CN105892377B - A kind of control method and control system of balance car - Google Patents

A kind of control method and control system of balance car Download PDF

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Publication number
CN105892377B
CN105892377B CN201610436368.1A CN201610436368A CN105892377B CN 105892377 B CN105892377 B CN 105892377B CN 201610436368 A CN201610436368 A CN 201610436368A CN 105892377 B CN105892377 B CN 105892377B
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China
Prior art keywords
balance car
bracelet
control
height
rotation
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CN201610436368.1A
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CN105892377A (en
Inventor
尚艳燕
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SHENZHEN AOTU INTELLIGENT TECHNOLOGY Co.,Ltd.
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Shenzhen Jizhong Science And Technology Development Co Ltd
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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 kind of control method of balance car and control system, the control method is comprising steps of judge the height of bracelet;If the height of bracelet in preset altitude range, detects the rotation direction of bracelet;Balance car carries out control steering according to the rotation direction of bracelet.The present invention can allow user more convenient and effectively control balance car and turn to.

Description

A kind of control method and control system of balance car
Technical field
The present invention relates to balance car fields, more particularly to the control method and control system of a kind of balance car.
Background technique
What the manned balance car of traditional two-wheeled was mainly the handrail that can swing by one to turn, although in this way It is easy to operate, but handrail and steering shaft structure are complicated, and increase the weight and occupied space of balance car.
Then the balance car occurred carries out the control in direction by the handrail of leg control mostly, though both hands have been liberated, this Generic operation mode both legs need the state for keeping stepping up leg control handrail, easily cause the high-pressure and fatigue of leg, can be to length Time brings danger using the user of balance car.
Also therefore, how to allow user more convenient and safety to become those skilled in the art using balance car urgently to be resolved The problem of.
It should be noted that the above description of the technical background be intended merely to it is convenient to the technical solution of the application carry out it is clear, Complete explanation, and facilitate the understanding of those skilled in the art and illustrate.Cannot merely because these schemes the application's Background technology part is expounded and thinks that above-mentioned technical proposal is known to those skilled in the art.
Summary of the invention
In view of the above drawbacks of the prior art, use can be allowed technical problem to be solved by the invention is to provide one kind Family is more convenient and effectively controls the control method and control system of the balance car that balance car is turned to.
To achieve the above object, the present invention provides a kind of control methods of balance car, comprising steps of
Judge the height of bracelet;
If the height of bracelet in preset altitude range, detects the rotation direction of bracelet;
Balance car carries out control steering according to the rotation direction of bracelet.
Further, when the rotation direction of bracelet is clockwise, control balance car is turned right;When the rotation direction of bracelet is When counterclockwise, control balance car turns left.It is corresponding clockwise to turn right, it corresponds to counterclockwise, for normal person, more conducively grasp Make;Certainly, corresponding left-hand rotation counterclockwise is set, and corresponding right-hand rotation is also possible counterclockwise, corresponding relationship passes through preparatory setting It completes, can satisfy the use habit of more people.
Further, there are threshold values for the judgement of the rotation direction of bracelet, when the amplitude that bracelet rotates clockwise is super When crossing threshold value, determine that the rotation direction of bracelet is clockwise just now;When the amplitude that bracelet rotates counterclockwise is more than threshold value When, determine that the rotation direction of bracelet is counterclockwise just now.When using balance car, inevitable body can be shaken user Dynamic, in the present solution, setting the rotation direction threshold value of bracelet, when the amplitude only rotated is more than threshold value, balance car can just be assert The case where rotation control is effectively control, reduces maloperation generation.
Further, the preset altitude range: the height of bracelet relative equilibrium vehicle is 80CM to 130CM;
Height detection sensor is provided in the bracelet.Height setting range is defaulted as 80CM to 130CM, mainly because It is normal person when using balance car, the sagging stabilization for being conducive to balance car of wrist, and judged with the height of normal person, bracelet Altitude range to be set in this range relatively reasonable;Certainly, if it is desirable, the altitude range can be modified, so as to Adapt to more people.
Further, it if balance car detects that the center of gravity of user reduces or the height of height detection waistband reduces, puts down The vehicle that weighs accelerates;If the center of gravity of user improves or the height of height detection waistband improves, balance car slows down.Using balance car When, if balance car fast speed, it can bend over and slightly squat down to be balanced control, correspondingly, in the present solution, working as user When the height detection waistband height that center of gravity reduced or be worn on waist reduces, balance car is then accelerated, and balance car is conducive to Control.
