WO2017219262A1 - Control method and control system for balance vehicle - Google Patents

Control method and control system for balance vehicle Download PDF

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Publication number
WO2017219262A1
WO2017219262A1 PCT/CN2016/086668 CN2016086668W WO2017219262A1 WO 2017219262 A1 WO2017219262 A1 WO 2017219262A1 CN 2016086668 W CN2016086668 W CN 2016086668W WO 2017219262 A1 WO2017219262 A1 WO 2017219262A1
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Prior art keywords
hand ring
balance
height
bracelet
balance car
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PCT/CN2016/086668
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French (fr)
Chinese (zh)
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尚艳燕
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尚艳燕
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Priority to PCT/CN2016/086668 priority Critical patent/WO2017219262A1/en
Publication of WO2017219262A1 publication Critical patent/WO2017219262A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K3/00—Bicycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K21/00—Steering devices

Definitions

  • the invention relates to the field of balance vehicles, and in particular to a control method and a control system for a balance vehicle.
  • the traditional two-wheeled manned balance car is mainly turned by a pole that can swing left and right. Although the operation is simple, the structure of the pole and the steering shaft is complicated, and the weight and space of the balance car are increased.
  • the balance cars that appear in the future are mostly controlled by the leg-controlled levers. Although the hands are liberated, the legs of this type of operation need to keep the legs in the state of the levers, which is easy to cause high tension and fatigue of the legs. It is dangerous for users who use the balance car for a long time.
  • the technical problem to be solved by the present invention is to provide a control method and a control system for a balance vehicle that allows a user to more conveniently and effectively control the balance vehicle to perform steering.
  • the present invention provides a method for controlling a balance vehicle, comprising the steps of:
  • the balance car is based on the first hand ring and the second hand.
  • the direction of rotation of the ring is turned.
  • the balance car is controlled to turn right; when the rotation directions of the first bracelet and the second bracelet are counterclockwise, the balance car is controlled. Turn left. In time, the right turn should be right, and the reverse should be turned left. For normal people, it is more conducive to operation; of course, it should be possible to set the reverse time to the left turn, and the reverse time should be right turn. The corresponding relationship can be completed by the preset setting. Meet the habits of more people.
  • the determination of the rotation direction of the first hand ring and the second hand ring has a threshold value, and when the amplitudes of the first hand ring and the second hand ring rotate clockwise exceed the threshold value, the rotation direction of the hand ring is determined to be Clockwise; when the amplitude of the first hand ring and the second hand ring in the counterclockwise direction exceeds the threshold value, it is determined that the rotation direction of the hand ring is counterclockwise.
  • the threshold of the rotation direction of the bracelet is set.
  • the first hand ring and the second hand ring must be turned together, and both When the threshold is exceeded, the balance car will perform effective steering control, and the double-layer misoperation insurance will reduce the occurrence of misoperation.
  • the method further includes the steps of:
  • the present invention sets a preset height range, which can better reduce the occurrence of misoperation and better utilize the operability of the wrist.
  • the preset height range the height of the first hand ring and the second hand ring relative to the balance car are both 80CM to 130CM;
  • a height detecting sensor is disposed in the wristband.
  • the height setting range defaults to 80CM to 130CM, mainly because the normal person is using the balance car, the sagging of the wrist is beneficial to the stability of the balance car, and the height of the bracelet is determined by the height of the normal person. More reasonable; of course, if there is a need Yes, this height range can be changed to accommodate more people.
  • the balance vehicle detects that the center of gravity of the user is lowered or the height of the height detecting belt is lowered, the balance vehicle is accelerated; if the center of gravity of the user is increased or the height of the height detecting belt is increased, the balance vehicle is decelerated;
  • Whether the center of gravity or the height is changed is determined by the second threshold.
  • the balance vehicle detects that the center of gravity of the user or the height of the height detecting belt decreases by more than the second threshold, it is determined that the center of gravity or the height is lowered, and the balance vehicle is accelerated; when the balance vehicle detects When the user's center of gravity or height detection belt height increase exceeds the second threshold, it is determined that the center of gravity or height is increased, and the balance vehicle is decelerated.
  • the balance car if the balance car speed is faster, you can bend and slightly squat to balance control.
  • the user's center of gravity is lowered or the height of the waist is lowered, the height of the belt is lowered.
  • the car is accelerated to help balance the control of the car;
  • the posture cannot be fixed. Setting the second threshold can reduce the occurrence of false acceleration and false deceleration.
  • a group is established, in which a set of first bracelets and a second bracelet are set as hosts, and the others are slaves;
  • the steering information of the host is sent to each slave in the group, and the balance cars corresponding to all the slaves in the group are turned according to the instructions of the host bracelet;
  • a stop follow button is provided on the wristband, and when the stop follow button detects an operation, it is determined that the slave detects the stop following command.
  • various kinds of cycling activities are gradually increasing, and the riding activities of the balance vehicles are occasionally appearing. It is unrealistic to conduct the command of the team only by means of shouting, etc.
  • the machine can control the steering problem of the slave to a certain extent through the host, which is very helpful for solving the problem of inconvenient riding.
  • the slave can also not turn according to the control of the host, but only accepts the host.
  • a stop-and-follow button can be set on each bracelet, so that there is inconsistency or long distance between the host and the slave, which is not suitable for steering together. It can avoid the situation where the slave blindly follows the host for steering control.
  • the rotation angle can be 30 degrees - 90 degrees; and the steering range can be 10 degrees - 360 degrees; can be smooth corresponding, or can be the correspondence of multiple gears.
  • the rotation angles of the first hand ring and the second hand ring take an average value of the rotation angles of the first hand ring and the second hand ring.
  • the average value can better control the steering of the balance car.
  • the present invention also provides a control system for a balance vehicle using the control method of the present invention, comprising a balance vehicle body, and a first wristband and a second wristband wirelessly connected to the balance vehicle body;
  • the balance vehicle body performs steering steering according to the rotation direction of the first hand ring and the second hand ring.
  • the invention has the beneficial effects that the steering control can be carried out by using the wristband of the wrist of the user to cooperate with the balance car, thereby fully utilizing the advantages of flexible wrist rotation and good maneuverability, which makes the steering control of the balance car more convenient and efficient. Moreover, since the use of the bracelet removes the support bar, the problem of excessive weight and excessive space of the balance car is avoided; in addition, due to the separation of the hands and feet, the legs can be focused on the balance control of the balance car, while the wrist is used.
  • the wristband of the present invention includes a first hand ring and a second hand ring.
  • FIG. 1 is a flow chart of a control method of a balance car according to the present invention.
