. Second body; 105. Seat pillar base; 1051. First fixing plate; 1052. Second fixing plate; 1053. Third fixing plate; 106. Support bracket for the rear section of the pillar; 401. Rear section of the pillar; 402. Front section of the pillar; 401a. First feature (such as the first arc-shaped side wing); 402a. Second feature (such as the second arc-shaped side wing); 403. Top connector of the pillar; 404. Pillar motor; 405. Upper support rod of the pillar motor; 406. Lower support rod of the pillar motor; 407. Upper support point of the pillar motor; 102. Lower support point of the pillar motor; 410. Lower connection point of the rear section of the pillar; 412. Upper connection point of the front section of the pillar; 423. Lower connection point of the front section of the pillar; 5. shock absorbing device; 501. rear swing arm; 502. rear shock absorber; 503a. first base body (or shock absorber outer shaft base I); 503c. second base body (or shock absorber outer shaft base II); 503b. shock absorber outer shaft tie rod; 503d. shock absorber outer shaft connection point; 504. shock absorber spring; 505. shock absorber inner shaft; 505a shock absorber inner shaft base; 506. swing arm rotating shaft; 507. first connecting rod; 508. second connecting rod; 18. Anti-tipping mechanism; 181. Compression spring; 182. Guide plate; 107. Shock absorber front mounting seat; 304. Wheel motor mounting bracket; 183. Anti-tipping roller; 184. Trigger spring; 185. Trapezoidal block; 186. Vertical rod; 187. Trigger roller. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] Herein, suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings by themselves. Therefore, "module", "component" or "unit" can be used mixedly.

[0029] In this document, the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0030] In this document, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] Herein "and / or" includes any and all combinations of one or more of the associated listed items.

[0032] Herein, "plurality" means two or more than two, ie, it includes two, three, four, five, etc.

[0033] Example 1: See Figure 1 , is a schematic structural diagram of an electric scooter according to an exemplary embodiment of the present invention. Specifically, the electric scooter comprises: a lower body 1, a seat column (i.e. Figure 1 A foldable seat is connected to the lower body 1 through a middle seat pillar 4, and a folding mechanism is arranged in the seat pillar; front wheels 2 and rear wheels 3 are symmetrically arranged at the front and rear ends of the left and right sides of the lower body 1, and a shock absorbing device 5 is installed near the rear wheel 3 through a suspension.

[0034] In some embodiments, the folding mechanism adopts a four-bar linkage, which has better stability and safety than a two-bar or three-bar linkage. In addition, in order to adapt to different sitting postures in different application scenarios (for example, when walking, the axis of the seat cushion (i.e., seat cushion 100) is above the horizontal line and has a certain angle with the horizontal line; when entering under the table, the axis of the seat cushion is parallel to the horizontal line), and to adapt to the adjustment of different sitting postures, the four-bar linkage does not adopt a parallelogram structure.

[0035] See also Figure 4 The four-bar linkage mechanism includes: a first link (such as the front section of the pillar 402) arranged between the first rotating shaft O1 and the second rotating shaft O2, a second link (such as the seat pillar base 105) between the second rotating shaft O2 and the third rotating shaft O3, a third link (such as the rear section of the pillar 401) between the third rotating shaft O3 and the fourth rotating shaft O4, and a fourth link (such as the top pillar connecting member 403) between the fourth rotating shaft O4 and the first rotating shaft O1. The folding mechanism also includes a driving mechanism for driving the four-bar linkage mechanism to rotate with the edge between the second rotating shaft O2 and the third rotating shaft O3 as a fixed edge, such as a motor, one end of which is fixed to the lower body frame (such as the lower body frame 101), and the free end of its support rod (such as the pillar motor upper support rod 405) is rotatably connected to the third link through the sixth rotating shaft O6.

[0036] See also Figures 4 to 8 In some embodiments, the seat support 4 includes: a support rear section 401, a support front section 402, a support top connector 403, and a support motor 404. The front support 402 and the rear support 401 are connected together by the support top connector 403 through bolts and other connectors, and can rotate in the direction of their axis.

[0037] See Figure 5 b and Figure 5c The seat pillar base 105 is fixedly connected with the lower vehicle body frame 101, and the pillar front section support bracket 103 and the pillar rear section support bracket 106 are fixedly connected thereto, and the pillar rear section 401 and the pillar front section 402 are bolted together through the pillar front section lower connection point 423 and the pillar rear section lower connection point 410, and can also rotate along the bolt axis direction. In this way, the pillar rear section 401, the pillar front section 402, the pillar top connection piece 403, and the seat pillar base 105 form a four-bar structure. The lower end of the pillar motor 404 connects the pillar motor lower support rod 406 to the lower vehicle body frame 101 through the pillar motor lower support point 102, and the pillar motor upper support rod 405 is connected to the pillar rear section 401 through the pillar motor upper support point 407, and the pillar motor upper support rod 405 can slide along the inner diameter axis direction of the pillar motor lower support rod 406.

[0038] Furthermore, the two sides of the rear section 401 of the support have a curved first feature 401a (such as Figure 7 and Figure 8 The first side wing is arc-shaped as shown), and the front section 402 of the seat pillar also has curved second features 402a on both sides (such as Figure 6 and Figure 7The first feature 401a and the second feature 402a overlap to a certain extent in the front-to-back direction, and have a certain gap in the left-to-right direction. This ensures that the seat pillar 4 is visually a pillar. Similarly, when the height of the pillar is adjusted, the rear section 401 of the pillar and the front section 402 of the pillar move relative to each other. Figure 3 , Figure 5c and Figure 7 , when the pillar 4 is lowered to the lowest position of the seat (such as Figure 5c When the seat is in the position shown in the figure, the distance between the rear section 401 of the seat pillar and the front section 402 of the seat pillar is the smallest, and the second feature 402a is completely stored in the first feature 401a. At this moment, it is still a pillar visually, which is simpler in appearance compared with the traditional four-link structure. In addition, this design allows the two to partially overlap, which not only reduces the volume of the pillar when folded, but also creates a larger folding space for the seat. If the front section 402 and the rear section 401 of the pillar are integrated, the two will always remain in the same position after folding. Figure 6 The structure shown in the figure results in limited folding space and the seat cannot be folded to Figure 5c The position shown in .