Further, whether center of gravity or height change is determined by second threshold, when balance car detects the center of gravity of user Perhaps the amplitude that the height of height detection waistband reduces determines that center of gravity or height reduce when being more than second threshold, balance car adds Speed;When balance car detect user center of gravity or height detection waistband height improve amplitude be more than second threshold when, Determine that center of gravity or height improve, balance car slows down.For user when using balance car, posture can not be unalterable, setting the Two threshold values can reduce the case where accidentally accelerating and accidentally slowing down.
Further, a group is established, a bracelet is set in group as host, other bracelets are slave;
The direction information of host can be mass-sended to each slave in group, the corresponding balance car of all slaves in group according to The instruction of host bracelet is turned to.Nowadays, various activities of riding gradually increase, and the activity of riding of balance car also occasionally occurs, If it is unpractical for only carrying out the commander of fleet by the modes such as propaganda directed to communicate, in the present solution, by establishing group, set host and from Machine can control the Steering of slave to a certain extent by host, have very for the command inconvenience that solves the problems, such as to ride Big help;Certainly, which can not also be turned to according to the control of host, and only receive the direction information of host, And steering is voluntarily controlled by the user of slave.
Further, when slave detects that stopping follows instruction, then the instruction not further according to host bracelet is turned to;
Be provided with stopping on the bracelet and follow button, when it is described stopping follow button to detect operation when, then determine from Machine examination measures stopping and follows instruction.A kind of stopping can be set on each bracelet and follow button, in this way, host and slave it Between exist and turn to inconsistent or distance farther out, be not suitable for when turning to together, blindly host can be followed to be turned to avoid slave To the case where control.
Further, the rotational angle of bracelet is bigger, then the corresponding steering angle of balance car is bigger.This programme makes user More fine control can be carried out to turning to, improve the operating experience of user.Specifically, rotational angle can take 30 degree -90 Degree;And steering angle can take 10 degree of -360 degree;It can smoothly correspond to, be also possible to the correspondence of multiple gears.
The present invention also provides a kind of control systems of balance car using control method of the invention, including balance car sheet Body, and the bracelet being wirelessly connected with balance car ontology;
The balance car ontology carries out control steering according to the rotation direction of the bracelet.
The beneficial effects of the present invention are: the present invention carrys out complex equilibrium due to the bracelet that can be worn at user's wrist used Vehicle carries out course changing control, thus has given full play to that wrist rotation is flexible, handling good advantage, so that the course changing control of balance car It is more convenient and efficient, also, handrail is eliminated due to using bracelet, avoid the preponderance and occupied space of balance car Excessive problem;In addition, bracelet must can just trigger course changing control in preset altitude range, this is because people in the present invention Sometimes, such as when holding arm high, maloperation is easily caused since balance is poor, the present invention sets preset height Range is spent, the generation of maloperation can be preferably reduced, make better use of the operability of wrist;In addition, since trick separates, Leg can be absorbed in the balance control of balance car, and wrist is then used for the course changing control of balance car, reduces the control of the prior art Mode processed may cause the overstretched and tired problem in leg, improve the safety in utilization of balance car.
Referring to following description and accompanying drawings, specific implementations of the present application are disclosed in detail, specify the original of the application Reason can be in a manner of adopted.It should be understood that presently filed embodiment is not so limited in range.In appended power In the range of the spirit and terms that benefit requires, presently filed embodiment includes many changes, modifications and is equal.
The feature for describing and/or showing for a kind of embodiment can be in a manner of same or similar one or more It uses in a other embodiment, is combined with the feature in other embodiment, or the feature in substitution other embodiment.
It should be emphasized that term "comprises/comprising" refers to the presence of feature, one integral piece, step or component when using herein, but simultaneously It is not excluded for the presence or additional of one or more other features, one integral piece, step or component.
Detailed description of the invention
Included attached drawing is used to provide that a further understanding of the embodiments of the present application, and which constitute one of specification Point, for illustrating presently filed embodiment, and with verbal description come together to illustrate the principle of the application.Under it should be evident that Attached drawing in the description of face is only some embodiments of the present application, for those of ordinary skill in the art, is not paying wound Under the premise of the property made is laborious, it is also possible to obtain other drawings based on these drawings.In the accompanying drawings:
Fig. 1 is a kind of flow chart of the control method of balance car of the present invention;
Fig. 2 is a kind of schematic diagram of the control system of balance car of the present invention.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality The attached drawing in example is applied, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described implementation Example is merely a part but not all of the embodiments of the present application.Based on the embodiment in the application, this field is common The application protection all should belong in technical staff's all other embodiment obtained without making creative work Range.
Embodiment one:
Fig. 1 is a kind of flow chart of the control method of balance car of the present invention, referring to Fig. 1, the control method of the balance car, packet Include step:
S1: judge the height of bracelet;
S2: if the height of bracelet in preset altitude range, detects the rotation direction of bracelet;
S3: balance car carries out control steering according to the rotation direction of bracelet.
