GB/T 34667-2023General specifications of electrical self-balancing vehicles (English PDF)

Foreword

This document was issued on 7 September 2023 by the State Administration for Market Regulation; Standardization Administration of the PRC and takes effect on 1 April 2024.

It is a GB/T standard: recommended rather than compulsory, but it is the text a Chinese reviewer applies when assessing a submission.

1 Scope

GB/T 34667-2023 covers electrical self-balancing vehicles — wheeled manned platforms that stay upright by actively controlling an inverted pendulum rather than by the rider's own balance. It defines the terms, classifies the vehicles by wheel count in clause 4, beginning with the one-wheeled machine, and then sets the technical requirements together with the test methods that verify them, the inspection rules, and the requirements for packaging, transportation and storage. An informative appendix deals with the power a vehicle has to keep available for safe driving. Such a document exists because stability here is a property of the machine and not of the person on it: control, drive and braking form one loop, and when battery, motor or controller runs out of margin the platform pitches under a rider who has no independent way to stay up. Speed, load, braking and endurance behaviour therefore have to be declared the same way from one maker to the next and demonstrated by a defined test rather than asserted in a catalogue. Useful to manufacturers and their component suppliers, to testing laboratories, to importers and retail buyers comparing models, and to authorities deciding where these vehicles may be ridden.

This document defines the terms and definitions of electrical self-balancing vehicles, specifies

the classification, technical requirements, inspection rules, packaging, transportation and

storage requirements of electrical self-balancing vehicles, and describes the test methods.

This document is applicable to the design, production and sales of electrical self-balancing

vehicles that use batteries as the power source, except for military, police and other special

purposes.

2 Normative References

The contents of the following documents constitute indispensable clauses of this document

through the normative references in the text. In terms of references with a specified date, only

versions with a specified date are applicable to this document. In terms of references without a

specified date, the latest version (including all the modifications) is applicable to this document.

GB/T 191 Packaging - Pictorial Marking for Handling of Goods

GB/T 2423.1 Environmental Testing for Electric and Electronic Products - Part 2: Test Methods

- Tests A: Cold

GB/T 2423.3 Environmental Testing - Part 2: Testing Method - Test Cab: Damp Heat, Steady

State

GB/T 2423.22-2012 Environmental Testing - Part 2: Test Methods - Test N: Change of

Temperature

GB 17799.3 Electromagnetic Compatibility (EMC) - Generic Standards - Emission Standard

for Industrial Environments

GB/T 34668 Safety Requirements and Test Methods for Electrical Self-balancing Vehicles

GB/T 40309 Electrical Self-balancing Vehicle - Electromagnetic Compatibility - Emission and

Immunity Requirements

SJ/T 11685 Specifications of Lithium-ion Batteries and Battery Packs for Self-balancing

Vehicles

3 Terms and Definitions

The following terms and definitions are applicable to this document.

3.1 electrical self-balancing vehicle

A wheeled manned mobile platform that is based on the inverted pendulum model and the

principle of static instability, and is equipped with a rechargeable electric drive system, thus

maintaining dynamic balance in an autonomous or manual mode of operation.

NOTE: the electrical self-balancing vehicle is referred to as the self-balancing vehicle for short.

3.2 steering column

A component used to control the steering of an electrical self-balancing vehicle, which may be

equipped with other electronic displays or lighting equipment.

3.3 remote control software

An application software installed on an intelligent mobile terminal to set up, control or monitor

an electrical self-balancing vehicle via a wireless connection.

3.4 safety alarm

An alarm (such as: sound, light and vibration, etc.) that may be clearly noticed by the user after

being sent to the user, when an electrical self-balancing vehicle detects internal faults (such as:

abnormal battery voltage and balance control unit failure) or dangerous driving actions or

abnormal working conditions of the vehicle.

3.5 brake

An action of an electrical self-balancing vehicle to stop or decelerate its wheels by self-

induction.

3.6 rated mileage

The mileage accumulated during the period when a fully charged electrical self-balancing

vehicle runs at a constant speed of 60% of the maximum speed prescribed by the manufacturer

on a flat hardened surface at a total load of 75 kg at room temperature, then travels at the

maximum speed that it can reach in the case of failing to run at the speed above due to low

power, until the self-balancing vehicle is unable to continue running due to low battery power.