[0039] See also Figure 8 and Fig. 9 A rear suspension is provided on the rear wheel 3, which includes: a suspension eye, a rear swing arm 501, a rear shock absorber 502 and a shock absorber front mounting seat 107; wherein the rear swing arm 501 is connected to the rear wheel motor 303, the suspension eye is fixed to the lower vehicle body frame 101, the rear swing arm 501 and the suspension eye are connected together through the swing arm rotating shaft 506 and can rotate along the axis. The shock absorber front mounting seat 107 is fixed to the lower vehicle body frame 101.

[0040] In some embodiments, the lower end of the swing arm 501 is connected to the rear shock absorber 502 through bolts and other connecting parts and the shock absorber outer shaft connection point 503d, and can rotate along the axis of the bolt, and the other end of the rear shock absorber 502 is connected to the shock absorber front mounting seat 107 in the same way at the shock absorber inner shaft connection point 108.

[0041] When the vehicle is moving, the up and down bounce of the rear wheel 3 will drive the rear wheel motor 303 to do longitudinal bounce, and the up and down bounce of the former is converted into the forward and backward movement of the shock absorber outer shaft connection point 503d through the swing arm rotating shaft 506, thereby driving the rear shock absorber 502 to work.

[0042] What is different is that the rear shock absorber 502 is a special type of reverse-pull shock absorber, the shock absorber spring 504 is sleeved on the shock absorber inner shaft 505, one end relies on the shock absorber outer shaft base I (that is, the first base body 503a in the subsequent embodiment), and the other end relies on the shock absorber outer shaft base II (that is, the second base body 503c in the subsequent embodiment), the shock absorber outer shaft base I503a and the shock absorber outer shaft base II503c are fixedly connected together by the shock absorber outer shaft pull rod 503b, and the shock absorber outer shaft base II503c is fixedly connected to the shock absorber inner shaft 505.

[0043] When the rear wheel 3 bounces upward, the shock absorber outer shaft connection point 503d moves toward the rear of the vehicle, and the shock absorber outer shaft base I, i.e., the first base body 503a, the shock absorber outer shaft pull rod 503b, and the shock absorber outer shaft base II, i.e., the second base body 503c, also move toward the rear of the vehicle. At this moment, the shock absorber inner shaft 505 is connected to the shock absorber front mounting seat 107 by the shock absorber inner shaft connection point 108 and there is no relative movement. Therefore, at this moment, the spring 504 is driven to move backward and is compressed. Different from conventional shock absorbers, the distance between the shock absorber inner shaft connection point 108 and the shock absorber outer shaft connection point 503d increases and the spring is compressed. Therefore, in terms of service life, this design makes the spring service life longer.

[0044] If a conventional compression shock absorber is used, the length of the mounting structure of the rear wheel motor can be lengthened, but this method will increase the volume or size of the entire device. Therefore, from the perspective of space optimization, a reverse pull shock absorber is used without changing the mounting point of the rear wheel motor, and the up and down movement of the rear wheel motor is converted into the forward and backward movement of the reverse pull shock absorber through the rear swing arm. Preferably, the rear shock absorber is in the same straight line as the wheel motor (that is, considering that the shock absorber is installed in front of or behind the wheel). Therefore, when setting the suspension, the position of the wheel motor needs to be considered, so as to design the corresponding swing arm structure and select the shock absorber to make full use of the structural space, thereby not increasing the overall size of the device (especially the size in the length direction).

[0045] Example 2: Please refer to Figure 1 - Figure 8 As shown, an electric scooter provided by the present invention includes a lower body 1, a protective cover shell is provided on the outside of the lower body 1 to protect the internal structure, a front wheel 2 and a rear wheel 3 are provided on the lower body 1, and a motor is provided on the front wheel 2 and the rear wheel 3 for driving (preferably, the motor is a brushless DC motor to improve energy efficiency), the front wheel 2 and the rear wheel 3 are made of wear-resistant rubber material to increase the service life, and a foldable seat is connected to the lower body 1 through a seat column 4.

[0046] In some embodiments, see Figure 1The foldable seat includes: a seat cushion 100 installed on the top of the seat pillar 4, and a backrest 6 rotatably connected to the rear end of the seat cushion 100, a headrest 7 arranged on the backrest 6, and an armrest 8 is arranged on the backrest 6, and the armrest 8 is rotatably connected to both sides of the backrest 6 through an armrest shaft 12.

[0047] In some embodiments, see Figure 4 The lower body 1 is provided with a lower body frame 101. Preferably, the lower body frame 101 is made of lightweight aluminum alloy to reduce the overall weight.

[0048] In this embodiment, the lower vehicle frame 101 is fixedly connected with a seat support 4, and the top of the seat support 4 is fixedly connected with the seat cushion 100. The seat support 4 includes a foldable mechanism and a driving mechanism for driving the foldable mechanism to fold, that is, the driving mechanism drives the foldable mechanism to fold, so as to achieve seat adjustment (including height adjustment and micro-displacement in the horizontal direction, and even the angle between the seat cushion 100 and the horizontal plane / plane M where the lower vehicle frame 101 is located). Specifically, the foldable mechanism includes: A support base 105 (i.e., the second link in the four-bar linkage) is fixedly connected to the lower vehicle body frame 101, and one end of a support front section 402 (i.e., the first link in the four-bar linkage) is hinged on the support base 105. A support top connecting piece 403 (i.e., the fourth link in the four-bar linkage) is hinged on the other end of the support front section 402. The support top connecting piece 403 is hinged to the support front section 402 through a connection point 412 on the support front section (i.e., the first rotation axis O1 is set at the connection point 412 on the support front section). One end of the connecting member 403 away from the front section 402 of the pillar is hinged to the rear section 401 of the pillar (i.e., the third link in the four-bar linkage, for example, the two are hinged through a connection point 411 on the rear section of the pillar 401, that is, the fourth rotation axis O4 is set at the connection point 411 on the rear section of the pillar), the bottom of the rear section of the pillar 401 is hinged to the pillar base 105, and the output end of the pillar motor 404 (i.e., the driving mechanism) is hinged to the rear section of the pillar 401, and the other end of the pillar motor 404 is hinged to the lower vehicle body frame 101.