The beneficial effects of the present invention are: the present invention carrys out complex equilibrium due to the bracelet that can be worn at user's wrist used Vehicle carries out course changing control, thus has given full play to that wrist rotation is flexible, handling good advantage, so that the course changing control of balance car It is more convenient and efficient, also, handrail is eliminated due to using bracelet, avoid the preponderance and occupied space of balance car Excessive problem;In addition, bracelet must can just trigger course changing control in preset altitude range, this is because people in the present invention Sometimes, such as when holding arm high, maloperation is easily caused since balance is poor, the present invention sets preset height Range is spent, the generation of maloperation can be preferably reduced, make better use of the operability of wrist;In addition, since trick separates, Leg can be absorbed in the balance control of balance car, and wrist is then used for the course changing control of balance car, reduces the control of the prior art Mode processed may cause the overstretched and tired problem in leg, improve the safety in utilization of balance car.
The present embodiment is preferred, and in step S2 and S3, when the rotation direction of bracelet is clockwise, control balance car is right Turn;When the rotation direction of bracelet is counterclockwise, control balance car turns left.It is corresponding clockwise to turn right, it corresponds to counterclockwise, it is right For normal person, more conducively operate;Certainly, corresponding left-hand rotation counterclockwise is set, and corresponding right-hand rotation is also possible counterclockwise, it is right It should be related to and be provided with by preparatory, can satisfy the use habit of more people.
The present embodiment is preferred, and there are threshold values for the judgement of the rotation direction of bracelet, rotates clockwise when bracelet When amplitude is more than threshold value, determine that the rotation direction of bracelet is clockwise just now;When the amplitude that bracelet rotates counterclockwise is super When crossing threshold value, determine that the rotation direction of bracelet is counterclockwise just now.When using balance car, inevitable body has user It is shaken, in the present solution, the rotation direction threshold value of bracelet is set, when the amplitude only rotated is more than threshold value, balance car just meeting The case where assert rotation control for effectively control, reducing maloperation generation.
The present embodiment is preferred, the preset altitude range in step S2: the height of bracelet relative equilibrium vehicle be 80CM extremely 130CM;
Height detection sensor is provided in bracelet.Height setting range is defaulted as 80CM to 130CM, is primarily due to just Ordinary person is when using balance car, the sagging stabilization for being conducive to balance car of wrist, and is judged with the height of normal person, the height of bracelet It is relatively reasonable that degree range is set in this range;Certainly, if it is desirable, the altitude range can be modified, to adapt to More people.The height detection sensor can be the sensor of the types such as infrared ray, bluetooth, for emitting signal, and receive The reflection signal on ground or balance car upper surface;It is of course also possible to a marker be arranged, at balance car to detect bracelet and mark Know at the height between object and carries out height detection.
The present embodiment is preferred, if balance car detects that the center of gravity of user reduces or the height of height detection waistband reduces When, balance car accelerates;If the center of gravity of user improves or the height of height detection waistband improves, balance car slows down.It is using When balance car, if balance car fast speed, it can bend over and slightly squat down to be balanced control, correspondingly, in the present solution, When the height detection waistband height that user's center of gravity reduced or be worn on waist reduces, balance car is then accelerated, and is conducive to The control of balance car.The sensor for detecting waistband height is provided in the height detection waistband.
The present embodiment is preferred, and whether center of gravity or height change and determined by second threshold, when balance car detects user Center of gravity perhaps height detection waistband height reduce amplitude be more than second threshold when determine center of gravity or height reduce, put down The vehicle that weighs accelerates;When balance car detects that the amplitude of the center of gravity of user or the height raising of height detection waistband is more than the second threshold When value, determine that center of gravity or height improve, balance car slows down.For user when using balance car, posture can not be unalterable, if The case where accidentally accelerating and accidentally slowing down can be reduced by determining second threshold.
The present embodiment is preferred, establishes a group, a bracelet is set in group as host, other bracelets are slave;
The direction information of host can be mass-sended to each slave in group, the corresponding balance car of all slaves in group according to The instruction of host bracelet is turned to.Nowadays, various activities of riding gradually increase, and the activity of riding of balance car also occasionally occurs, If it is unpractical for only carrying out the commander of fleet by the modes such as propaganda directed to communicate, in the present solution, by establishing group, set host and from Machine can control the Steering of slave to a certain extent by host, have very for the command inconvenience that solves the problems, such as to ride Big help;Certainly, which can not also be turned to according to the control of host, and only receive the direction information of host, And steering is voluntarily controlled by the user of slave.
