CN105892377A - Balance car control method and control system - Google Patents

Balance car control method and control system Download PDF

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Publication number
CN105892377A
CN105892377A CN201610436368.1A CN201610436368A CN105892377A CN 105892377 A CN105892377 A CN 105892377A CN 201610436368 A CN201610436368 A CN 201610436368A CN 105892377 A CN105892377 A CN 105892377A
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CN
China
Prior art keywords
balance car
bracelet
control
height
rotation
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Granted
Application number
CN201610436368.1A
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Chinese (zh)
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CN105892377B (en
Inventor
尚艳燕
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SHENZHEN AOTU INTELLIGENT TECHNOLOGY Co.,Ltd.
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尚艳燕
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Priority to CN201610436368.1A priority Critical patent/CN105892377B/en
Publication of CN105892377A publication Critical patent/CN105892377A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/20Pc systems
    • G05B2219/25Pc structure of the system
    • G05B2219/25314Modular structure, modules

Abstract

The invention discloses a balance car control method and control system. The control method comprises the steps: judging the height of a wristband; if the height of the wristband is in a preset height range, detecting a rotation direction of the wristband; controlling a balance car to steer according to the rotation direction of the wristband. By the balance car control method and control system, a user can further conveniently and effectively control the balance car to steer.

Description

The control method of a kind of balance car and control system
Technical field
The present invention relates to balance car field, particularly relate to control method and the control system of a kind of balance car.
Background technology
The manned balance car of traditional two-wheeled is mainly turned by a handrail that can swing, this Although sample is simple to operate, but handrail and steering shaft structure are complicated, and add the weight of balance car and take Space.
Then the balance car occurred is mostly by the control of the handrail travel direction of leg control, though having liberated both hands, But these type of mode of operation both legs need the state keeping stepping up leg control handrail, easily cause the high-pressure of leg And fatigue, the long-time user using balance car can be brought danger.
The most therefore, how to allow user is more convenient and the use balance car of safety becomes those skilled in the art urgently Problem to be solved.
It should be noted that introduction to technical background above is intended merely to the convenient technical scheme to the application and carries out Clear, complete explanation, and facilitate the understanding of those skilled in the art to illustrate.Can not merely because this A little schemes are set forth at the background section of the application and think that technique scheme is art technology Well known to personnel.
Summary of the invention
Because the drawbacks described above of prior art, the technical problem to be solved there is provided one can Effectively control the control method of the balance car that balance car carries out turning to make user more convenient and control system System.
For achieving the above object, the invention provides the control method of a kind of balance car, including step:
Judge the height of bracelet;
If the height of bracelet is in default altitude range, then detect the rotation direction of bracelet;
Balance car is controlled turning to according to the rotation direction of bracelet.
Further, when the rotation direction of bracelet is clockwise, controls balance car and turn right;When turning of bracelet When dynamic direction is counterclockwise, controls balance car and turn left.The most corresponding right-hand rotation, correspondence is turned left counterclockwise, right For normal person, it is more conducive to operation;Certainly, the most corresponding left-hand rotation is set, and correspondence is turned right counterclockwise Also possible, corresponding relation, by being provided with in advance, can meet the use habit of more people.
Further, the rotation direction of bracelet it is determined that the presence of threshold value, when bracelet rotates clockwise When amplitude exceedes threshold value, judge that the rotation direction of bracelet is as clockwise just now;When bracelet turns counterclockwise When dynamic amplitude exceedes threshold value, judge that the rotation direction of bracelet is as counterclockwise just now.User is using balance car Time, inevitable health can rock, and in this programme, sets the rotation direction threshold value of bracelet, only When the amplitude having rotation exceedes threshold value, balance car just can assert that this rotation controls, for effectively controlling, to decrease by mistake The situation of operation occurs.
Further, the described altitude range preset: the height of bracelet relative equilibrium car is 80CM to 130CM;
It is provided with height detection sensor in described bracelet.Highly setting range is defaulted as 80CM to 130CM, Being primarily due to normal person when using balance car, wrist is sagging is conducive to the stablizing of balance car, and with normally The height of people judges, it is relatively reasonable that the altitude range of bracelet is set in this scope;Certainly, if having and needing , this altitude range can be modified, in order to adapts to more people.