  • FIG. 2 is a schematic view of a control system of a balance car of the present invention.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • control method includes the following steps:
  • the beneficial effects of the invention are: balance with the wristband that can be worn on the wrist of the user
  • the car performs steering control, which gives full play to the flexibility of the wrist and the good maneuverability, which makes the steering control of the balance car more convenient and efficient, and the use of the bracelet removes the pole and avoids the weight of the balance car.
  • the wristband of the present invention includes the first bracelet and the second bracelet, only the first When the bracelet and the second bracelet are effectively controlled by the same steering, the balance car will control the steering to avoid the occurrence of misoperation.
  • the balance car when the rotation directions of the first hand ring and the second hand ring are both clockwise, the balance car is controlled to turn right; when the rotation directions of the first hand ring and the second hand ring are both counterclockwise, Control the balance car to turn left.
  • the right turn should be right, and the reverse should be turned left.
  • the reverse time For normal people, it is more conducive to operation; of course, it should be possible to set the reverse time to the left turn, and the reverse time should be right turn.
  • the corresponding relationship can be completed by the preset setting. Meet the habits of more people.
  • the determination of the rotation direction of the first hand ring and the second hand ring has a threshold value, and when the amplitudes of the first hand ring and the second hand ring rotate clockwise exceed the threshold value, the wristband is determined.
  • the direction of rotation is clockwise; when the amplitude of the first hand ring and the second hand ring rotate counterclockwise exceeds the threshold, it is determined that the direction of rotation of the hand ring is counterclockwise.
  • the threshold of the rotation direction of the bracelet is set.
  • the first hand ring and the second hand ring must be turned together, and both When the threshold is exceeded, the balance car will perform effective steering control, and the double-layer misoperation insurance will reduce the occurrence of misoperation.
  • the method before the step of detecting the rotation directions of the first hand ring and the second hand ring, the method further comprises the steps of:
  • the first hand ring and the second hand ring must be within the preset height range to trigger the steering control. This is because people are at some time, for example, when raising the arm, due to balance. Poor operation is easy to cause misoperation.
  • the present invention sets a preset height range, which can better reduce the occurrence of misoperation and better utilize the operability of the wrist.
  • the height range of the first hand ring and the second hand ring relative to the balance car are 80CM to 130CM;
  • a height detecting sensor is provided in the wristband.
  • the height setting range defaults to 80CM to 130CM, mainly because the normal person is using the balance car, the sagging of the wrist is beneficial to the stability of the balance car, and the height of the bracelet is determined by the height of the normal person. More reasonable; of course, if necessary, the height range can be changed to accommodate more people.
  • the height detecting sensor may be an infrared type, a Bluetooth or the like type sensor for transmitting a signal and receiving a reflected signal of the ground or the upper surface of the balance vehicle; of course, a marker may be disposed at the balance vehicle to detect the wristband and the logo. Height detection is performed at the height between objects.
  • the balance vehicle detects that the center of gravity of the user is lowered or the height of the height detecting belt is lowered, the balance vehicle accelerates; if the center of gravity of the user is increased or the height of the height detecting belt is increased, the balance vehicle is decelerated;
  • Whether the center of gravity or the height is changed is determined by the second threshold.
  • the balance vehicle detects that the center of gravity of the user or the height of the height detecting belt decreases by more than the second threshold, it is determined that the center of gravity or the height is lowered, and the balance vehicle is accelerated; when the balance vehicle detects When the user's center of gravity or height detection belt height increase exceeds the second threshold, it is determined that the center of gravity or height is increased, and the balance vehicle is decelerated.
  • the balance car if the balance car speed is faster, you can bend and slightly squat to balance control.
  • the user's center of gravity is lowered or the height of the waist is lowered, the height of the belt is lowered.
  • the car is accelerated to help balance the control of the car; When the user uses the balance car, the posture cannot be fixed. Setting the second threshold can reduce the occurrence of false acceleration and false deceleration.
  • a sensor for detecting the height of the belt is provided in the height detecting waist belt.
  • a group is established, and a group of first bracelets and a second bracelet are set as hosts in the group, and the others are slaves;
  • the steering information of the host will be sent to each slave in the group, and the balance of all the slaves in the group will be balanced.
  • the car turns according to the instructions of the host bracelet;
  • the stop follow button is set on the wristband, and when the stop follow button detects the operation, it is determined that the slave detects the stop following command.
  • various kinds of cycling activities are gradually increasing, and the riding activities of the balance vehicles are occasionally appearing. It is unrealistic to conduct the command of the team only by means of shouting, etc.
  • the machine can control the steering problem of the slave to a certain extent through the host, which is very helpful for solving the problem of inconvenient riding.
  • the slave can also not turn according to the control of the host, but only accepts the host.
  • a stop-and-follow button can be set on each bracelet, so that there is inconsistency or long distance between the host and the slave, which is not suitable for steering together. It can avoid the situation where the slave blindly follows the host for steering control.
  • the rotation angle can be 30 degrees - 90 degrees; and the steering range can be 10 degrees - 360 degrees; can be smooth corresponding, or can be the correspondence of multiple gears.
  • the rotation angles of the first hand ring and the second hand ring take an average value of the rotation angles of the first hand ring and the second hand ring.
  • the average value can better control the steering of the balance car.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • FIG. 2 is a schematic diagram of a control system of a balance vehicle using the control method disclosed in the present invention, the control system 100 including a balance vehicle body 1 and a first wristband wirelessly connected to the balance vehicle body 2 and the second bracelet 3;
  • the balance body 1 performs steering steering according to the direction of rotation of the first bracelet 2 and the second bracelet 3.
  • the beneficial effects of the invention are: due to the use of the wristband that can be worn on the wrist of the user to cooperate with the balance car for steering control, thereby fully utilizing the advantages of flexible wrist rotation and good maneuverability, so that the balance is balanced
  • the steering control of the car is more convenient and efficient, and the use of the bracelet removes the support bar, avoiding the problem of excessive weight and excessive space of the balance car; in addition, due to the separation of the hands and feet, the legs can focus on the balance car.
  • Balance control while the wrist is used to balance the steering control of the car. Reducing the control method of the prior art may cause excessive tension and fatigue of the leg, and improve the safety of the balance car; further, since the user is using When the car is balanced, the body and the wrist cannot be shaken.
  • the wristband of the present invention includes the first hand ring and the second hand ring. When the first hand ring and the second hand ring are effectively controlled by the same steering, the balance car will be controlled. Turning to avoid the occurrence of misuse.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

Disclosed are a control method and a control system for a balance vehicle, the control method comprising the following steps: (S1) detecting the directions of rotation of a first handle ring (2) and a second handle ring (3); and (S2) the balance vehicle steering according to the directions of rotation of the first handle ring (2) and the second handle ring (3) if the rotating direction of the first handle ring (2) is consistent with that of the second handle ring (3), so that it is more convenient and efficient for a user to control the steering of the balance vehicle.