[0049] Preferably, see Figure 5b and Figure 5c The housing of the support motor 404 is hinged to the lower vehicle body frame 101 through the support motor lower support point 102 at the bottom thereof (ie, the fifth rotation axis O5 is arranged at the support motor lower support point 102).

[0050] Preferably, see Figure 5a and Figure 5bThe two ends of the pillar base 105 are respectively fixedly connected with a pillar front section support bracket 103 and a pillar rear section support bracket 106, wherein a pillar front section lower connection point 423 is arranged on the pillar front section support bracket 103 (that is, the second rotation axis O2 is arranged on the pillar front section lower connection point 423), and a pillar rear section lower connection point 410 is arranged on the pillar rear section support bracket 106 (that is, the third rotation axis O3 is arranged on the pillar rear section lower connection point 410), so that one end of the pillar front section 402 is hinged to the pillar base 105 through the pillar front section lower connection point 423, and one end of the pillar rear section 401 is hinged to the pillar base 105 through the pillar rear section lower connection point 410.

[0051] Preferably, see Figure 5a and Figure 5b The support base 105 includes a first fixing plate 1051, and a second fixing plate 1052 and a third fixing plate 1053 respectively arranged on both sides of the first fixing plate 1051 and arranged parallel to each other. Preferably, the height direction of the first fixing plate 1051 forms an acute angle with the plane M where the lower vehicle frame 101 is located (that is, the first fixing plate 1051 is not perpendicular to the plane M where the lower vehicle frame 101 is located, but is inclined in the parking space direction (that is, Figure 5b The second fixing plate 1052 is arranged at the bottom of one side of the first fixing plate 1051 and fixed on the lower body frame 101; the third fixing plate 1053 is arranged at the top of the other side of the first fixing plate 1051 and fixed on the lower body frame 101, so that the second fixing plate 1052 and the third fixing plate 1053 are located in planes at different heights, so that a certain height difference is formed between the second rotation axis O2 and the third rotation axis O3 (such as Figure 5b As shown by the dashed line, or as Figure 5a as shown).

[0052] like Figure 5a and Figure 5b Preferably, the height of the second rotation axis O2 relative to the plane where the lower body frame 101 is located is less than the height of the third rotation axis O3 relative to the plane where the lower body frame 101 is located. And because the second rotation axis O2 and the third rotation axis O3 are both arranged on the lower body frame 101, no matter how the seat is folded, the heights of the two are fixed, and accordingly, the height difference between the two is also fixed, that is, the support base 105 between the two is used as a fixed edge, and as the driving mechanism drives the support rear section 401 to rotate around the third rotation axis O3, the quadrilateral formed by the four-bar linkage is deformed.

[0053] For example, Figure 5a and Figure 5bIn the initial state (i.e. the seat is raised to the highest position), the height of the first rotation axis O1 relative to the plane where the lower body frame 101 is located is greater than the height of the fourth rotation axis O4 relative to the plane where the lower body frame 101 is located, so that the seat cushion 100 is appropriately tilted toward the inner side of the backrest 6 (i.e. there is a certain angle between the axial direction of the seat cushion 100 and the horizontal plane, such as Figure 3 As shown), when the user sits on the cushion 100, the user's back is more closely attached to the backrest 6, ensuring the stability, comfort and security of the user's sitting posture; Figure 5c When the seat is at the lowest position, the height of the first rotation axis O1 relative to the plane where the lower body frame 101 is located is slightly smaller than the height of the fourth rotation axis O4 relative to the plane where the lower body frame 101 is located, so that the axial direction of the seat cushion 100 is almost parallel to the horizontal plane. Figure 3 As shown; while the height difference between the second rotation axis O2 and the third rotation axis O3 remains unchanged.

[0054] In some embodiments, see Figure 5b In this embodiment, the support motor 404 includes a support motor upper support rod 405 and a support motor lower support rod 406. The support motor upper support rod 405 and the support motor lower support rod 406 are output ends of the support motor 404, which are used to drive telescopic movement. The support rear section 401 and the output end of the support motor 404 are connected through the support motor upper support point 407 (i.e., the hinge point, and the sixth rotation axis O6 is set at the hinge point, see Figure 5a Preferably, the support point 407 on the pillar motor between the output end and the pillar rear section 401 is close to the top or middle of the pillar rear section 401 and is located on the side of the pillar rear section 401 close to the pillar front section 402, so that the seat can be folded at a larger angle). Such a design makes the foldable seat have a smaller volume (for example, the seat cushion is closer to the lower body frame 101) when it is in the lowest position, so that it is more convenient to store or carry.

[0055] That is to say, in this embodiment, a four-bar linkage is formed by the pillar rear section 401, the pillar base 105, the pillar top connecting piece 403 and the pillar front section 402, and the pillar rear section 401, the pillar top connecting piece 403 and the pillar front section 402 in the four-bar linkage can rotate relative to the pillar base 105 under the drive of the pillar motor 404, thereby realizing the folding of the seat. Of course, the specific folding angle can be controlled by the pillar motor 404.

[0056] Further, see Figure 6 and Figure 7 The two sides of the rear section 401 of the support are bent along the direction close to the front section 402 of the support to form a first side wing 401a, and the two sides of the front section 402 of the support are bent along the direction close to the rear section 401 of the support to form a second side wing 402a, wherein the second side wing 402a is located inside the first side wing 401a, and there is a gap between the two; see Figure 6When the foldable seat rises to the highest position, the space between the rear section 401 of the pillar and the front section 402 of the pillar is in the front-to-back direction (eg Figure 6 The distance between the two pillars is the largest, and the front end of the second side wing 402a close to the pillar rear section 401a is blocked by the front end of the first side wing 401a close to the pillar front section 402 (that is, the front end portions of the two overlap, but the two do not contact each other), that is, when viewed from the left and right sides of the seat pillar 4, the front end portion of the second side wing 402a is blocked by the front end portion of the first side wing 401a, so that the pillar front section and the pillar rear section appear to be a whole; and when the foldable seat is lowered to the lowest position, the distance between the pillar rear section 401 and the pillar front section 402 along the front-to-back direction (as shown in FIG. Figure 7 The distance between the first and second wing portions 402a and 401a is the smallest, and the first wing portion 401a completely blocks the second wing portion 402a (but the two are not in contact with each other), that is, when viewed from the left and right sides of the seat pillar 4, the pillar front section 402 and the pillar rear section 401 are still a whole, but the second wing portion 402a is almost completely blocked by the first wing portion 401a, see Figure 7 , so that the size of the seat pillar becomes smaller. Preferably, in order to avoid interference between the two side wings, the curvature of the first side wing 401a is greater than the curvature of the second side wing 402a, so that when the seat is in the lowest position, the gap between the front end of the second side wing 402a and the inner side of the end of the first side wing 401a (i.e., the end connected to the rear section 401 of the pillar) is smaller than the gap between the end of the second side wing 402a (i.e., the end connected to the front section 402 of the pillar) and the front end of the first side wing 401a, as shown in FIG. Figure 7 Of course, further, the front end of the second side wing 402a is provided with an inclined surface near the outer side of the first side wing 401, so as to further prevent the occurrence of interference.