Further, if the center of gravity that balance car detects user reduces or the height reduction of height detection waistband Time, balance car accelerates;If the center of gravity of user improves or the height of height detection waistband improves, balance car Slow down.When using balance car, if balance car speed, then can bend over and slightly squat down to put down Weighing apparatus controls, accordingly, in this programme, when user's center of gravity reduces or is worn on the height detection waistband of waist During height reduction, balance car is then accelerated, beneficially the control of balance car.
Further, center of gravity or the most whether change is determined by Second Threshold, when balance car detects user Center of gravity or the amplitude of height reduction of height detection waistband when exceeding Second Threshold, it is determined that center of gravity or height Degree reduces, and balance car accelerates;When balance car detects center of gravity or the height of height detection waistband of user When the amplitude improved exceedes Second Threshold, it is determined that center of gravity or height improve, and balance car slows down.User makes When using balance car, posture is impossible unalterable, sets Second Threshold and can reduce acceleration by mistake and miss deceleration Situation occurs.
Further, setting up a group, set a bracelet as main frame in group, other bracelets are from machine;
The direction information of main frame can be mass-sended to each all balances corresponding from machine in machine, group in group Car turns to according to the instruction of main frame bracelet.Nowadays, various activities of riding gradually increase, riding of balance car Row activity the most occasionally occurs, if it is unpractical for only carrying out the commander of fleet by the mode such as propaganda directed to communicate, in this programme, By setting up group, set main frame and from machine, turning to from machine can be controlled by main frame to a certain extent Problem, commands the problem of inconvenience to be very helpful for solving to ride;Certainly, being somebody's turn to do can not also root from machine Turn to according to the control of main frame, and simply accept the direction information of main frame, and controlled voluntarily by from the user of machine System turns to.
Further, when from machine examination measure stopping follow instruction time, the most the instruction further according to main frame bracelet is not entered Row turns to;
Be provided with stopping on described bracelet and follow button, when described stopping follow button operation detected time, then Judge that measuring stopping from machine examination follows instruction.Each bracelet can arrange a kind of stopping and following button, as This, main frame and between machine exist turn to inconsistent or distant, when being not suitable for turning to together, can Carry out the situation of course changing control and occur avoiding blindly following from machine main frame.
Further, the rotational angle of bracelet is the biggest, then the steering angle that balance car is corresponding is the biggest.This programme Make user can carry out the finest control to turning to, improve the operating experience of user.Concrete, turn Dynamic angle can take 30 degree of-90 degree;And steering angle can take 10 degree of-360 degree;Correspondence can be smoothed, It can also be the correspondence of multiple gear.
Present invention also offers the control system of the balance car of a kind of control method using the present invention, including putting down Weighing apparatus car body, and with the bracelet of balance car body wireless connection;
Described balance car body is controlled turning to according to the rotation direction of described bracelet.
The invention has the beneficial effects as follows: due to the fact that the bracelet that can be worn at user's wrist of use is joined Occlusal equilibration car carries out course changing control, thus it is flexible to have given full play to wrist rotation, handling good advantage, makes The course changing control obtaining balance car is convenient and efficient, and, owing to using bracelet to eliminate handrail, keep away The preponderance of balance car and the excessive problem that takes up room are exempted from;It addition, in the present invention, bracelet must be in advance If altitude range in, just can trigger course changing control, this is because people is sometimes, such as raise one's hand at height During arm, easily causing maloperation owing to balance is poor, the present invention sets default altitude range, permissible Preferably reduce the generation of maloperation, make better use of the operability of wrist;Further, since trick separates, Leg can be absorbed in the balance of balance car and control, and wrist, then for the course changing control of balance car, reduces existing The control mode having technology may cause the problem that leg is overstretched and tired, improves the use of balance car Security.
With reference to explanation hereinafter and accompanying drawing, disclose in detail the particular implementation of the application, specify this Shen Principle please can be in adopted mode.It should be understood that presently filed embodiment in scope not thus It is restricted.In the range of the spirit and terms of claims, presently filed embodiment includes perhaps Change more, revise and be equal to.
The feature described for a kind of embodiment and/or illustrate can be in same or similar mode at one Or more other embodiment uses, combined with the feature in other embodiment, or substitute other Feature in embodiment.
