CN105911997B - A kind of control method and control system of electrodynamic balance vehicle - Google Patents
A kind of control method and control system of electrodynamic balance vehicle Download PDFInfo
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- CN105911997B CN105911997B CN201610436600.1A CN201610436600A CN105911997B CN 105911997 B CN105911997 B CN 105911997B CN 201610436600 A CN201610436600 A CN 201610436600A CN 105911997 B CN105911997 B CN 105911997B
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- 230000005520 electrodynamics Effects 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000004888 barrier function Effects 0.000 claims description 69
- 230000008859 change Effects 0.000 claims description 54
- 238000001514 detection method Methods 0.000 claims description 17
- 208000010877 cognitive disease Diseases 0.000 claims description 3
- 230000006855 networking Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 239000002699 waste material Substances 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000001755 vocal effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses the control method and control system of a kind of electrodynamic balance vehicle, the control method is comprising steps of establish a group, including at least two electrodynamic balance vehicles and corresponding control bracelet in group；One of electrodynamic balance vehicle and corresponding control bracelet are set as host, remaining is slave；Host is sent to slave when carrying out predetermined registration operation, by corresponding operation information；Slave carries out control operation according to operation information.For solving, fleet rides command inconvenience to the present invention and existing safety problem is very helpful.
Description
Technical field
The present invention relates to a kind of electrodynamic balance vehicles, control method and control system more particularly to a kind of electrodynamic balance vehicle
System.
Background technique
Nowadays, various activities of riding gradually increase, and the activity of riding of balance car also occasionally occurs, since team leader is frequently located in
The foremost of fleet, it is desirable to recognize the situation of back team member in troop, then need team leader frequently to turn over head and observe team backward
The situation at 5 rear portions；When commanding troop, it is also desirable to propaganda directed to communicate, or assign instruction by gesture of riding, this neither can guarantee finger
The efficiency waved, and it is dangerous.
Thus, how to enable the activity of riding of balance car to guarantee to ride and command efficiency, and guarantee that riding safety is
Those skilled in the art solve the problems, such as to solve.
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, technical problem to be solved by the invention is to provide a kind of for solving
The control method and system for the electrodynamic balance vehicle that the problem of command inconvenience of riding and safety is very helpful.
To achieve the above object, the present invention provides a kind of control methods of electrodynamic balance vehicle, comprising steps of
A group is established, includes at least two electrodynamic balance vehicles and corresponding control bracelet in group；
One of electrodynamic balance vehicle and corresponding control bracelet are set as host, remaining is slave；
Host is sent to slave when carrying out predetermined registration operation, by corresponding operation information；
Slave carries out control operation according to operation information.
Further, the predetermined registration operation is steering operation, and the operation information includes direction information, and slave is according to
Direction information carries out control steering.Fleet often needs to be turned in ride, and in branch road position, if team leader is not
It can be if commander team member turns to well, it is likely that it allows teammate's slip-angle steering, wastes time, even result in fleet's confusion,
Unnecessary trouble is caused, in the present solution, host is turning to simultaneously, sends direction information to slave, slave is according to direction information
Control steering is carried out, can solve the problems, such as this to a certain extent, is brought advantage to the user and efficiency.
Further, the direction information is control steering order or reminding turning instruction；
The control steering order follows host to carry out control steering for controlling slave；
The reminding turning instruction, for prompting the steering direction of host, so as to the turning with reference to host of the slave in group
Control steering is carried out to direction.Fleet often needs to be turned in ride, and in branch road position, if team leader cannot
If good commander team member turns to, it is likely that allow teammate's slip-angle steering, waste time, even result in fleet's confusion, make
At unnecessary trouble, in the present solution, host is turning to simultaneously, send direction information to slave, slave according to direction information into
Row control turn to, either host directly control slave carry out turn to or slave obtain the prompt of host after independently controlled
It turns to, can solve the problems, such as this to a certain extent, bring advantage to the user and efficiency.
Further, the height of host judgement control bracelet；
If controlling the height of bracelet in preset altitude range, the rotation direction of control bracelet is detected；
The corresponding balance car of host carries out control steering according to the rotation direction of control bracelet, and corresponding control is turned to
Instruction or reminding turning instruction are sent to slave.Controlling balance car steering, there are many kinds of modes, in the present solution, passing through control bracelet
Course changing control is carried out, and the control bracelet can just trigger this course changing control only within the scope of preset height, avoids and accidentally grasp
The generation of work, and can be in real time by corresponding control steering order or reminding turning instruction hair when host is controlled and turned to
Slave is given, so that slave follows host to carry out course changing control well, fleet is improved and commands efficiency.