The present embodiment is preferred, when slave detects that stopping follows instruction, then not further according to the instruction of host bracelet into Row turns to;
It is provided with stopping on bracelet and follows button, when stopping that button is followed to detect operation, then determines that slave detects Stopping follows instruction.Can be set on each bracelet it is a kind of stopping follow button, in this way, between host and slave exist turn Farther out to inconsistent or distance, when being not suitable for turning to together, blindly host can be followed to carry out course changing control to avoid slave It happens.
The present embodiment is preferred, and the rotational angle of bracelet is bigger, then the corresponding steering angle of balance car is bigger.Specifically, Rotational angle can take 30 degree of -90 degree;And steering angle can take 10 degree of -360 degree;It can smoothly correspond to, be also possible to multiple The correspondence of gear.This programme allows user to the more fine control of progress is turned to, and improves the operating experience of user.
Embodiment two:
Fig. 2 is a kind of schematic diagram of the control system of balance car of the present invention, which has used presently disclosed Control method, the control system 100 include balance car ontology 1, and with balance car ontology be wirelessly connected bracelet 2;
Balance car ontology 1 carries out control steering according to the rotation direction of bracelet 2.
The beneficial effects of the present invention are: the present invention carrys out complex equilibrium due to the bracelet that can be worn at user's wrist used Vehicle carries out course changing control, thus has given full play to that wrist rotation is flexible, handling good advantage, so that the course changing control of balance car It is more convenient and efficient, also, handrail is eliminated due to using bracelet, avoid the preponderance and occupied space of balance car Excessive problem;In addition, bracelet must can just trigger course changing control in preset altitude range, this is because people in the present invention Sometimes, such as when holding arm high, maloperation is easily caused since balance is poor, the present invention sets preset height Range is spent, the generation of maloperation can be preferably reduced, make better use of the operability of wrist;In addition, since trick separates, Leg can be absorbed in the balance control of balance car, and wrist is then used for the course changing control of balance car, reduces the control of the prior art Mode processed may cause the overstretched and tired problem in leg, improve the safety in utilization of balance car.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea Technical solution, all should be within the scope of protection determined by the claims.

Claims (9)

1. a kind of control method of balance car, it is characterized in that: comprising steps of
Judge the height of bracelet;
If the height of bracelet in preset altitude range, detects the rotation direction of bracelet;
Balance car carries out control steering according to the rotation direction of bracelet;
If balance car detects that the center of gravity of user reduces or the height of height detection waistband reduces, balance car accelerates;If making When the center of gravity of user improves or the height of height detection waistband improves, balance car slows down.
2. the control method of balance car as described in claim 1, it is characterized in that: when the rotation direction of bracelet is clockwise, Balance car is controlled to turn right;When the rotation direction of bracelet is counterclockwise, control balance car turns left.
3. the control method of balance car as described in claim 1, it is characterized in that: there are thresholds for the judgement of the rotation direction of bracelet Value determines that the rotation direction of bracelet is clockwise when the amplitude that bracelet rotates clockwise is more than threshold value just now;Work as hand When the amplitude that circumferential direction rotates in an anti-clockwise direction is more than threshold value, determine that the rotation direction of bracelet is counterclockwise just now.
4. the control method of balance car as described in claim 1, it is characterized in that: the preset altitude range: bracelet phase Height to balance car is 80CM to 130CM;
Height detection sensor is provided in the bracelet.
5. the control method of balance car as described in claim 1, it is characterized in that: whether center of gravity or height change by second threshold It determines, when balance car detects that the amplitude of the center of gravity of user or the height reduction of height detection waistband is more than second threshold When, determine that center of gravity or height reduce, balance car accelerates;When balance car detects the center of gravity or height detection waistband of user Height improve amplitude be more than second threshold when, determine center of gravity or height improve, balance car slow down.
6. the control method of balance car as described in claim 1 sets one it is characterized in that: establishing a group in group Bracelet is host, other bracelets are slave;
The direction information of host can be mass-sended to each slave in group, and the corresponding balance car of all slaves in group is according to host The instruction of bracelet is turned to.
7. the control method of balance car as claimed in claim 6, it is characterized in that: when slave detects that stopping follows instruction, Then the instruction not further according to host bracelet is turned to;
Stopping is provided on the bracelet and follows button, when the stopping follows button to detect operation, is then determined from machine examination It measures stopping and follows instruction.
8. the control method of balance car as described in claim 1, it is characterized in that: the rotational angle of bracelet is bigger, then balance car Corresponding steering angle is bigger.
9. a kind of control system of the balance car using the control method as described in power 1-8 is any, it is characterized in that: including balance car Ontology, and the bracelet being wirelessly connected with balance car ontology;
The balance car ontology carries out control steering according to the rotation direction of the 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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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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