Description

一种平衡车的控制方法及控制***Control method and control system for balance car 【技术领域】[Technical Field]
本发明涉及平衡车领域，特别是涉及一种平衡车的控制方法及控制***。The invention relates to the field of balance vehicles, and in particular to a control method and a control system for a balance vehicle.
【背景技术】【Background technique】
传统的两轮载人平衡车主要是通过一个可以左右摆动的扶杆来转弯的，这样虽然操作简单，但扶杆及转向轴结构复杂，而且增加了平衡车的重量和占用空间。The traditional two-wheeled manned balance car is mainly turned by a pole that can swing left and right. Although the operation is simple, the structure of the pole and the steering shaft is complicated, and the weight and space of the balance car are increased.
继而出现的平衡车大多通过腿控的扶杆进行方向的控制，虽说解放了双手，但此类操作方式双腿需要保持加紧腿控扶杆的状态，容易引起腿部的高度紧张和疲劳，会对长时间使用平衡车的用户带来危险。The balance cars that appear in the future are mostly controlled by the leg-controlled levers. Although the hands are liberated, the legs of this type of operation need to keep the legs in the state of the levers, which is easy to cause high tension and fatigue of the legs. It is dangerous for users who use the balance car for a long time.
也因此，如何让用户更方便而安全的使用平衡车成为了本领域技术人员亟待解决的问题。Therefore, how to make the use of the balance car more convenient and safe for the user has become an urgent problem to be solved by those skilled in the art.
应该注意，上面对技术背景的介绍只是为了方便对本申请的技术方案进行清楚、完整的说明，并方便本领域技术人员的理解而阐述的。不能仅仅因为这些方案在本申请的背景技术部分进行了阐述而认为上述技术方案为本领域技术人员所公知。It should be noted that the above description of the technical background is only for the purpose of facilitating a clear and complete description of the technical solutions of the present application, and is convenient for understanding by those skilled in the art. The above technical solutions are not considered to be well known to those skilled in the art simply because these aspects are set forth in the background section of this application.
【发明内容】[Summary of the Invention]
有鉴于现有技术的上述缺陷，本发明所要解决的技术问题是提供了一种可以让用户更方便而有效的控制平衡车进行转向的平衡车的控制方法及控制***。In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a control method and a control system for a balance vehicle that allows a user to more conveniently and effectively control the balance vehicle to perform steering.
为实现上述目的，本发明提供了一种平衡车的控制方法，包括步骤：To achieve the above object, the present invention provides a method for controlling a balance vehicle, comprising the steps of:
检测第一手环和第二手环的转动方向；Detecting the direction of rotation of the first bracelet and the second bracelet;
若第一手环和第二手环的转动方向一致，则平衡车根据第一手环和第二手 环的转动方向进行转向。If the first hand ring and the second hand ring rotate in the same direction, the balance car is based on the first hand ring and the second hand. The direction of rotation of the ring is turned.
进一步的，当第一手环和第二手环的转动方向均为顺时针时，控制平衡车右转；当第一手环和第二手环的转动方向均为逆时针时，控制平衡车左转。顺时针对应右转，逆时针对应左转，对于正常人来说，更利于操作；当然，设置逆时针对应左转，而逆时针对应右转也是可以的，对应关系通过预先的设置完成，可以满足更多人的使用习惯。Further, when the rotation directions of the first bracelet and the second bracelet are clockwise, the balance car is controlled to turn right; when the rotation directions of the first bracelet and the second bracelet are counterclockwise, the balance car is controlled. Turn left. In time, the right turn should be right, and the reverse should be turned left. For normal people, it is more conducive to operation; of course, it should be possible to set the reverse time to the left turn, and the reverse time should be right turn. The corresponding relationship can be completed by the preset setting. Meet the habits of more people.
进一步的，第一手环和第二手环的转动方向的判定存在阈值，当第一手环和第二手环向顺时针方向转动的幅度均超过阈值时，方才判定手环的转动方向为顺时针；当第一手环和第二手环向逆时针方向转动的幅度均超过阈值时，方才判定手环的转动方向为逆时针。用户在使用平衡车时，不可避免的身体会有所晃动，本方案中，设定了手环的转动方向阈值，即本方案中，必须第一手环和第二手环同转向，且均超过阈值时，平衡车才会进行有效的转向控制，上了双层误操作的保险，减少了误操作的情况发生。Further, the determination of the rotation direction of the first hand ring and the second hand ring has a threshold value, and when the amplitudes of the first hand ring and the second hand ring rotate clockwise exceed the threshold value, the rotation direction of the hand ring is determined to be Clockwise; when the amplitude of the first hand ring and the second hand ring in the counterclockwise direction exceeds the threshold value, it is determined that the rotation direction of the hand ring is counterclockwise. When the user uses the balance car, the inevitable body will shake. In this solution, the threshold of the rotation direction of the bracelet is set. In this solution, the first hand ring and the second hand ring must be turned together, and both When the threshold is exceeded, the balance car will perform effective steering control, and the double-layer misoperation insurance will reduce the occurrence of misoperation.
进一步的，在所述检测第一手环和第二手环的转动方向的步骤之前还包括步骤：Further, before the step of detecting the rotation directions of the first bracelet and the second bracelet, the method further includes the steps of:
判断第一手环的高度；Determine the height of the first bracelet;
若第一手环和第二手环的高度均在预设的高度范围内，则检测第一手环和第二手环的转动方向。本方案中，第一手环和第二手环须在预设的高度范围内，才会触发转向控制，这是因为人在某些时候，比如在高举手臂时，由于平衡性较差容易引起误操作，本发明设定了预设的高度范围，可以较好的减少误操作的发生，更好地利用了手腕的操作性。If the heights of the first bracelet and the second bracelet are both within a preset height range, the rotation directions of the first bracelet and the second bracelet are detected. In this solution, the first hand ring and the second hand ring must be within the preset height range to trigger the steering control. This is because people sometimes have difficulty in balancing due to poor balance at certain times, such as when raising the arm. By mistaken operation, the present invention sets a preset height range, which can better reduce the occurrence of misoperation and better utilize the operability of the wrist.