NOTE: rated mileage is in unit of kilometer (km).

4 Classification of Electrical Self-balancing Vehicles

4.1 In accordance with the number of wheels, it may be classified as:

a) electrical one-wheeled self-balancing vehicle -- an electrical self-balancing vehicle

with only one wheel, including two tires on one wheel;

b) electrical two-wheeled self-balancing vehicle -- an electrical self-balancing vehicle

with two wheels;

c) electrical multi-wheeled self-balancing vehicle -- an electrical self-balancing vehicle

with three or more wheels.

4.2 In accordance with the steering mode, it may be classified as:

a) electrical self-balancing vehicle with a steering column;

b) electrical self-balancing vehicle with no steering column.

4.3 In accordance with whether the seat is equipped, it may be classified as:

a) electrical self-balancing vehicle with a seat;

b) electrical self-balancing vehicle with no seat.

4.4 In accordance with the charging mode, it may be classified as:

a) rechargeable electrical self-balancing vehicle with external power supply -- this type

of electrical self-balancing vehicle is not directly connected to the AC grid during

charging, but connected to AC grid via a charger or external power supply for

charging;

b) rechargeable electrical self-balancing vehicle with built-in power supply -- this type

of electrical self-balancing vehicle is directly connected to the AC grid during

charging.

5 Technical Requirements

5.1 Main Technical Performance Requirements

5.1.1 General

The design of the main technical performance of the self-balancing vehicle shall firstly satisfy

the requirements for safe driving.

In terms of the tyres of the self-balancing vehicle, the minimum diameter is 125 mm and the

minimum width is 25 mm.

Refer to Appendix A for the analysis and evaluation of necessary conditions for the safe driving

of the self-balancing vehicle.

5.1.2 Maximum speed

In accordance with the maximum speed test in 6.2.1, the maximum speed shall not be greater

than 20 km/h.

When the user stands on the vehicle for a long time, each pedal shall be equipped with a non-

slip surface with an area of not less than 150 cm2.

When the user stands on the vehicle for a short time and the vehicle is equipped with a seat, the

non-slip surface of each pedal shall be at least 65 mm in length.

5.2.5 Switch

The electrical self-balancing vehicle shall be equipped with a master control set that is apparent,

easy to access and not easy to operate incorrectly to turn on and off the driving power. In

addition, this set shall be triggered by the user’s autonomous behavior(s).

5.2.6 Foldable mechanism

The foldable mechanism (if any) of the electrical self-balancing vehicle shall be designed to be

locked in a simple, stable and safe way. In the course of driving, the locking device shall not

touch the moving parts, for example, wheels, etc. When driving, the foldable mechanism shall

not have an accidental release, easy release in the case of mis-operation or there is obvious risk

of tripping.

The foldable mechanism (if any) of the electrical self-balancing vehicle shall meet the

requirements of 6.4.2.

5.2.7 Battery and battery pack

The performance of the battery and battery pack of the electrical self-balancing vehicle shall

ensure that the electrical self-balancing vehicle may operate normally under its intended

conditions of use.

The performance of lithium-ion battery and battery pack for the electrical self-balancing vehicle

shall meet the requirements of SJ/T 11685.

5.3 Safety

The electrical self-balancing vehicle shall have sufficient safety to ensure its normal operation

under its intended conditions of use.

The safety of the electrical self-balancing vehicle shall be consistent with GB/T 34668.

5.4 Environmental Adaptability Requirements

5.4.1 Temperature change

In accordance with 6.3.1, carry out the temperature change test. After the test, the self-balancing

vehicle shall not lose its normal driving function, and all electrical components shall function

normally.

5.4.2 Low-temperature operation

In accordance with 6.3.2, carry out the low-temperature operation test. The self-balancing

vehicle shall not lose its normal driving function or suddenly stop running, and all electrical

components shall function normally.

5.4.3 High-temperature and high-humidity operation

In accordance with 6.3.3, carry out the high-temperature and high-humidity operation test. The

self-balancing vehicle shall not lose its normal driving function or suddenly stop running, and

all electrical components shall function normally.