[0057] Furthermore, in some embodiments, a seat adjustment button 20 is provided on one side of the backrest 6, and the seat adjustment button 20 is used to control the support motor 404, so that the user can control the support motor 404 through the seat adjustment button 20, thereby realizing the manual adjustment of the seat folding angle, that is, the seat height. For example, when the button is pressed continuously, the support motor 404 controls the seat to continuously descend or ascend, and when the button is stopped, the seat stops descending or ascending. That is, the seat adjustment button 20 is used to control the pillar motor 404, and the pillar motor 404 drives the pillar motor upper support rod 405 and the pillar motor lower support rod 406 to extend and shorten, so that the pillar rear section 401 rotates relative to the lower body frame 101 and the pillar base 105, so that the pillar top connector 403 moves upward smoothly under the action of the four-bar structure. The entire folding method adopts a four-bar mechanism. Compared with a two-bar or three-bar mechanism, the lifting device has better stability and safety; and in order to adapt to different sitting postures in different application scenarios (for example, when walking, the axis of the seat cushion is above the horizontal line and has a certain angle with the horizontal line; when entering under the table, the axis of the seat cushion is parallel to the horizontal line), and to adapt to the adjustment of different sitting postures, the four-bar mechanism does not adopt a parallelogram structure.

[0058] Furthermore, a rear indicator light 16 and a rear display 17 are provided on the back of the backrest 6, and a battery 19 is provided on the lower body 1, and the battery 19 is electrically connected to the support motor 404, so as to supply power to the support motor 404. Of course, the battery 19 can also supply power to other electronic devices, such as the above-mentioned rear indicator light 16 and rear display 17. Of course, if the electric scooter is also provided with a central controller, the battery also supplies power to the central controller.

[0059] Furthermore, a control handle 9 is provided on any of the armrests 8, so that the user can control the direction of travel of the electric scooter through the control handle 9. Furthermore, a mobile phone holder 11 is provided on the other armrest 8.

[0060] Of course, the foldable mechanism of the electric scooter in this embodiment can also be applied to other devices to adjust the height of the target object and fine-tune the horizontal displacement. Of course, further, the angle between the bottom of the target object and the horizontal plane (or the plane where the device on which the foldable mechanism is installed) can also be adjusted, for example, the angle between the fourth connecting rod and the plane M between the first rotation axis O1 and the fourth rotation axis O4.

[0061] Embodiment 3: In order to make electric wheelchairs and other electric scooters more stable during driving, so that users can feel more comfortable, a shock absorbing mechanism is generally installed at the rear wheel position of the electric wheelchair. At present, most rear wheel shock absorbing structures are single-piece iron plates fixedly connected to the drive motor. After the motor and the wheel are movably connected, the overall weight increases, which will produce a large gravity effect during driving and sitting and lying. The single iron plate has poor bearing force and low stability, resulting in low safety in use. Therefore, various rear wheel shock absorbing devices applied to electric wheelchairs have been proposed in the prior art.

[0062] For example, the invention patent application with publication number CN114514009A provides a spring in the vertical direction for buffering, thereby absorbing the up and down vibrations and ensuring the stability during driving. Another example is the Chinese utility model patent with publication number CN219423175U, which discloses a new wheelchair rear wheel shock absorbing device, which adds a triangular mounting mechanism on the basis of the original electric wheelchair rear wheel shock absorbing device. The triangular structure of the triangular mounting mechanism realizes the connection between the left, right and bottom three points and the frame body, and it is more stable according to the principles of engineering mechanics. In view of this, the present invention also provides an electric scooter, see Figure 1 and Figure 8 The electric scooter further comprises a shock absorbing device 5, specifically, the shock absorbing device 5 comprises: a rear suspension for supporting the wheels, and a rear shock absorber 502 arranged on one side of the rear suspension; wherein, The rear suspension includes: a suspension eye fixedly connected to the lower body frame 101 of the electric scooter, a rear swing arm 501 rotatably connected to the suspension eye via a swing arm rotating shaft 506, one side of the rear swing arm 501 is fixedly connected to a wheel motor mounting frame 304 mounted on the lower body frame 101, and the bottom of the rear swing arm 501 is rotatably connected to one end of a rear shock absorber 502, and the other end of the rear shock absorber 502 is rotatably mounted on the lower body frame 101, and the axial direction of the rear shock absorber 502 is parallel to the length direction of the electric scooter (such as Figure 8 Y-axis direction); wherein, the connection point between the rear swing arm 501 and the wheel motor mounting frame 304, the connection point between the rear swing arm 501 and the rear shock absorber 502, and the swing arm rotation axis 506 form a triangle, and the plane where the triangle is located is parallel to the axial direction of the rear shock absorber 502 (or the axial direction of the rear shock absorber 502 is located in the plane where the triangle is located), so that the rear swing arm 501 converts the vertical vibration of the wheel motor mounting frame 304 in the longitudinal direction into the axial movement of the elastic buffer component in the rear shock absorber 502.

[0063] Preferably, the rear swing arm 501 adopts a triangular structure, wherein one vertex is used as the connection point between the rear swing arm 501 and the rear shock absorber 502, and the other two vertices are used as the connection point between the rear swing arm 501 and the wheel motor mounting frame 304 and the mounting point for mounting the swing arm rotating shaft 506. Preferably, the rear swing arm 501 adopts a right triangle, and the hypotenuse side is close to the rear wheel 3, and the swing arm rotating shaft 506 is mounted on the vertex between the two right-angle sides.