It should be emphasized that term " includes/comprises " referring to when using feature, one integral piece, step or assembly herein Exist, but be not precluded from the existence of one or more further feature, one integral piece, step or assembly or additional.
Accompanying drawing explanation
Included accompanying drawing is used for providing being further understood from the embodiment of the present application, which constitutes specification A part, be used for illustrating presently filed embodiment, and describe with word and come together to explain the former of the application Reason.It should be evident that the accompanying drawing in describing below is only some embodiments of the application, for this area From the point of view of those of ordinary skill, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings Obtain other accompanying drawing.In the accompanying drawings:
Fig. 1 is the flow chart of the control method of a kind of balance car of the present invention;
Fig. 2 is the schematic diagram of the control system of a kind of balance car of the present invention.
Detailed description of the invention
For the technical scheme making those skilled in the art be more fully understood that in the application, below in conjunction with this Accompanying drawing in application embodiment, is clearly and completely described the technical scheme in the embodiment of the present application, Obviously, described embodiment is only some embodiments of the present application rather than whole embodiments.Base Embodiment in the application, those of ordinary skill in the art are obtained under not making creative work premise The all other embodiments obtained, all should belong to the scope of the application protection.
Embodiment one:
Fig. 1 is the flow chart of the control method of a kind of balance car of the present invention, sees Fig. 1, the control of this balance car Method, including step:
S1: judge the height of bracelet;
S2: if the height of bracelet is in default altitude range, then detect the rotation direction of bracelet;
S3: balance car is controlled turning to according to the rotation direction of bracelet.
The invention has the beneficial effects as follows: due to the fact that the bracelet that can be worn at user's wrist of use is joined Occlusal equilibration car carries out course changing control, thus it is flexible to have given full play to wrist rotation, handling good advantage, makes The course changing control obtaining balance car is convenient and efficient, and, owing to using bracelet to eliminate handrail, keep away The preponderance of balance car and the excessive problem that takes up room are exempted from;It addition, in the present invention, bracelet must be in advance If altitude range in, just can trigger course changing control, this is because people is sometimes, such as raise one's hand at height During arm, easily causing maloperation owing to balance is poor, the present invention sets default altitude range, permissible Preferably reduce the generation of maloperation, make better use of the operability of wrist;Further, since trick separates, Leg can be absorbed in the balance of balance car and control, and wrist, then for the course changing control of balance car, reduces existing The control mode having technology may cause the problem that leg is overstretched and tired, improves the use of balance car Security.
The present embodiment is preferred, in step S2 and S3, when the rotation direction of bracelet is clockwise, and control Balance car processed is turned right;When the rotation direction of bracelet is counterclockwise, controls balance car and turn left.The most corresponding Turn right, the most corresponding left-hand rotation, for normal person, it is more conducive to operation;Certainly, arrange the most right Should turn left, and counterclockwise corresponding turn right also possible, corresponding relation is by being provided with in advance, permissible Meet the use habit of more people.
The present embodiment is preferred, the rotation direction of bracelet it is determined that the presence of threshold value, when bracelet clockwise When the amplitude rotated exceedes threshold value, judge that the rotation direction of bracelet is as clockwise just now;When bracelet is to counterclockwise When the amplitude that direction rotates exceedes threshold value, judge that the rotation direction of bracelet is as counterclockwise just now.User is using During balance car, inevitable health can rock, and in this programme, sets the rotation direction threshold of bracelet Value, when the amplitude only rotated exceedes threshold value, balance car just can assert that this rotation controls, for effectively controlling, to subtract The situation having lacked maloperation occurs.
The present embodiment is preferred, the altitude range preset in step S2: the height of bracelet relative equilibrium car is 80CM to 130CM;
Height detection sensor it is provided with in bracelet.Highly setting range is defaulted as 80CM to 130CM, mainly Being because normal person when using balance car, wrist is sagging is conducive to the stablizing of balance car, and with normal person's Height judges, it is relatively reasonable that the altitude range of bracelet is set in this scope;Certainly, if it is desirable, This altitude range can be modified, in order to adapts to more people.This height detection sensor can be infrared The sensor of the type such as line, bluetooth, is used for launching signal, and receives ground or the reflection of balance car upper surface Signal;It is of course also possible to arrange a marker at balance car, to detect the height between bracelet and marker Height detection is carried out at degree.