Further, the predetermined registration operation is steering operation, and the operation information includes speed change information:
Slave carries out control speed change according to the speed change information.In fleet's ride, due to landform, plan etc. needs city
Will do it acceleration and deceleration, if every time team leader's acceleration or deceleration when require to propaganda directed to communicate or do gesture could be to fleet
If being commanded, commander's inefficiency is not said it is also possible to there is safety problem, in the present solution, no matter host accelerates or subtract
Corresponding speed change information can be sent to slave, to command slave to carry out as long as the amplitude of speed change is more than preset threshold by speed
Speed Control.
Further, the speed change information includes control gear-shift command or prompt gear-shift command；
The control gear-shift command follows host to carry out control speed change for controlling slave；
The prompt gear-shift command is used to prompt the speed change situation of host, so that the slave in group refers to the speed change of host
Situation carries out control speed change.Fleet often needs to be turned in ride, and in branch road position, if team leader cannot be very
If good commander team member turns to, it is likely that allow teammate's slip-angle steering, waste time, even result in fleet's confusion, cause
Unnecessary trouble sends direction information to slave, no matter slave is directly by host in the present solution, host is turning to simultaneously
Control and speed change according further to the prompt of host carries out control speed change, this can be solved the problems, such as to a certain extent, to using
Family offers convenience and efficiency.
Further, whether the height of host decision height detection waistband changes, if the height of height detection waistband reduces,
And reduced amplitude is more than preset threshold, then balance car accelerates, and corresponding control assisted instruction or prompt assisted instruction are sent out
Give slave；
If the height of height detection waistband improves, and the amplitude improved is more than preset threshold, then balance car slows down, and will be right
The control deceleration instruction or prompt deceleration instruction answered are sent to slave.The mode of balance car control speed change has very much, in the present solution,
Balance car is balanced the speed Control of vehicle by tying up the height change in the height detection waistband of user's waist, meanwhile, meeting
The control situation of speed change is sent to slave by trigger action, so that slave carries out speed Control according to the speed change situation of host, is mentioned
Commander's efficiency of Gao Liao fleet.
Further, display or speech player are provided on the bracelet；
The display is for showing the direction information or speed change information；
The speech player is for playing the direction information or speed change information；
The display or speech player can be also used for the wireless telecommunications between host and slave.In the present solution, by
Bracelet is provided with display or speech player, thus clearer can know should how more preferable by the user of slave
Ground goes operation balance car to keep up with fleet；And due to being provided with display and speech player, fleet team leader can lead to completely
The mode for crossing wireless telecommunications is generated some except balance car by display or speech player as wireless communication apparatus
Verbal information other than control instruction is broadcast to the slave in fleet, greatly improves commander's efficiency of fleet.
Further, Host Detection balance car advance in front article height；
If article beyond preset value, is identified as barrier and controls balance car to slow down by the height of article；
The image of barrier is acquired, cognitive disorders object characteristic of networking determines travelling route according to barrier characteristic；
Barrier roadblock coordinate is marked in the course of travel, forms barrier map；
By barrier map in conjunction with road-map, whether disturbance in judgement object is located on road, if barrier is located at road
On, it will be on barrier mark to barrier map；If barrier is located at outside road, barrier is not marked to barrier map
On；
Whether disturbance in judgement object is kept in motion, if barrier is kept in motion, barrier is not marked to obstacle
On object map；It, will be on barrier mark to barrier map if barrier remains static；
Host carries out control operation according to barrier map, and barrier map is shared to slave；
Slave carries out control operation according to the barrier map that host is shared.In general, in fleet, as team leader,
As host, position is usually to be in the forefront of fleet, and in ride, it is inevasible can be in the Lu Shangcun of traveling
In some barriers, in the present solution, host can in advance detect barrier, and updates and arrive barrier map, and send
To slave, the obstruction that barrier rides to fleet can be reduced in this way, it is also possible to save the operation money of slave processor
Source avoids computing repeatedly.