进一步的，所述的预设的高度范围：第一手环和第二手环相对平衡车的高度均为80CM至130CM；Further, the preset height range: the height of the first hand ring and the second hand ring relative to the balance car are both 80CM to 130CM;
所述手环内设置有高度检测传感器。高度设定范围默认为80CM至130CM，主要是因为正常人在使用平衡车时，手腕下垂有利于平衡车的稳定，而以正常人的身高来判断，手环的高度范围设定在这一范围较为合理；当然，如果有需 要，该高度范围可以进行更改，以便适应更多的人。A height detecting sensor is disposed in the wristband. The height setting range defaults to 80CM to 130CM, mainly because the normal person is using the balance car, the sagging of the wrist is beneficial to the stability of the balance car, and the height of the bracelet is determined by the height of the normal person. More reasonable; of course, if there is a need Yes, this height range can be changed to accommodate more people.
进一步的，若平衡车检测到使用者的重心降低或高度检测腰带的高度降低时，平衡车加速；若使用者的重心提高或高度检测腰带的高度提高时，平衡车减速；Further, if the balance vehicle detects that the center of gravity of the user is lowered or the height of the height detecting belt is lowered, the balance vehicle is accelerated; if the center of gravity of the user is increased or the height of the height detecting belt is increased, the balance vehicle is decelerated;
重心或高度是否改变由第二阈值决定，当平衡车检测到使用者的重心或者高度检测腰带的高度降低的幅度超过第二阈值时，判定重心或者高度降低，平衡车加速；当平衡车检测到使用者的重心或者高度检测腰带的高度提高的幅度超过第二阈值时，判定重心或者高度提高，平衡车减速。在使用平衡车时，若平衡车速度较快，则可以弯腰和略微下蹲来进行平衡控制，相应的，本方案中，当用户重心降低或者佩戴在腰部的高度检测腰带高度降低时，平衡车则进行加速，有利于平衡车的控制；。用户在使用平衡车时，姿势不可能一成不变，设定第二阈值可以减少误加速和误减速的情况发生。Whether the center of gravity or the height is changed is determined by the second threshold. When the balance vehicle detects that the center of gravity of the user or the height of the height detecting belt decreases by more than the second threshold, it is determined that the center of gravity or the height is lowered, and the balance vehicle is accelerated; when the balance vehicle detects When the user's center of gravity or height detection belt height increase exceeds the second threshold, it is determined that the center of gravity or height is increased, and the balance vehicle is decelerated. When using the balance car, if the balance car speed is faster, you can bend and slightly squat to balance control. Correspondingly, in this solution, when the user's center of gravity is lowered or the height of the waist is lowered, the height of the belt is lowered. The car is accelerated to help balance the control of the car; When the user uses the balance car, the posture cannot be fixed. Setting the second threshold can reduce the occurrence of false acceleration and false deceleration.
进一步的，建立一个群组，群组内设定一组第一手环和第二手环为主机，其他为从机；Further, a group is established, in which a set of first bracelets and a second bracelet are set as hosts, and the others are slaves;
主机的转向信息会群发给群内的每个从机，群组内的所有从机对应的平衡车根据主机手环的指令进行转向；The steering information of the host is sent to each slave in the group, and the balance cars corresponding to all the slaves in the group are turned according to the instructions of the host bracelet;
当从机检测到停止跟随指令时，则不再根据主机手环的指令进行转向；When the slave detects the stop following command, the steering is no longer performed according to the instruction of the host bracelet;
所述手环上设置有停止跟随按钮，当所述停止跟随按钮检测到操作时，则判定从机检测到停止跟随指令。如今，各种骑行活动逐渐增多，平衡车的骑行活动也偶有出现，若只靠喊话等方式进行车队的指挥是不现实的，本方案中，通过建立群组，设定主机和从机，可以通过主机来一定程度上控制从机的转向问题，对于解决骑行指挥不便的问题有很大的帮助；当然，该从机也可以不根据主机的控制进行转向，而只是接受主机的转向信息，而由从机的用户自行控制转向；在每个手环上可以设置一种停止跟随按钮，如此，在主机和从机之间存在转向不一致或者距离较远，不适合一起转向时，可以避免从机盲目跟随主机进行转向控制的情况发生。 A stop follow button is provided on the wristband, and when the stop follow button detects an operation, it is determined that the slave detects the stop following command. Nowadays, various kinds of cycling activities are gradually increasing, and the riding activities of the balance vehicles are occasionally appearing. It is unrealistic to conduct the command of the team only by means of shouting, etc. In this scheme, by setting up the group, setting the host and the slave. The machine can control the steering problem of the slave to a certain extent through the host, which is very helpful for solving the problem of inconvenient riding. Of course, the slave can also not turn according to the control of the host, but only accepts the host. Turning to the information, and the user's own control to turn; a stop-and-follow button can be set on each bracelet, so that there is inconsistency or long distance between the host and the slave, which is not suitable for steering together. It can avoid the situation where the slave blindly follows the host for steering control.
进一步的，第一手环和第二手环的转动角度越大，则平衡车对应的转向幅度越大。本方案使得用户可以对转向进行更为精细的控制，提高用户的操作体验。具体的，转动角度可以取30度-90度；而转向幅度可以取10度-360度；可以平滑对应，也可以是多个档位的对应。Further, the greater the rotation angle of the first hand ring and the second hand ring, the greater the steering range corresponding to the balance car. This solution enables the user to perform more fine control on the steering and improve the user's operating experience. Specifically, the rotation angle can be 30 degrees - 90 degrees; and the steering range can be 10 degrees - 360 degrees; can be smooth corresponding, or can be the correspondence of multiple gears.
进一步的，第一手环和第二手环的转动角度取第一手环和第二手环转动角度的平均值。当第一手环和第二手环转动角度不一致时，取平均值可以较好的对平衡车进行转向控制。Further, the rotation angles of the first hand ring and the second hand ring take an average value of the rotation angles of the first hand ring and the second hand ring. When the rotation angles of the first hand ring and the second hand ring are inconsistent, the average value can better control the steering of the balance car.
本发明还提供了一种使用本发明的控制方法的平衡车的控制***，包括平衡车本体，及与平衡车本体无线连接的第一手环和第二手环；The present invention also provides a control system for a balance vehicle using the control method of the present invention, comprising a balance vehicle body, and a first wristband and a second wristband wirelessly connected to the balance vehicle body;
所述平衡车本体根据所述第一手环和第二手环的转动方向进行控制转向。The balance vehicle body performs steering steering according to the rotation direction of the first hand ring and the second hand ring.