The present embodiment is preferred, if the center of gravity that balance car detects user reduces or the height of height detection waistband When degree reduces, balance car accelerates;If the center of gravity of user improves or the height of height detection waistband improves, Balance car slows down.When using balance car, if balance car speed, then can bend over and slightly squat down It is balanced controlling, accordingly, in this programme, when user's center of gravity reduces or is worn on the height inspection of waist When surveying waistband height reduction, balance car is then accelerated, beneficially the control of balance car.This height detection waist The sensor for detecting waistband height it is provided with in band.
The present embodiment is preferred, and center of gravity or the most whether change is determined by Second Threshold, when balance car detects When the amplitude of the center of gravity of user or the height reduction of height detection waistband exceedes Second Threshold, it is determined that center of gravity Or height reduction, balance car accelerates;When balance car detects center of gravity or the height detection waistband of user The amplitude that improves of height when exceeding Second Threshold, it is determined that center of gravity or height improve, and balance car slows down.With Family is when use balance car, and posture can not be unalterable, sets Second Threshold and can reduce acceleration by mistake and miss Situation about slowing down occurs.
The present embodiment is preferred, sets up a group, sets a bracelet as main frame, other bracelets in group For from machine;
The direction information of main frame can be mass-sended to each all balances corresponding from machine in machine, group in group Car turns to according to the instruction of main frame bracelet.Nowadays, various activities of riding gradually increase, riding of balance car Row activity the most occasionally occurs, if it is unpractical for only carrying out the commander of fleet by the mode such as propaganda directed to communicate, in this programme, By setting up group, set main frame and from machine, turning to from machine can be controlled by main frame to a certain extent Problem, commands the problem of inconvenience to be very helpful for solving to ride;Certainly, being somebody's turn to do can not also root from machine Turn to according to the control of main frame, and simply accept the direction information of main frame, and controlled voluntarily by from the user of machine System turns to.
The present embodiment is preferred, when from machine examination measure stopping follow instruction time, the most not further according to main frame bracelet Instruction turns to;
Be provided with stopping on bracelet and follow button, when stop follow button operation detected time, then judge from machine Detect that instruction is followed in stopping.Each bracelet can arrange a kind of stopping and following button, so, lead Machine and between machine exist turn to inconsistent or distant, when being not suitable for turning to together, can avoid from Machine is blindly followed main frame and is carried out the situation generation of course changing control.
The present embodiment is preferred, and the rotational angle of bracelet is the biggest, then the steering angle that balance car is corresponding is the biggest. Concrete, rotational angle can take 30 degree of-90 degree;And steering angle can take 10 degree of-360 degree;Permissible Smooth correspondence, it is also possible to be the correspondence of multiple gear.This programme make user can to turn to carry out the most smart Thin control, improves the operating experience of user.
Embodiment two:
Fig. 2 is the schematic diagram of the control system of a kind of balance car of the present invention, and this control system employs the present invention Disclosed control method, this control system 100 includes balance car body 1, and company wireless with balance car body The bracelet 2 connect;
Balance car body 1 is controlled turning to according to the rotation direction of bracelet 2.
The invention has the beneficial effects as follows: due to the fact that the bracelet that can be worn at user's wrist of use is joined Occlusal equilibration car carries out course changing control, thus it is flexible to have given full play to wrist rotation, handling good advantage, makes The course changing control obtaining balance car is convenient and efficient, and, owing to using bracelet to eliminate handrail, keep away The preponderance of balance car and the excessive problem that takes up room are exempted from;It addition, in the present invention, bracelet must be in advance If altitude range in, just can trigger course changing control, this is because people is sometimes, such as raise one's hand at height During arm, easily causing maloperation owing to balance is poor, the present invention sets default altitude range, permissible Preferably reduce the generation of maloperation, make better use of the operability of wrist;Further, since trick separates, Leg can be absorbed in the balance of balance car and control, and wrist, then for the course changing control of balance car, reduces existing The control mode having technology may cause the problem that leg is overstretched and tired, improves the use of balance car Security.
The preferred embodiment of the present invention described in detail above.Should be appreciated that the ordinary skill of this area Personnel just can make many modifications and variations according to the design of the present invention without creative work.Therefore, all Technical staff passes through logic analysis the most on the basis of existing technology, pushes away in the art Reason or the limited available technical scheme of experiment, all should be at the protection model being defined in the patent claims In enclosing.