[0064] In some embodiments, the axial direction of the elastic buffer component is parallel to the horizontal direction (eg Figure 8 Preferably, the rear shock absorber 502 is a reverse pull type shock absorber.

[0065] See also Figure 8 and Fig. 9 The rear shock absorber specifically comprises: a shock absorber spring 504 (i.e., an elastic buffer component), a shock absorber inner shaft 505, and a shock absorber outer shaft base, wherein the shock absorber outer shaft base is mounted on the shock absorber inner shaft 505 in a manner that it can slide along the shock absorber inner shaft, wherein: One end of the shock absorber inner shaft 505 is rotatably connected to the lower vehicle body frame 101 (specifically, see Figure 8 and Fig. 9 A shock absorber front mounting seat 107 is fixedly arranged on the lower vehicle body frame 101, and the shock absorber front mounting seat 107 is rotatably connected to one end of the shock absorber inner shaft 505 through the shock absorber inner shaft connection point 108. Preferably, the shock absorber inner shaft connection point 108 adopts a connecting shaft (such as a bolt), and the axial direction of the connecting shaft is perpendicular to the axial direction of the shock absorber inner shaft 505), and the other end is rotatably connected to the rear swing arm 501; The shock absorber spring 504 is sleeved on the shock absorber inner shaft 505, and one end of the shock absorber spring 504 abuts against the first base body 503a at one end of the shock absorber outer shaft base, and the other end abuts against the second base body 503c at the other end of the shock absorber outer shaft base. Fig. 9 The first base body 503a and the second base body 503c are fixedly connected together through the shock absorber outer shaft pull rod 503b.

[0066] See also Figure 8 and Fig. 9 In some embodiments, one end of the shock absorber inner shaft 505 passes through the first base body 503a, and is rotatably connected to the shock absorber front mounting seat 107 at the shock absorber inner shaft connection point 108; the other end is fixedly connected to the shock absorber inner shaft base 505a, and the shock absorber inner shaft base 505a is slidably connected to the second base body 503c through the first connecting rod 507, wherein the first connecting rod 507 is fixedly connected to the second base body 503c and can slide relative to the shock absorber inner shaft 505 along its axial direction. Preferably, see Figure 8 and Fig. 9 , the other end of the shock absorber spring 504 abuts against the shock absorber inner shaft base 505a. Among them, the side of the second base body 503c away from the shock absorber inner shaft 505 is rotatably connected to the shock absorber outer shaft connection point 503d with the rear swing arm 501 through the second connecting rod 508 (the second connecting rod 508 is fixedly connected to the second base body 503c). Preferably, the first connecting rod 507 and the second connecting rod 508 are coaxially arranged (that is, the axial directions of the two coincide), or the two are one component.

[0067] Preferably, see Figure 8 and Fig. 9 The rear shock absorber 502 is arranged on one side of the lower body frame 101 of the electric scooter and is located on the front side of the rear suspension, and the axial direction of the rear shock absorber 502 is parallel to the length direction of the lower body frame 101 (such as the Y-axis direction in the figure).

[0068] Preferably, the suspension eye comprises an eye base 1041 fixedly mounted on the lower vehicle body frame 101, and an eye body with an L-shaped top of the eye base 1041. Specifically, the eye body comprises: a first body 1042a and a second body 1042b connected vertically, wherein one end of the first body 1042a away from the second body 1042b is fixedly connected to the top of the eye base 1041, and the second body 1042b is extended from one end of the first body 1042a away from the eye base 1041 in a direction perpendicular to the axial direction of the first body 1042a and close to the lower vehicle body frame 101, so that an installation space for installing the rear swing arm 501 is formed between the inner side of the second body 1042b, the inner side of the first body 1042a and the outer side of the eye base 1041; and the wheel motor mounting frame 304 is installed on the rear wheel 3, and one end of the wheel motor mounting frame 304 is fixedly connected to the rear swing arm 501. As a result, the connection point between the rear swing arm 501 and the wheel motor mounting frame 304, the connection point between the rear swing arm 501 and the rear shock absorber 502, and the swing arm rotating shaft 506 form a triangle, and the plane where the triangle is located is parallel to the axial direction of the rear shock absorber 502 (or the axial direction of the rear shock absorber 502 is located in the plane where the triangle is located), and the distance between the plane where the triangle is located and the lower body frame is smaller than the distance between the outermost side of the rear wheel 3 and the lower body frame, so that not only the vertical vibration of the wheel motor mounting frame 304 in the longitudinal direction is converted into the axial movement of the elastic buffer component in the rear shock absorber 502 through the rear swing arm 501; but also the overall width of the electric scooter is reduced, thereby improving the passability of the electric scooter to a certain extent.

[0069] Embodiment 4: Since the user group of electric scooters is elderly people and disabled people with limited mobility, most of them react slowly. Sometimes they don't have time to release the speed control lever, which will hit pedestrians or obstacles, causing damage to their own and others' personal safety. In particular, when the scooter is driving on an uneven road, it is difficult to keep the speed in a comfortable state. In addition, during driving, since the user is in a sitting position and has a limited visual angle, some obstacles or special road conditions (for example, potholes, etc.) cannot be discovered in time, making the driving process unable to be in a comfortable state. In addition, with the intelligence of electric scooters, some high-end scooters are also equipped with path planning and obstacle avoidance assistance intelligent systems. These all require sensors and other sensing devices to collect road conditions or surrounding environment, so as to make better decisions. Therefore, in the prior art, people have continuously proposed to set various sensors, radars and other equipment in electric scooters to sense road conditions.

[0070] For example, a Chinese invention patent application with publication number CN106542029A discloses an intelligent scooter for the elderly, which is provided with a detector electrically connected to a controller, the detector comprising a first detector and a second detector, which are respectively used to collect pedestrians and obstacles in front of and behind the driver. The scooter is also provided with a first camera device electrically connected to the controller, which is used to collect road conditions in front of the driver and transmit the collected signals to the controller. The controller is embedded with a road speed module. The controller selects the corresponding road speed through the road speed module according to the collected road conditions and instructs to control the driving speed of the motor.