本发明的有益效果是：由于使用的可以佩戴在用户手腕的手环来配合平衡车进行转向控制，因而充分发挥了手腕转动灵活，操控性好的优势，使得平衡车的转向控制更加方便而高效，并且，由于使用手环而去除了扶杆，避免了平衡车的重量过重和占用空间过大的问题；另外，由于手脚分离，腿部可以专注于平衡车的平衡控制，而手腕则用于平衡车的转向控制，减少现有技术的控制方式可能引起腿部过度紧张和劳累的问题，提高了平衡车的使用安全性；再者，由于，用户在使用平衡车时，身体和手腕不免晃动，本发明的手环包括第一手环和第二手环，只有第一手环和第二手环为同转向的有效控制时，平衡车才会进行控制转向，避免了误操作的发生。The invention has the beneficial effects that the steering control can be carried out by using the wristband of the wrist of the user to cooperate with the balance car, thereby fully utilizing the advantages of flexible wrist rotation and good maneuverability, which makes the steering control of the balance car more convenient and efficient. Moreover, since the use of the bracelet removes the support bar, the problem of excessive weight and excessive space of the balance car is avoided; in addition, due to the separation of the hands and feet, the legs can be focused on the balance control of the balance car, while the wrist is used. In the steering control of the balance car, reducing the control method of the prior art may cause the problem of excessive tension and fatigue of the leg, and improve the safety of the use of the balance car; furthermore, since the user is using the balance car, the body and the wrist are inevitably Shaking, the wristband of the present invention includes a first hand ring and a second hand ring. When only the first hand ring and the second hand ring are effectively controlled by the same steering, the balance car will perform control steering to avoid the occurrence of misoperation. .
参照后文的说明和附图，详细公开了本申请的特定实施方式，指明了本申请的原理可以被采用的方式。应该理解，本申请的实施方式在范围上并不因而受到限制。在所附权利要求的精神和条款的范围内，本申请的实施方式包括许多改变、修该和等同。Specific embodiments of the present application are disclosed in detail with reference to the following description and accompanying drawings, in which <RTIgt; It should be understood that the embodiments of the present application are not limited in scope. The embodiments of the present application include many variations, modifications, and equivalents within the scope of the spirit and scope of the appended claims.
针对一种实施方式描述和/或示出的特征可以以相同或类似的方式在一个或更多个其它实施方式中使用，与其它实施方式中的特征相组合，或替代其它实施方式中的特征。 Features described and/or illustrated with respect to one embodiment may be used in one or more other embodiments in the same or similar manner, in combination with, or in place of, features in other embodiments. .
应该强调，术语“包括/包含”在本文使用时指特征、整件、步骤或组件的存在，但并不排除一个或更多个其它特征、整件、步骤或组件的存在或附加。It should be emphasized that the term "comprising" or "comprises" or "comprising" or "comprising" or "comprising" or "comprising" or "comprises"
【附图说明】[Description of the Drawings]
所包括的附图用来提供对本申请实施例的进一步的理解，其构成了说明书的一部分，用于例示本申请的实施方式，并与文字描述一起来阐释本申请的原理。显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。在附图中：The drawings are included to provide a further understanding of the embodiments of the present application, and are intended to illustrate the embodiments of the present application Obviously, the drawings in the following description are only some of the embodiments of the present application, and those skilled in the art can obtain other drawings according to the drawings without any inventive labor. In the drawing:
图1是本发明一种平衡车的控制方法的流程图；1 is a flow chart of a control method of a balance car according to the present invention;
图2是本发明一种平衡车的控制***的示意图。2 is a schematic view of a control system of a balance car of the present invention.
【具体实施方式】【detailed description】
为了使本技术领域的人员更好地理解本申请中的技术方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都应当属于本申请保护的范围。The technical solutions in the embodiments of the present application are clearly and completely described in the following, in which the technical solutions in the embodiments of the present application are clearly and completely described. The embodiments are only a part of the embodiments of the present application, and not all of them. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope should fall within the scope of the present application.
实施例一：Embodiment 1:
图1是本发明一种平衡车的控制方法的流程图，参见图1，该控制方法，包括步骤：1 is a flow chart of a method for controlling a balance car according to the present invention. Referring to FIG. 1, the control method includes the following steps:
S1:检测第一手环和第二手环的转动方向；S1: detecting a rotation direction of the first bracelet and the second bracelet;
S2：若第一手环和第二手环的转动方向一致，则平衡车根据第一手环和第二手环的转动方向进行转向。S2: If the first hand ring and the second hand ring rotate in the same direction, the balance car performs steering according to the rotation direction of the first hand ring and the second hand ring.
本发明的有益效果是：由于使用的可以佩戴在用户手腕的手环来配合平衡 车进行转向控制，因而充分发挥了手腕转动灵活，操控性好的优势，使得平衡车的转向控制更加方便而高效，并且，由于使用手环而去除了扶杆，避免了平衡车的重量过重和占用空间过大的问题；另外，由于手脚分离，腿部可以专注于平衡车的平衡控制，而手腕则用于平衡车的转向控制，减少现有技术的控制方式可能引起腿部过度紧张和劳累的问题，提高了平衡车的使用安全性；再者，由于，用户在使用平衡车时，身体和手腕不免晃动，本发明的手环包括第一手环和第二手环，只有第一手环和第二手环为同转向的有效控制时，平衡车才会进行控制转向，避免了误操作的发生。The beneficial effects of the invention are: balance with the wristband that can be worn on the wrist of the user The car performs steering control, which gives full play to the flexibility of the wrist and the good maneuverability, which makes the steering control of the balance car more convenient and efficient, and the use of the bracelet removes the pole and avoids the weight of the balance car. And the problem of occupying too much space; in addition, due to the separation of hands and feet, the legs can focus on the balance control of the balance car, while the wrist is used to balance the steering control of the car, reducing the control method of the prior art may cause excessive leg tension and The problem of fatigue increases the safety of the use of the balance car; furthermore, since the user and the wrist are inevitably shaken when using the balance car, the wristband of the present invention includes the first bracelet and the second bracelet, only the first When the bracelet and the second bracelet are effectively controlled by the same steering, the balance car will control the steering to avoid the occurrence of misoperation.
本实施例优选的，当第一手环和第二手环的转动方向均为顺时针时，控制平衡车右转；当第一手环和第二手环的转动方向均为逆时针时，控制平衡车左转。顺时针对应右转，逆时针对应左转，对于正常人来说，更利于操作；当然，设置逆时针对应左转，而逆时针对应右转也是可以的，对应关系通过预先的设置完成，可以满足更多人的使用习惯。In this embodiment, when the rotation directions of the first hand ring and the second hand ring are both clockwise, the balance car is controlled to turn right; when the rotation directions of the first hand ring and the second hand ring are both counterclockwise, Control the balance car to turn left. In time, the right turn should be right, and the reverse should be turned left. For normal people, it is more conducive to operation; of course, it should be possible to set the reverse time to the left turn, and the reverse time should be right turn. The corresponding relationship can be completed by the preset setting. Meet the habits of more people.