5.4.4 Electromagnetic compatibility

The electromagnetic disturbance produced by the electrical self-balancing vehicle shall not

exceed the level allowed by its intended usage occasion(s). The emission of the electrical self-

balancing vehicle shall meet the requirements of GB/T 40309 or GB 17799.3.

The electrical self-balancing vehicle shall have sufficient immunity against electromagnetic

disturbance to ensure its proper operation in its intended operating environment. The immunity

of the electrical self-balancing vehicle should meet the requirements of GB/T 40309 or GB/T

17799.1.

5.5 Durability Requirements

5.5.1 Durability of steering column

This requirement applies only to the electrical self-balancing vehicles with steering columns.

The steering column shall be conducted with the durability test according to 6.4.1. The steering

column of the electrical self-balancing vehicle and its interconnecting pieces with the vehicle

body shall have no crack, deformation or fracture. After being electrified, the self-balancing

vehicle’s steering function shall be normal. Meanwhile, the self-balancing vehicle may run

normally.

5.5.2 Durability of foldable mechanism

This requirement applies only to the electrical self-balancing vehicles whose main bearing

structures of the steering columns, frames and other manned parts on the vehicle bodies are

equipped with foldable mechanisms.

After the foldable mechanism is conducted with the durability test according to 6.4.2, the

foldable mechanism of the electrical self-balancing vehicle shall have no crack or fracture and

be able to lock properly. Meanwhile, the electrical self-balancing vehicle shall be able to run

normally.

5.5.3 Durability of self-balancing vehicle

After the vehicle is conducted with the durability test according to 6.4.3, the main bearing

structures of the manned part on the body of the electrical self-balancing vehicle shall have no

of the driver and its equipment shall be 75 kg; when the total weight is less than 75

kg, counterweight shall be applied. If the maximum load of the product is less than

75 kg, then, the total weight of the driver and its equipment shall be equal to the

maximum load of the product.

b) Drivers shall master the driving skills and be familiar with the test methods.

c) Drivers shall be equipped with helmets, knee pads, elbow pads and other necessary

protective equipment.

d) Drivers shall drive the test vehicles according to the operation methods specified by

the manufacturer. Throughout the test, drivers shall try to keep the driving position

without significant changes and avoid the operations which are not allowed by the

manufacturer.

6.1.3 Test environment

Unless otherwise required by the test items, the test environment shall meet the following

conditions:

a) The temperature shall be within the range of nominal operating temperature of the

electrical self-balancing vehicle. Unless otherwise specified, the room temperature

specified in this document shall be (25  5) °C;

b) Relative humidity: not greater than 75%;

c) Atmospheric pressure: 86 kPa to 106 kPa;

d) During the test, the average wind speed shall not be greater than 3 m/s; the

instantaneous wind speed shall not be greater than 5 m/s;

e) If it is necessary to test outdoors, rain, snow and other weather shall be avoided.

6.1.4 Test vehicle

The test vehicle shall meet the following conditions:

a) The test vehicle shall be complete and fully charged according to the requirements of

the manufacturer;

b) The test vehicle shall be in accordance with the manufacturer’s instructions, so that it

can be in normal driving state;

c) If the test vehicle is mounted with test instrument(s), the impact on the load

distribution on each wheel and the windage effect shall be minimized as far as

possible.

6.2 Main Technical Performance Test

6.3 Environmental Adaptability Tests

6.3.1 Temperature change test

The test shall be carried out in accordance with the requirements of Chapter 8 in GB/T 2423.22-

2012.

Put the power-off self-balancing vehicle into the temperature test chamber. Start the test at room

temperature. The low temperature (TA) is (20  2) C or the minimum storage temperature

specified by the manufacturer. The high temperature (TB) is (60  2) C or the maximum storage

temperature specified by the manufacturer. The exposure time t5 at each temperature is not less

than 3 h, the number of test cycles is 8, and the temperature change rate is (1  0.2) K/min.