[0071] For another example, the Chinese utility model patent with announcement number CN203652012U discloses a detection device for an electric scooter, which is provided with radar detection components (such as a reversing radar of a car or ultrasonic, infrared and other detection components) at the front and rear edges of the frame, and vibration detection components and balance detection components at appropriate positions of the frame. When the radar detection component detects a road obstacle, or the vibration detection component detects an uneven ground, the balance detection component drives the transmission unit to rotate the clamping arm of the fork wheel unit through the microprocessor unit, thereby enabling the electric scooter to climb slopes or stairs.

[0072] However, the above electric scooters only consider the detection of the front and rear ends of the vehicle, and ignore other directions, such as the left front and right front, and different detection heights. That is, the detection device or perception system of the existing electric scooters still needs to be improved. In view of this, see Figure 1The electric scooter comprises: a lower body 1, a pedal 21 arranged at the front end of the lower body 1, an anti-dumping mechanism 18 arranged at the rear end of the lower body 1 (the specific structure of the anti-dumping mechanism 18 is shown in Example 5 and will not be described here), and a sensing system arranged on the electric scooter. Specifically, the sensing system comprises: an ultrasonic sensor module and a laser radar module arranged at the front end of the pedal 21; and a distance sensor 10 arranged on the armrest 8 of the foldable seat, so that targets such as obstacles in front of the electric scooter in multiple directions can be obtained from different heights or different detection ranges during the travel of the electric scooter.

[0073] See also Figure 1 and Figure 2 The ultrasonic sensor module includes: two ultrasonic radars 14 symmetrically arranged on the front side of the pedal 21, ultrasonic radars 14 respectively arranged on the left and right sides of the pedal 21, and at least two ultrasonic radars 14 respectively arranged on the protective cover 30 of the rear wheel 3. Preferably, one ultrasonic radar 14 is respectively arranged at the position corresponding to the two rear wheels 3 on the protective cover 30; and one ultrasonic radar 14 is also arranged at the middle part of the protective cover 30, that is, at the position corresponding to the anti-dumping mechanism 18, and the height of the ultrasonic radar 14 located in the middle part of the protective cover 30 compared to the ground is lower than the height of the ultrasonic radars 14 on both sides thereof compared to the ground.

[0074] See also Figure 1 The above-mentioned laser radar module adopts a laser radar 13, which is arranged between two ultrasonic radars 14 on the front side of the pedal 21.

[0075] In order to meet the needs of obstacle avoidance, corresponding detection components are usually set on the front and rear sides of the scooter, such as ultrasonic radar, laser radar, etc., to detect the distance, provide data reference for obstacle avoidance system or path planning, or remind users in time. However, in the prior art, on the one hand, only the detection in the front and rear directions is considered, while the detection in other directions is ignored (for example, the left front or right front, especially when turning, the detection of the left front or right front is very important). In addition, considering the cost, the more detection components, the better, and there are many types of detection components. Therefore, on the basis of limited detection components, how to reasonably use the coordination and installation positions between multiple detectors, so as to cover most of the perception directions that need to be detected during the driving of the scooter without greatly increasing the cost, is very important, which will seriously affect product promotion and consumer acceptance. If the pursuit of high detection accuracy is too high and more detection components are used or more high-cost detection components are used, the cost will be too high, the consumer acceptance will be too low, and the product promotion will be difficult; if the cost is too low and the detection accuracy does not meet the needs, the user experience will be reduced, thereby reducing consumer acceptance, and product promotion will also be very difficult.

[0076] In the prior art, a detection component is usually arranged in the middle of the front end or rear end of the scooter. For a scooter with a narrow width, its detection range is sufficient. However, for a four-wheel scooter with a certain width, its detection range is very limited, and it may not even be able to detect the situation near the wheels on both sides. Therefore, in this embodiment, two ultrasonic radars 14 are arranged on the front side of the pedal 21 to achieve short-range detection at the first height, and the detection range between the two ultrasonic radars 14 almost covers the detection range in front of the wheels on both sides.

[0077] In addition, when the electric scooter is driving, it frequently changes the driving direction, such as turning. If only a detection component for detecting the front area is set in the middle of the front end of the scooter, the situation near the vehicle or wheels cannot be detected during the turning process. It is often not possible to detect the situation near the vehicle until it turns to a certain angle or even expands to an obstacle, which greatly reduces the user experience. Therefore, in this embodiment, an ultrasonic radar 14 is also set on the left and right sides of the pedal 21 to detect the road conditions in the left front detection area and the right front detection area.

[0078] Furthermore, since the two front wheels 2 are installed on both sides of the front end of the lower body frame 101, and the pedal 21 is also installed at the front end of the lower body frame 101, and the central axis of the connection between the pedal 21 and the front end of the lower body frame 101 is almost tangent to the front wheel 2, the front wheel 2 is also within the detection range of the ultrasonic radar 14.

[0079] More preferably, the ultrasonic radar 14 is arranged in the middle of the left and right sides of the pedal 21. That is, the distance between the ultrasonic radar 14 and the front end of the pedal 21 is the same as the distance between the ultrasonic radar 14 and the front wheel 2, so that the ultrasonic radars 14 on the left and right sides and the two ultrasonic radars 14 at the front end of the pedal 21 can realize multi-directional detection in front of the pedal, the left front and the right front. If the installation position of the ultrasonic radar 14 is closer to the front end of the pedal 21, it may not be able to detect the road conditions around the front wheel 2. If it is too close to the front wheel 2, it may not be able to cooperate with the ultrasonic radar 14 at the front end to achieve seamless connection between the front and the left front / right front. Therefore, in this embodiment, the ultrasonic radar 14 is arranged in the middle of the left and right sides of the pedal 21, so that its detection range can be connected with the detection range of the ultrasonic radar 14 at the front end (that is, the detection area partially overlaps or borders), while covering the detection range near the front wheel 2.

[0080] However, it is not enough to only set up the ultrasonic radar 14 at the front end. On the one hand, the detection distance of the ultrasonic radar 14 is limited. On the other hand, its accuracy is low and it is easily disturbed by noise. Therefore, in order to increase the accuracy of detection, in this embodiment, a laser radar 13 is also set in the middle of the pedal 21 as an auxiliary, so as to cooperate with the ultrasonic radar 14 to achieve detection. If multiple laser radars 13 are set at the front end of the pedal 21 in pursuit of accuracy and detection distance, the cost will inevitably increase greatly, and the detection data of a single type of detection component will be less reliable once the environment changes. Therefore, in this embodiment, different types of detection components are set at the front end at the same time for detection. Once the environment changes, the data between the two types of detection components can verify each other. Of course, another detection component that is more suitable for the current environment can also be started separately.