本实施例优选的，第一手环和第二手环的转动方向的判定存在阈值，当第一手环和第二手环向顺时针方向转动的幅度均超过阈值时，方才判定手环的转动方向为顺时针；当第一手环和第二手环向逆时针方向转动的幅度均超过阈值时，方才判定手环的转动方向为逆时针。用户在使用平衡车时，不可避免的身体会有所晃动，本方案中，设定了手环的转动方向阈值，即本方案中，必须第一手环和第二手环同转向，且均超过阈值时，平衡车才会进行有效的转向控制，上了双层误操作的保险，减少了误操作的情况发生。Preferably, in the embodiment, the determination of the rotation direction of the first hand ring and the second hand ring has a threshold value, and when the amplitudes of the first hand ring and the second hand ring rotate clockwise exceed the threshold value, the wristband is determined. The direction of rotation is clockwise; when the amplitude of the first hand ring and the second hand ring rotate counterclockwise exceeds the threshold, it is determined that the direction of rotation of the hand ring is counterclockwise. When the user uses the balance car, the inevitable body will shake. In this solution, the threshold of the rotation direction of the bracelet is set. In this solution, the first hand ring and the second hand ring must be turned together, and both When the threshold is exceeded, the balance car will perform effective steering control, and the double-layer misoperation insurance will reduce the occurrence of misoperation.
本实施例优选的，在检测第一手环和第二手环的转动方向的步骤之前还包括步骤：Preferably, in the embodiment, before the step of detecting the rotation directions of the first hand ring and the second hand ring, the method further comprises the steps of:
判断第一手环的高度；Determine the height of the first bracelet;
若第一手环和第二手环的高度均在预设的高度范围内，则检测第一手环和第二手环的转动方向。本方案中，第一手环和第二手环须在预设的高度范围内，才会触发转向控制，这是因为人在某些时候，比如在高举手臂时，由于平衡性 较差容易引起误操作，本发明设定了预设的高度范围，可以较好的减少误操作的发生，更好地利用了手腕的操作性。If the heights of the first bracelet and the second bracelet are both within a preset height range, the rotation directions of the first bracelet and the second bracelet are detected. In this solution, the first hand ring and the second hand ring must be within the preset height range to trigger the steering control. This is because people are at some time, for example, when raising the arm, due to balance. Poor operation is easy to cause misoperation. The present invention sets a preset height range, which can better reduce the occurrence of misoperation and better utilize the operability of the wrist.
本实施例优选的，预设的高度范围：第一手环和第二手环相对平衡车的高度均为80CM至130CM；Preferably, the height range of the first hand ring and the second hand ring relative to the balance car are 80CM to 130CM;
手环内设置有高度检测传感器。高度设定范围默认为80CM至130CM，主要是因为正常人在使用平衡车时，手腕下垂有利于平衡车的稳定，而以正常人的身高来判断，手环的高度范围设定在这一范围较为合理；当然，如果有需要，该高度范围可以进行更改，以便适应更多的人。该高度检测传感器可以是红外线、蓝牙等类型的传感器，用于发射信号，并接收地面或平衡车上表面的反射信号；当然，也可以在平衡车处设置一标识物，以检测手环和标识物之间的高度处来进行高度检测。A height detecting sensor is provided in the wristband. The height setting range defaults to 80CM to 130CM, mainly because the normal person is using the balance car, the sagging of the wrist is beneficial to the stability of the balance car, and the height of the bracelet is determined by the height of the normal person. More reasonable; of course, if necessary, the height range can be changed to accommodate more people. The height detecting sensor may be an infrared type, a Bluetooth or the like type sensor for transmitting a signal and receiving a reflected signal of the ground or the upper surface of the balance vehicle; of course, a marker may be disposed at the balance vehicle to detect the wristband and the logo. Height detection is performed at the height between objects.
本实施例优选的，若平衡车检测到使用者的重心降低或高度检测腰带的高度降低时，平衡车加速；若使用者的重心提高或高度检测腰带的高度提高时，平衡车减速；Preferably, in the embodiment, if the balance vehicle detects that the center of gravity of the user is lowered or the height of the height detecting belt is lowered, the balance vehicle accelerates; if the center of gravity of the user is increased or the height of the height detecting belt is increased, the balance vehicle is decelerated;
重心或高度是否改变由第二阈值决定，当平衡车检测到使用者的重心或者高度检测腰带的高度降低的幅度超过第二阈值时，判定重心或者高度降低，平衡车加速；当平衡车检测到使用者的重心或者高度检测腰带的高度提高的幅度超过第二阈值时，判定重心或者高度提高，平衡车减速。在使用平衡车时，若平衡车速度较快，则可以弯腰和略微下蹲来进行平衡控制，相应的，本方案中，当用户重心降低或者佩戴在腰部的高度检测腰带高度降低时，平衡车则进行加速，有利于平衡车的控制；。用户在使用平衡车时，姿势不可能一成不变，设定第二阈值可以减少误加速和误减速的情况发生。该高度检测腰带内设置有用于检测腰带高度的传感器。Whether the center of gravity or the height is changed is determined by the second threshold. When the balance vehicle detects that the center of gravity of the user or the height of the height detecting belt decreases by more than the second threshold, it is determined that the center of gravity or the height is lowered, and the balance vehicle is accelerated; when the balance vehicle detects When the user's center of gravity or height detection belt height increase exceeds the second threshold, it is determined that the center of gravity or height is increased, and the balance vehicle is decelerated. When using the balance car, if the balance car speed is faster, you can bend and slightly squat to balance control. Correspondingly, in this solution, when the user's center of gravity is lowered or the height of the waist is lowered, the height of the belt is lowered. The car is accelerated to help balance the control of the car; When the user uses the balance car, the posture cannot be fixed. Setting the second threshold can reduce the occurrence of false acceleration and false deceleration. A sensor for detecting the height of the belt is provided in the height detecting waist belt.