The present invention also provides a kind of control systems of electrodynamic balance vehicle, comprising:
Electrodynamic balance vehicle ontology and corresponding control bracelet；
And it is wirelessly connected to the electrodynamic balance vehicle ontology and controls the controlling terminal of bracelet；
For the controlling terminal for controlling at least two electrodynamic balance vehicles and corresponding control bracelet, establishing becomes one
Group, and one of electrodynamic balance vehicle and corresponding control bracelet are set as host, remaining is slave；
Host is sent to slave when carrying out predetermined registration operation, by corresponding operation information；
Slave carries out control operation according to operation information.
The beneficial effects of the present invention are: the present invention in the present solution, by establishing group, sets host and slave, host into
Operation information can be sent to slave by row predetermined registration operation, to carry out command and control to slave to a certain extent, such as
This, when fleet rides, team leader can carry out finger to a certain extent without frequent the case where later observing fleet to fleet
It waves, improves the efficiency of commander, decrease a possibility that causing danger, for solving the problems, such as ride command inconvenience and safety
It is very helpful.
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 control method of electrodynamic balance vehicle of the invention；
Fig. 2 is a kind of control system of electrodynamic balance vehicle of the 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 control method of electrodynamic balance vehicle of the present invention, referring to Fig. 1, the control method of the electrodynamic balance vehicle, packet
Include step:
S1: establishing a group, includes at least two electrodynamic balance vehicles and corresponding control bracelet in group；
S2: one of electrodynamic balance vehicle and corresponding control bracelet are set as host, remaining is slave；
S3: host is sent to slave when carrying out predetermined registration operation, by corresponding operation information；
S4: slave carries out control operation according to operation information.
The beneficial effects of the present invention are: the present invention in the present solution, by establishing group, sets host and slave, host into
Operation information can be sent to slave by row predetermined registration operation, to carry out command and control to slave to a certain extent, such as
This, when fleet rides, team leader can carry out finger to a certain extent without frequent the case where later observing fleet to fleet
It waves, improves the efficiency of commander, decrease a possibility that causing danger, for solving the problems, such as ride command inconvenience and safety
It is very helpful.
The present embodiment is preferred, and predetermined registration operation is steering operation, and operation information includes direction information, and slave is believed according to steering
Breath carries out control steering.Fleet often needs to be turned in ride, and in branch road position, if team leader cannot be fine
Commander team member turn to if, it is likely that allow teammate's slip-angle steering, waste time, even result in fleet's confusion, cause not
Necessary trouble sends direction information to slave, slave is controlled according to direction information in the present solution, host is turning to simultaneously
System turns to, and can solve the problems, such as this to a certain extent, brings advantage to the user and efficiency.
The present embodiment is preferred, and direction information is control steering order or reminding turning instruction；
Control steering order follows host to carry out control steering for controlling slave；
Reminding turning instruction, for prompting the steering direction of host, so that the slave in group refers to the steering side of host
To carrying out control steering.Fleet often needs to be turned in ride, and in branch road position, if team leader cannot be fine
Commander team member turn to if, it is likely that allow teammate's slip-angle steering, waste time, even result in fleet's confusion, cause not
Necessary trouble sends direction information to slave, slave is controlled according to direction information in the present solution, host is turning to simultaneously
System turns to, and either host directly controls that slave turn to or slave obtains independently carrying out control after the prompt of host turning
To can solve the problems, such as this to a certain extent, bring advantage to the user and efficiency.
The present embodiment is preferred, the height of host judgement control bracelet；
If controlling the height of bracelet in preset altitude range, the rotation direction of control bracelet is detected；
The corresponding balance car of host carries out control steering according to the rotation direction of control bracelet, and corresponding control is turned to
Instruction or reminding turning instruction are sent to slave.Controlling balance car steering, there are many kinds of modes, in the present solution, passing through control bracelet
Course changing control is carried out, and the control bracelet can just trigger this course changing control only within the scope of preset height, avoids and accidentally grasp
The generation of work, and can be in real time by corresponding control steering order or reminding turning instruction hair when host is controlled and turned to
Slave is given, so that slave follows host to carry out course changing control well, fleet is improved and commands efficiency.
The present embodiment is preferred, and predetermined registration operation is steering operation, and the operation information includes speed change information:
Slave carries out control speed change according to speed change information.In fleet's ride, due to landform, plan etc. needs market meeting
Accelerated and slowed down, if every time team leader's acceleration or deceleration when require to propaganda directed to communicate or do gesture and fleet could be carried out
If commander, inefficiency is commanded not say it is also possible to there is safety problem, in the present solution, no matter host accelerates or slows down,
As long as the amplitude of speed change is more than preset threshold, corresponding speed change information can be sent to slave, to command slave to be become
Speed control.