Claims (10)

1. a control method for balance car, is characterized in that: include step:
Judge the height of bracelet;
If the height of bracelet is in default altitude range, then detect the rotation direction of bracelet;
Balance car is controlled turning to according to the rotation direction of bracelet.
2. the control method of balance car as claimed in claim 1, is characterized in that: when the rotation direction of bracelet For time clockwise, control balance car and turn right;When the rotation direction of bracelet is counterclockwise, control balance car left Turn.
3. the control method of balance car as claimed in claim 1, is characterized in that: the rotation direction of bracelet It is determined that the presence of threshold value, when the amplitude that bracelet rotates clockwise exceedes threshold value, judge bracelet just now Rotation direction is clockwise;When the amplitude that bracelet rotates counterclockwise exceedes threshold value, judge hand just now The rotation direction of ring is counterclockwise.
4. the control method of balance car as claimed in claim 1, is characterized in that: the described height preset Scope: the height of bracelet relative equilibrium car is 80CM to 130CM;
It is provided with height detection sensor in described bracelet.
5. the control method of balance car as claimed in claim 1, is characterized in that: make if balance car detects The center of gravity of user reduces or during the height reduction of height detection waistband, and balance car accelerates;If the center of gravity of user When the height of raising or height detection waistband improves, balance car slows down.
6. the control method of balance car as claimed in claim 5, is characterized in that: center of gravity or the most whether change Become and determined by Second Threshold, center of gravity or the height fall of height detection waistband of user detected when balance car When low amplitude exceedes Second Threshold, it is determined that center of gravity or height reduction, balance car accelerates;When balance car test When the amplitude that the height of the center of gravity or height detection waistband that measure user improves exceedes Second Threshold, it is determined that Center of gravity or height improve, and balance car slows down.
7. the control method of balance car as claimed in claim 1, is characterized in that: set up a group, group Setting a bracelet in Zu as main frame, other bracelets are from machine;
The direction information of main frame can be mass-sended to each all balances corresponding from machine in machine, group in group Car turns to according to the instruction of main frame bracelet.
8. the control method of balance car as claimed in claim 7, is characterized in that: when measuring stopping from machine examination When following instruction, the most the instruction further according to main frame bracelet does not turns to;
Be provided with stopping on described bracelet and follow button, when described stopping follow button operation detected time, then Judge that measuring stopping from machine examination follows instruction.
9. the control method of balance car as claimed in claim 1, is characterized in that: the rotational angle of bracelet is more Greatly, then the steering angle that balance car is corresponding is the biggest.
10. a control system for the balance car of use control method as described in power 1-9, is characterized in that: Including balance car body, and with the bracelet of balance car body wireless connection;
Described balance car body is controlled turning to according to the rotation direction of described bracelet.
CN201610436368.1A 2016-06-17 2016-06-17 A kind of control method and control system of balance car Active CN105892377B (en)

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Application Number Priority Date Filing Date Title
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CN105892377B CN105892377B (en) 2019-03-15

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106712789A (en) * 2016-12-12 2017-05-24 北京小米移动软件有限公司 Method of controlling scooter and apparatus thereof
WO2017214966A1 (en) * 2016-06-17 2017-12-21 尚艳燕 Control method and control system for electric balancing vehicle
WO2017214965A1 (en) * 2016-06-17 2017-12-21 尚艳燕 Control method and control system for balancing vehicle

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CN205005082U (en) * 2015-06-23 2016-01-27 杭州骑客智能科技有限公司 APP balance car controlling means and remote network control system
CN105425802A (en) * 2015-12-10 2016-03-23 长安大学 Two-wheeled intelligent balance vehicle and 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
CN105573324A (en) * 2016-01-18 2016-05-11 刘鸿飞 Intelligent carrying vehicle, and control method thereof

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Publication number Priority date Publication date Assignee Title
CN203268242U (en) * 2013-01-30 2013-11-06 杭州亿脑智能科技有限公司 Intelligent balance car
WO2016005907A1 (en) * 2014-07-10 2016-01-14 Smart Trike Mnf. Pte. Ltd A ski scooter
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
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017214966A1 (en) * 2016-06-17 2017-12-21 尚艳燕 Control method and control system for electric balancing vehicle
WO2017214965A1 (en) * 2016-06-17 2017-12-21 尚艳燕 Control method and control system for balancing vehicle
CN106712789A (en) * 2016-12-12 2017-05-24 北京小米移动软件有限公司 Method of controlling scooter and apparatus thereof

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