[0081] Compared with the front end of the electric scooter, usually only when reversing, you need to pay close attention to the road conditions at the rear end of the electric scooter, and you only need to pay attention to the situation within a short distance of the rear end of the electric scooter. Therefore, if the rear end adopts the same detection component layout as the front end, it will not only increase the cost, but also the detection components will not be effectively utilized, but will cause a waste of resources. Therefore, in this embodiment, three ultrasonic radars 14 are set on the protective cover 30 of the rear wheel 3, and two ultrasonic radars 14 correspond to the upper rear of the rear wheel 3, respectively, and the third ultrasonic radar 14 is located between the two, and its height is lower than the height of the two ultrasonic radars 14, so as to achieve detection at different heights.

[0082] In this embodiment, since the rear wheels 3 are higher than the front wheels, in order to facilitate reversing, ultrasonic radars 14 are respectively set on the protective cover 30 corresponding to the positions of the two rear wheels 3 for detection, thereby achieving obstacle avoidance of the rear wheels 3.

[0083] At the same time, since the rear end of the electric scooter is also provided with an anti-dumping mechanism 18 between the two rear wheels 3, and the anti-dumping mechanism 18 is relatively long and located relatively low, if only ultrasonic radars 14 are provided at the positions corresponding to the two rear wheels 3 on the protective cover 30, the anti-dumping mechanism 18 is located in the blind area of ​​the two ultrasonic radars 14 due to the relatively high position, thereby causing inconvenience to the reversing process, and even making it impossible to avoid obstacles. In addition, since the anti-dumping mechanism 18 has a certain width, in this embodiment, on the basis of providing ultrasonic radars 14 corresponding to the two rear wheels 3, an ultrasonic radar 14 is provided at the middle of the protective cover 30 (i.e., the spacing between the ultrasonic radars 14 and the ultrasonic radars 14 on both sides is the same), i.e., above the anti-dumping mechanism 18, thereby ensuring the safety and smoothness of the reversing process of the electric scooter.

[0084] In the process of driving, in addition to considering short-range detection, long-range detection also needs to be considered. On the one hand, it is possible to know the road conditions ahead in advance so as to make corresponding decisions in advance, such as switching paths or turning, etc. Therefore, in this embodiment, a distance sensor 10 is provided at the front end of any armrest 8 of the foldable seat. Preferably, the distance sensor 10 is a TOF distance sensor.

[0085] Compared with short-distance detection, long-distance detection usually only needs to know the situation within a certain range in front of the driving direction, without considering the situation in a large range (such as the surroundings). Therefore, a TOF distance sensor with a limited detection angle but a long detection distance is set. And the distance sensor is directly set on the handrail 8, so there is no need to set up a separate mounting frame for installation, which not only reduces the cost, but also allows the distance sensor to be stored together with the handrail for protection.

[0086] Furthermore, the pedal 21 is rotatably arranged at the front end of the lower body frame 101 of the lower body 1, so that the ultrasonic radar and the laser radar can also be folded and stored according to the pedal 21, and then protected to avoid accidental collisions.

[0087] Furthermore, an anti-collision groove 23 protruding along the driving direction is provided at the front end of the pedal 21, so that the laser radar 13 can be installed in the anti-collision groove 23. By providing the anti-collision groove 23, on the one hand, the laser radar 13 can be protected, and on the other hand, even if there is an obstacle at the front end, once the anti-collision groove 23 collides with the obstacle, the user can know in advance, thereby avoiding further driving forward and causing the ultrasonic radar 14 to be also hit. Preferably, the anti-collision groove 23 is located on the central axis of the pedal 21, that is, located in the middle of the front side of the pedal 21, and the distance between it and any ultrasonic radar on the front side of the pedal is equal to one-half of the distance between the anti-collision groove 23 and any end of the front side of the pedal 21. That is, the laser radar and the ultrasonic radar divide the front side of the pedal 21 into four equal parts.

[0088] Further, see Figure 2 The perception system further comprises an image acquisition module arranged at the rear side of the foldable seat. Preferably, the image acquisition module comprises: a rear camera 15 arranged at the rear bottom of the backrest 6 in the electric scooter.

[0089] Further, see Figure 1 , the distance sensor 10 adopts a Tof distance sensor.

[0090] Embodiment 5: The present invention also provides another electric scooter, see Figure 2 The electric scooter further includes an anti-dumping mechanism 18 disposed at the rear side. Fig.10 and Fig.11, the anti-dumping mechanism 18 comprises: The compression spring 181 (and the first elastic component) is coated with an anti-rust coating on its surface to extend its service life. One end of the compression spring 181 is fixedly connected to the inner wall of the lower body 1, and the other end of the compression spring 181 is fixedly connected to a guide plate 182, which is made of a high-strength alloy material to improve durability. The outer wall of the guide plate 182 is slidably connected to the inner wall of the lower body 1, and the outer wall of the guide plate 182 is rotatably connected to an anti-tilt roller 183; the trigger spring 184 (i.e., the second elastic component) is made of a high-elastic alloy material to improve its rebound performance. One end of the trigger spring 184 is fixedly connected to the inner wall of the lower body 1, and the other end of the trigger spring 184 is fixedly connected to a trapezoidal block 185, whose surface is provided with a wear-resistant coating. The outer wall of the trapezoidal block 185 is slidably connected to the inner wall of the lower body 1, and the bottom of the trapezoidal block 185 is fixedly connected to a vertical rod 186, and the bottom of the vertical rod 186 is rotatably connected to a trigger roller 187, and its bearing part adopts a sealed and lubricated design.

[0091] When the electric scooter of the present invention is in use, the rear wheel 3 can be driven by the control handle 9. At this time, the trigger roller 187 contacts the ground under the action of the trigger spring 184. When the lower body 1 tilts, the lower body 1 tilts with the ground. At this time, the trigger roller 187 continues to move downward under the action of the trigger spring 184, so that the trigger spring 184 drives the trapezoidal block 185 to move downward. At this time, the trapezoidal block 185 no longer engages the guide plate 182, so that the guide plate 182 pops out under the action of the compression spring 181, so that the guide plate 182 drives the anti-tilt roller 183 to extend and contact the ground, so that the tilted lower body 1 has an additional support point with the ground, which plays a role in preventing tipping, improves the stability of the electric scooter in a tilted state, and avoids the safety hazard caused by tipping.