The present embodiment is preferred, and speed change information includes control gear-shift command or prompt gear-shift command；
Control gear-shift command follows host to carry out control speed change for controlling slave；
Prompt gear-shift command is used to prompt the speed change situation of host, so that the slave in group refers to the speed change situation of host
Carry out control speed change.Fleet often needs to be turned in ride, and in branch road position, if team leader cannot be good
If commander team member turns to, it is likely that allow teammate's slip-angle steering, waste time, even result in fleet's confusion, causing need not
The trouble wanted sends direction information to slave, no matter slave is directly to be controlled by host in the present solution, host is turning to simultaneously
And speed change carries out control speed change according further to the prompt of host, can solve the problems, such as this to a certain extent, to user with
To facilitate and efficiency.
The present embodiment is preferred, and whether the height of host decision height detection waistband changes, if the height of height detection waistband
Degree reduces, and reduced amplitude is more than preset threshold, then balance car accelerates, and corresponding control assisted instruction or prompt are accelerated
Instruction is sent to slave；
If the height of height detection waistband improves, and the amplitude improved is more than preset threshold, then balance car slows down, and will be right
The control deceleration instruction or prompt deceleration instruction answered are sent to slave.The mode of balance car control speed change has very much, in the present solution,
Balance car is balanced the speed Control of vehicle by tying up the height change in the height detection waistband of user's waist, meanwhile, meeting
The control situation of speed change is sent to slave by trigger action, so that slave carries out speed Control according to the speed change situation of host, is mentioned
Commander's efficiency of Gao Liao fleet.
The present embodiment is preferred, and display or speech player are provided on bracelet；
Display is for showing direction information or speed change information；
Speech player is for playing direction information or speed change information；
Display or speech player can be also used for the wireless telecommunications between host and slave.In the present solution, due to hand
Ring is provided with display or speech player, thus the user of slave clearer can know how preferably to go
Balance car is operated to keep up with fleet；And due to being provided with display and speech player, fleet team leader can pass through nothing completely
The mode of line communication, by display or speech player as wireless communication apparatus, by some controls generated except balance car
Verbal information other than instruction is broadcast to the slave in fleet, greatly improves commander's efficiency of fleet.
The present embodiment is preferred, the height of front article in the traveling of Host Detection balance car；
If article beyond preset value, is identified as barrier and controls balance car to slow down by the height of article；
The image of barrier is acquired, cognitive disorders object characteristic of networking determines travelling route according to barrier characteristic；
Barrier roadblock coordinate is marked in the course of travel, forms barrier map；
By barrier map in conjunction with road-map, whether disturbance in judgement object is located on road, if barrier is located at road
On, it will be on barrier mark to barrier map；If barrier is located at outside road, barrier is not marked to barrier map
On；
Whether disturbance in judgement object is kept in motion, if barrier is kept in motion, barrier is not marked to obstacle
On object map；It, will be on barrier mark to barrier map if barrier remains static；
Host carries out control operation according to barrier map, and barrier map is shared to slave；
Slave carries out control operation according to the barrier map that host is shared.In general, in fleet, as team leader,
As host, position is usually to be in the forefront of fleet, and in ride, it is inevasible can be in the Lu Shangcun of traveling
In some barriers, in the present solution, host can in advance detect barrier, and updates and arrive barrier map, and send
To slave, the obstruction that barrier rides to fleet can be reduced in this way, it is also possible to save the operation money of slave processor
Source avoids computing repeatedly.
Embodiment two:
Fig. 2 is a kind of control system of electrodynamic balance vehicle of the invention, which has used any disclosure of the invention
Control method, which includes:
Electrodynamic balance vehicle ontology 1 and corresponding control bracelet 2；
And it is wirelessly connected to electrodynamic balance vehicle ontology 1 and controls the controlling terminal 3 of bracelet 2；
For controlling terminal 3 for controlling at least two electrodynamic balance vehicles and corresponding control bracelet, establishing becomes a group
Group, and one of electrodynamic balance vehicle and corresponding control bracelet are set as host, remaining is slave；
Host is sent to slave when carrying out predetermined registration operation, by corresponding operation information；
Slave carries out control operation according to operation information.
The controlling terminal 3 can be the terminals such as mobile phone, plate, computer.