6.3.2 Low-temperature operation test

In accordance with the following procedures, carry out the test:

a) Fully charge the self-balancing vehicle in accordance with the method specified by

the manufacturer. In accordance with the stipulations of GB/T 2423.1, put it into the

temperature test chamber;

b) Lower the temperature of the test chamber at a rate of 1 C/min from room

temperature to (10  2) C or the minimum operating temperature specified by the

manufacturer (whichever is lower);

c) Turn on the self-balancing vehicle and maintain normal driving without load. During

this period, the self-balancing vehicle is allowed to have a low-battery safety alarm

or completely exhausted battery for 24 h;

d) At a temperature change rate of 1 C/min, raise the temperature of the test chamber

to room temperature (25  5) C;

e) Take out the self-balancing vehicle and restore it at room temperature. The recovery

time shall allow the temperature to stabilize, at least 1 h. After recovery, in accordance

with the method specified by the manufacturer, fully charge it and check whether the

self-balancing vehicle can normally work.

After the test, check whether the self-balancing vehicle can run normally and whether the

electrical components are functioning normally.

6.3.3 High-temperature and high-humidity operation test

In accordance with the following procedures, carry out the test:

a) In accordance with the method specified by the manufacturer, fully charge the self-

balancing vehicle. In accordance with the stipulations of GB/T 2423.3, put it into the

temperature test chamber;

b) Set the relative humidity of the test chamber to (93  3)%, and at a rate of 1 C/min,

raise it from room temperature to (40  2) C or the maximum operating temperature

specified by the manufacturer (whichever is higher);

c) Turn on the self-balancing vehicle and maintain normal driving without load. During

this period, the self-balancing vehicle is allowed to have a low-battery safety alarm

or completely exhausted battery for 24 h;

d) At a rate of 1 C/min, lower the temperature of the test chamber to room temperature

(25  5) C;

e) Take out the self-balancing vehicle and restore it at room temperature. The recovery

time shall allow the temperature to stabilize, at least 1 h. After recovery, in accordance

with the method specified by the manufacturer, fully charge it and check whether the

self-balancing vehicle can normally work.

After the test, check whether the self-balancing vehicle can run normally and whether the

electrical components are functioning normally.

6.4 Durability Test

6.4.1 Durability test of steering column

The durability test of the steering column of the electrical self-balancing vehicle shall be carried

out according to the following procedures:

a) Fix the electrical self-balancing vehicle on the test platform, only the steering column

may be free to operate according to the normal mode of operation.

b) Rotate the steering column to its maximum limit of motion in a certain direction

according to its normal mode of operation. Let it go back to the initial position. Then,

rotate the steering column in the opposite direction to its maximum limit of motion

afterwards. Let it go back to the initial position. The force applied shall be subject to

the maximum limit of motion of the steering column, and shall not exceed the

maximum tension or thrust that the manufacturer provides for the steering column.

c) Repeat the procedures in b) 10,000 times at a speed of 30 times/min or the speed

specified by the manufacturer.

d) Check the steering column and its interconnecting pieces with the vehicle body.

Check whether the self-balancing vehicle is able to run properly.

6.4.2 Durability test of foldable mechanism

Open the foldable mechanism of the electrical self-balancing vehicle from the folding state to

the operating state during normal driving, then, fold it to the folding state again, forming a

folding cycle.

Visually inspect whether there are safety warning devices, and test the safety alarms, lights and

other devices. The details are as follows:

a) For the self-balancing vehicle with the locking function, turn on the power, move the

self-balancing vehicle in locking state, then, check whether there are any safety alarms

or relevant signals;

b) After turning on the power, check whether the stop lamp lights up after braking;

c) After turning on the light switch, check whether the light is on.

6.6 Inspection of Assembly Requirements

6.6.1 Inspection of general assembly requirements

Perform visual inspection on the appearance. Manually test whether the assembly of each

component of the self-balancing vehicle is solid.

6.6.2 Inspection of overall dimensions

Use a tape measure or other measuring tools to measure the product’s overall dimensions. The

dimensions shall meet the parameter requirements in the instruction manual.

6.6.3 Inspection of electrical assembly requirements

Each electrical component of the electrical self-balancing vehicle shall be installed in place,

with correct polarity. All nodes in the circuit must be in good contact with each other. The

installation and fixation of the electrical elements shall be solid and reliable. Cables shall be

fixed in a reliable manner. If necessary, other mechanical fixings may be added.

6.7 Inspection of Appearance Requirements

In accordance with the requirements of 5.7, perform visual inspection on the product

appearance.