本实施例优选的，建立一个群组，群组内设定一组第一手环和第二手环为主机，其他为从机；Preferably, in this embodiment, a group is established, and a group of first bracelets and a second bracelet are set as hosts in the group, and the others are slaves;
主机的转向信息会群发给群内的每个从机，群组内的所有从机对应的平衡 车根据主机手环的指令进行转向；The steering information of the host will be sent to each slave in the group, and the balance of all the slaves in the group will be balanced. The car turns according to the instructions of the host bracelet;
当从机检测到停止跟随指令时，则不再根据主机手环的指令进行转向；When the slave detects the stop following command, the steering is no longer performed according to the instruction of the host bracelet;
手环上设置有停止跟随按钮，当停止跟随按钮检测到操作时，则判定从机检测到停止跟随指令。如今，各种骑行活动逐渐增多，平衡车的骑行活动也偶有出现，若只靠喊话等方式进行车队的指挥是不现实的，本方案中，通过建立群组，设定主机和从机，可以通过主机来一定程度上控制从机的转向问题，对于解决骑行指挥不便的问题有很大的帮助；当然，该从机也可以不根据主机的控制进行转向，而只是接受主机的转向信息，而由从机的用户自行控制转向；在每个手环上可以设置一种停止跟随按钮，如此，在主机和从机之间存在转向不一致或者距离较远，不适合一起转向时，可以避免从机盲目跟随主机进行转向控制的情况发生。The stop follow button is set on the wristband, and when the stop follow button detects the operation, it is determined that the slave detects the stop following command. Nowadays, various kinds of cycling activities are gradually increasing, and the riding activities of the balance vehicles are occasionally appearing. It is unrealistic to conduct the command of the team only by means of shouting, etc. In this scheme, by setting up the group, setting the host and the slave. The machine can control the steering problem of the slave to a certain extent through the host, which is very helpful for solving the problem of inconvenient riding. Of course, the slave can also not turn according to the control of the host, but only accepts the host. Turning to the information, and the user's own control to turn; a stop-and-follow button can be set on each bracelet, so that there is inconsistency or long distance between the host and the slave, which is not suitable for steering together. It can avoid the situation where the slave blindly follows the host for steering control.
本实施例优选的，第一手环和第二手环的转动角度越大，则平衡车对应的转向幅度越大。本方案使得用户可以对转向进行更为精细的控制，提高用户的操作体验。具体的，转动角度可以取30度-90度；而转向幅度可以取10度-360度；可以平滑对应，也可以是多个档位的对应。Preferably, in this embodiment, the greater the rotation angle of the first hand ring and the second hand ring, the greater the steering range corresponding to the balance car. This solution enables the user to perform more fine control on the steering and improve the user's operating experience. Specifically, the rotation angle can be 30 degrees - 90 degrees; and the steering range can be 10 degrees - 360 degrees; can be smooth corresponding, or can be the correspondence of multiple gears.
本实施例优选的，第一手环和第二手环的转动角度取第一手环和第二手环转动角度的平均值。当第一手环和第二手环转动角度不一致时，取平均值可以较好的对平衡车进行转向控制。In this embodiment, preferably, the rotation angles of the first hand ring and the second hand ring take an average value of the rotation angles of the first hand ring and the second hand ring. When the rotation angles of the first hand ring and the second hand ring are inconsistent, the average value can better control the steering of the balance car.
实施例二：Embodiment 2:
图2是本发明一种平衡车的控制***的示意图，该控制***使用了本发明公开的控制方法，该控制***100，包括平衡车本体1，及与平衡车本体无线连接的第一手环2和第二手环3；2 is a schematic diagram of a control system of a balance vehicle using the control method disclosed in the present invention, the control system 100 including a balance vehicle body 1 and a first wristband wirelessly connected to the balance vehicle body 2 and the second bracelet 3;
平衡车本体1根据第一手环2和第二手环3的转动方向进行控制转向。The balance body 1 performs steering steering according to the direction of rotation of the first bracelet 2 and the second bracelet 3.
本发明的有益效果是：由于使用的可以佩戴在用户手腕的手环来配合平衡车进行转向控制，因而充分发挥了手腕转动灵活，操控性好的优势，使得平衡 车的转向控制更加方便而高效，并且，由于使用手环而去除了扶杆，避免了平衡车的重量过重和占用空间过大的问题；另外，由于手脚分离，腿部可以专注于平衡车的平衡控制，而手腕则用于平衡车的转向控制，减少现有技术的控制方式可能引起腿部过度紧张和劳累的问题，提高了平衡车的使用安全性；再者，由于，用户在使用平衡车时，身体和手腕不免晃动，本发明的手环包括第一手环和第二手环，只有第一手环和第二手环为同转向的有效控制时，平衡车才会进行控制转向，避免了误操作的发生。The beneficial effects of the invention are: due to the use of the wristband that can be worn on the wrist of the user to cooperate with the balance car for steering control, thereby fully utilizing the advantages of flexible wrist rotation and good maneuverability, so that the balance is balanced The steering control of the car is more convenient and efficient, and the use of the bracelet removes the support bar, avoiding the problem of excessive weight and excessive space of the balance car; in addition, due to the separation of the hands and feet, the legs can focus on the balance car. Balance control, while the wrist is used to balance the steering control of the car. Reducing the control method of the prior art may cause excessive tension and fatigue of the leg, and improve the safety of the balance car; further, since the user is using When the car is balanced, the body and the wrist cannot be shaken. The wristband of the present invention includes the first hand ring and the second hand ring. When the first hand ring and the second hand ring are effectively controlled by the same steering, the balance car will be controlled. Turning to avoid the occurrence of misuse.
以上详细描述了本发明的较佳具体实施例。应当理解，本领域的普通技术人员无需创造性劳动就可以根据本发明的构思作出诸多修该和变化。因此，凡本技术领域中技术人员依本发明的构思在现有技术的基础上通过逻辑分析、推理或者有限的实验可以得到的技术方案，皆应在由权利要求书所确定的保护范围内。 The above has described in detail the preferred embodiments of the invention. It will be appreciated that those skilled in the art can make various modifications and changes in accordance with the inventive concept. Therefore, any technical solution that can be obtained by a person skilled in the art based on the prior art based on the prior art by logic analysis, reasoning or limited experimentation should be within the scope of protection determined by the claims.

Claims (10)

  1. 一种平衡车的控制方法，其特征是：包括步骤：A control method for a balance vehicle, characterized in that: the steps are included:
    检测第一手环和第二手环的转动方向；Detecting the direction of rotation of the first bracelet and the second bracelet;
    若第一手环和第二手环的转动方向一致，则平衡车根据第一手环和第二手环的转动方向进行转向。If the first hand ring and the second hand ring rotate in the same direction, the balance car performs steering according to the rotation direction of the first hand ring and the second hand ring.
  2. 如权利要求1所述的平衡车的控制方法，其特征是：当第一手环和第二手环的转动方向均为顺时针时，控制平衡车右转；当第一手环和第二手环的转动方向均为逆时针时，控制平衡车左转。The method for controlling a balance car according to claim 1, wherein when the first hand ring and the second hand ring are rotated clockwise, the balance car is controlled to turn right; when the first hand ring and the second hand ring are When the direction of rotation of the bracelet is counterclockwise, the balance car is controlled to turn left.