[0092] In the present invention, the shock absorbing device, the sensing system and the foldable mechanism of the electric scooter can be arbitrarily combined, that is, any one of them can be applied to the electric scooter alone, or they can be combined and applied to the electric scooter in pairs, or all three can be applied to the same electric scooter at the same time.

[0093] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0094] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. An electric scooter, comprising a lower body (1), characterized in that: It also includes a foldable seat connected to the lower vehicle body (1) via a seat column (4), the seat column (4) including a four-bar linkage mechanism for folding the foldable seat, the four-bar linkage mechanism including: A support base (105) is fixedly arranged on the lower vehicle body (1), one end of the support base (105) is hingedly connected to a support front section (402), one end of the support front section (402) away from the support base (105) is hingedly connected to a support top connecting piece (403), one end of the support top connecting piece (403) away from the support front section (402) is hingedly connected to a support rear section (401), and the other end of the support rear section (401) is hingedly connected to the support base (105); The electric scooter further comprises a support motor (404) for driving the support rear section (401); the connection end of the support motor (404) is hinged on the lower vehicle body (1) and is close to the support front section (401); the output end of the support motor (404) passes through the support front section (401), extends toward the support rear section (401), and is hinged on the support rear section (401).

2. The electric scooter according to claim 1, characterized in that: Both sides of the rear section (401) of the support are bent in a direction close to the front section (402) of the support to form a first side wing (401a), and both sides of the front section (402) of the support are bent in a direction close to the rear section (401) of the support to form a second side wing (402a), wherein the second side wing (402a) is located inside the first side wing (401a), and there is a gap between the two; When the foldable seat rises to the highest position, the front end of the second side wing (402a) close to the rear section (401) of the pillar is blocked by the front end of the first side wing (401a) close to the front section (402) of the pillar; When the foldable seat is lowered to the lowest position, the first side wing (401a) completely covers the second side wing (402a).

3. The electric scooter according to claim 2, characterized in that: The output end of the support motor (404) comprises a support motor upper support rod (405) and a support motor lower support rod (406) which are telescopically connected, and the free end of the support motor upper support rod (405) passes through the support front section (402) and is hinged to the support rear section (401).

4. The electric scooter according to claim 3, characterized in that: A pillar front section support bracket (103) and a pillar rear section support bracket (106) are respectively arranged at both ends of the seat pillar base (105); a hinge point between the pillar base (105) and the pillar front section (402) is arranged on the pillar front section support bracket (103); and a hinge point between the pillar base (105) and the pillar rear section (401) is arranged on the pillar rear section support bracket (106).

5. The electric scooter according to claim 1, characterized in that: A seat cushion (100) is arranged on the pillar top connecting piece (403), a backrest (6) is arranged on the seat cushion (100), a headrest (7) is arranged on the top of the backrest (6), and armrests (8) are rotatably connected to both sides of the backrest (6).

6. The electric scooter according to claim 5, characterized in that: The backrest (6) is provided with a seat adjustment button (20), and the seat adjustment button (20) is used to control the support motor (404).

7. The electric scooter according to claim 5, characterized in that: The armrest (8) is provided with a control handle (9) and a mobile phone holder (11).

8. The electric scooter according to claim 1, characterized in that: It also includes a perception system, the perception system comprising: an ultrasonic sensor module and a laser radar module arranged at the front end of the lower body (1), a distance sensor arranged on the armrest (8) of the foldable seat, and an image acquisition module arranged at the rear of the electric scooter; wherein: The ultrasonic sensor module comprises: two ultrasonic radars (14) symmetrically arranged on the front side of a pedal (21) at the front end of the lower vehicle body (1), ultrasonic radars (14) respectively arranged on both sides of the pedal (21), and at least two ultrasonic radars (14) respectively arranged on the protective cover (30) of the rear wheel (3); The laser radar module is arranged in front of the two ultrasonic radars (14) on the front side of the pedal (21); The image acquisition module comprises: a rear camera (15) arranged on the rear side of a backrest (6) in the electric scooter.

9. An electric scooter according to any one of claims 1 to 8, characterized in that: It also includes a shock absorbing device arranged on the lower vehicle body (1), the shock absorbing device comprising: a suspension for supporting the wheels, and a rear shock absorber (502) rotatably connected to the suspension; wherein: The suspension comprises: a suspension eye fixedly connected to a lower body frame (101) of a lower body (1), a rear swing arm (501) rotatably connected to the suspension eye, one side of the rear swing arm (501) fixedly connected to a wheel motor mounting frame (304), the bottom of the rear swing arm (501) rotatably connected to one end of the rear shock absorber (502), the connection point between the rear swing arm (501) and the wheel motor mounting frame (304), the connection point between the rear swing arm (501) and the rear shock absorber (502), and the rotation axis of the rear swing arm (501) forming a triangle, so that the vertical vibration of the wheel motor mounting frame (304) in the longitudinal direction is converted into the axial movement of the elastic buffer component in the rear shock absorber (502) through the rear swing arm (501).

10. An electric scooter according to any one of claims 1 to 8, characterized in that: It also includes an anti-dumping mechanism (18) arranged on the lower vehicle body (1), the anti-dumping mechanism (18) comprising: A compression spring (181), one end of the compression spring (181) being fixedly connected to the inner wall of the lower vehicle body (1), the other end of the compression spring (181) being fixedly connected to a guide plate (182), the outer wall of the guide plate (182) being slidably connected to the inner wall of the lower vehicle body (1), and the outer wall of the guide plate (182) being rotatably connected to an anti-tilt roller (183); A trigger spring (184), one end of the trigger spring (184) is fixedly connected to the inner wall of the lower vehicle body (1), the other end of the trigger spring (184) is fixedly connected to a trapezoidal block (185), the outer wall of the trapezoidal block (185) is slidably connected to the inner wall of the lower vehicle body (1), the bottom of the trapezoidal block (185) is fixedly connected to a vertical rod (186), and the bottom of the vertical rod (186) is rotatably connected to a trigger roller (187).

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