  3. 如权利要求1所述的平衡车的控制方法，其特征是：第一手环和第二手环的转动方向的判定存在阈值，当第一手环和第二手环向顺时针方向转动的幅度均超过阈值时，方才判定手环的转动方向为顺时针；当第一手环和第二手环向逆时针方向转动的幅度均超过阈值时，方才判定手环的转动方向为逆时针。A method of controlling a balance vehicle according to claim 1, wherein the determination of the direction of rotation of the first hand ring and the second hand ring has a threshold value, and when the first hand ring and the second hand ring rotate in a clockwise direction When the amplitude exceeds the threshold, it is determined that the rotation direction of the bracelet is clockwise; when the amplitudes of the first and second bracelets rotate counterclockwise exceed the threshold, it is determined that the rotation direction of the bracelet is counterclockwise.
  4. 如权利要求1所述的平衡车的控制方法，其特征是：在所述检测第一手环和第二手环的转动方向的步骤之前还包括步骤：The method of controlling a balance vehicle according to claim 1, further comprising the steps of: said step of detecting a direction of rotation of said first hand ring and said second hand ring:
    判断第一手环的高度；Determine the height of the first bracelet;
    若第一手环和第二手环的高度均在预设的高度范围内，则检测第一手环和第二手环的转动方向。If the heights of the first bracelet and the second bracelet are both within a preset height range, the rotation directions of the first bracelet and the second bracelet are detected.
  5. 如权利要求1所述的平衡车的控制方法，其特征是：所述的预设的高度范围：第一手环和第二手环相对平衡车的高度均为80CM至130CM；The control method of the balance car according to claim 1, wherein the predetermined height range: the height of the first hand ring and the second hand ring relative to the balance car are both 80 CM to 130 CM;
    所述手环内设置有高度检测传感器。A height detecting sensor is disposed in the wristband.
  6. 如权利要求1所述的平衡车的控制方法，其特征是：若平衡车检测到使用者的重心降低或高度检测腰带的高度降低时，平衡车加速；若使用者的重心提高或高度检测腰带的高度提高时，平衡车减速；The method of controlling a balance vehicle according to claim 1, wherein if the balance vehicle detects that the center of gravity of the user is lowered or the height of the height detecting belt is lowered, the balance vehicle is accelerated; if the center of gravity of the user is increased or the belt is height-detected When the height is increased, the balance car is decelerated;
    重心或高度是否改变由第二阈值决定，当平衡车检测到使用者的重心或者高度检测腰带的高度降低的幅度超过第二阈值时，判定重心或者高度降低，平 衡车加速；当平衡车检测到使用者的重心或者高度检测腰带的高度提高的幅度超过第二阈值时，判定重心或者高度提高，平衡车减速。Whether the center of gravity or the height is changed is determined by the second threshold. When the balance vehicle detects that the center of gravity of the user or the height of the height detecting belt decreases by more than the second threshold, the center of gravity or height is determined to be lowered. The balance car accelerates; when the balance car detects the center of gravity of the user or the height of the height detection belt increases beyond the second threshold, it is determined that the center of gravity or height is increased, and the balance vehicle is decelerated.
  7. 如权利要求1所述的平衡车的控制方法，其特征是：建立一个群组，群组内设定一组第一手环和第二手环为主机，其他为从机；The method for controlling a balance car according to claim 1, wherein: a group is established, wherein a group of first bracelets and a second bracelet are set as hosts, and the others are slaves;
    主机的转向信息会群发给群内的每个从机，群组内的所有从机对应的平衡车根据主机手环的指令进行转向；The steering information of the host is sent to each slave in the group, and the balance cars corresponding to all the slaves in the group are turned according to the instructions of the host bracelet;
    当从机检测到停止跟随指令时，则不再根据主机手环的指令进行转向；When the slave detects the stop following command, the steering is no longer performed according to the instruction of the host bracelet;
    所述手环上设置有停止跟随按钮，当所述停止跟随按钮检测到操作时，则判定从机检测到停止跟随指令。A stop follow button is provided on the wristband, and when the stop follow button detects an operation, it is determined that the slave detects the stop following command.
  8. 如权利要求1所述的平衡车的控制方法，其特征是：第一手环和第二手环的转动角度越大，则平衡车对应的转向幅度越大；A control method for a balance vehicle according to claim 1, wherein the greater the rotation angle of the first hand ring and the second hand ring, the greater the steering range corresponding to the balance car;
  9. 如权利要求8所述的平衡车的控制方法，其特征是：第一手环和第二手环的转动角度取第一手环和第二手环转动角度的平均值。The control method of the balance car according to claim 8, wherein the rotation angles of the first hand ring and the second hand ring take an average value of the rotation angles of the first hand ring and the second hand ring.
  10. 一种使用如权1-9所述的控制方法的平衡车的控制***，其特征是：包括平衡车本体，及与平衡车本体无线连接的第一手环和第二手环；A control system for a balance vehicle using the control method according to claims 1-9, comprising: a balance vehicle body, and a first wristband and a second wristband wirelessly connected to the balance vehicle body;
    所述平衡车本体根据所述第一手环和第二手环的转动方向进行控制转向。 The balance vehicle body performs steering steering according to the rotation direction of the first hand ring and the second hand ring.
PCT/CN2016/086668 2016-06-22 2016-06-22 Control method and control system for balance vehicle WO2017219262A1 (en)

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US20140196962A1 (en) * 2009-09-01 2014-07-17 Ryno Motors, Inc. Electric-powered self-balancing unicycle with steering linkage between handlebars and wheel forks
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CN105365964A (en) * 2015-12-11 2016-03-02 韩莹光 Two-wheeled balance bike and steering control method thereof
CN205113575U (en) * 2015-10-10 2016-03-30 长沙学院 Two -wheeled self -balancing car based on outside intelligent device APP control
CN106114704A (en) * 2016-06-22 2016-11-16 尚艳燕 The control method of a kind of balance car and control system

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140196962A1 (en) * 2009-09-01 2014-07-17 Ryno Motors, Inc. Electric-powered self-balancing unicycle with steering linkage between handlebars and wheel forks
CN105094287A (en) * 2014-04-15 2015-11-25 联想(北京)有限公司 Information processing method and electronic device
CN104353236A (en) * 2014-11-14 2015-02-18 上海斐讯数据通信技术有限公司 Driving bracelet and driving instruction system for application of driving bracelet
CN205113575U (en) * 2015-10-10 2016-03-30 长沙学院 Two -wheeled self -balancing car based on outside intelligent device APP control
CN105365964A (en) * 2015-12-11 2016-03-02 韩莹光 Two-wheeled balance bike and steering control method thereof
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