The beneficial effects of the present invention are: the present invention is in the present solution, by controlling terminal to electrodynamic balance vehicle in control bracelet
Group is established, host and slave are set, host carries out predetermined registration operation, operation information can be sent to slave, thus certain
Command and control are carried out to slave in degree, in this way, team leader is without the frequent feelings for later observing fleet when fleet rides
Condition can carry out commander to a certain extent to fleet, improve the efficiency of commander, decrease a possibility that causing danger,
For solving the problems, such as to ride command inconvenience and safety is very helpful.
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 (7)
1. a kind of control method of electrodynamic balance vehicle, it is characterized in that: comprising steps of
A group is established, includes at least two electrodynamic balance vehicles and corresponding control bracelet in group；
One of electrodynamic balance vehicle and corresponding control bracelet are set as host, remaining is slave；
Host is sent to slave when carrying out predetermined registration operation, by corresponding operation information；
Slave carries out control operation according to operation information；
The predetermined registration operation is steering operation, and the operation information includes speed change information: slave is carried out according to the speed change information
Control speed change；
The speed change information includes control gear-shift command or prompt gear-shift command；
The control gear-shift command follows host to carry out control speed change for controlling slave；
The prompt gear-shift command is used to prompt the speed change situation of host, so that the slave in group refers to the speed change situation of host
Carry out control speed change；
Whether the height of host decision height detection waistband changes, if the height of height detection waistband reduces, and reduced amplitude
More than preset threshold, then balance car accelerates, and corresponding control assisted instruction or prompt assisted instruction are sent to slave；
If the height of height detection waistband improves, and the amplitude improved is more than preset threshold, then balance car slows down, and will be corresponding
Control deceleration instruction or prompt deceleration instruction are sent to slave.
2. the control method of electrodynamic balance vehicle as described in claim 1, it is characterized in that: the predetermined registration operation is steering operation,
The operation information includes direction information, and slave carries out control steering according to the direction information.
3. the control method of electrodynamic balance vehicle as claimed in claim 2, it is characterized in that: the direction information is that control steering refers to
It enables or reminding turning instructs；
The control steering order follows host to carry out control steering for controlling slave；
The reminding turning instruction, for prompting the steering direction of host, so that the slave in group refers to the steering side of host
To carrying out control steering.
4. the control method of electrodynamic balance vehicle as claimed in claim 3, it is characterized in that:
The height of host judgement control bracelet；
If controlling the height of bracelet in preset altitude range, the rotation direction of control bracelet is detected；
The corresponding balance car of host carries out control steering according to the rotation direction of control bracelet, and by corresponding control steering order
Or reminding turning instruction is sent to slave.
5. the control method of the electrodynamic balance vehicle as described in claim 2-4 is any, it is characterized in that: being provided on the bracelet aobvious
Show device or speech player；
The display is for showing the direction information or speed change information；
The speech player is for playing the direction information or speed change information；
The display or speech player can be also used for the wireless telecommunications between host and slave.
6. the control method of the electrodynamic balance vehicle as described in claim 2-4 is any, it is characterized in that:
The height of front article in the traveling of Host Detection balance car；
If article beyond preset value, is identified as barrier and controls balance car to slow down by the height of article；
The image of barrier is acquired, cognitive disorders object characteristic of networking determines travelling route according to barrier characteristic；
Barrier roadblock coordinate is marked in the course of travel, forms barrier map；
By barrier map in conjunction with road-map, whether disturbance in judgement object is located on road, will if barrier is located on road
On barrier mark to barrier map；If barrier is located at outside road, barrier is not marked onto barrier map；
Whether disturbance in judgement object is kept in motion, if barrier is kept in motion, not with arriving barrier by barrier mark
On figure；It, will be on barrier mark to barrier map if barrier remains static；
Host carries out control operation according to barrier map, and barrier map is shared to slave；
Slave carries out control operation according to the barrier map that host is shared.
7. a kind of control system of the electrodynamic balance vehicle using the control method as described in claim 1-6 is any, it is characterized in that:
Include:
Electrodynamic balance vehicle ontology and corresponding control bracelet；
And it is wirelessly connected to the electrodynamic balance vehicle ontology and controls the controlling terminal of bracelet；
For the controlling terminal for controlling at least two electrodynamic balance vehicles and corresponding control bracelet, establishing becomes a group
Group, and one of electrodynamic balance vehicle and corresponding control bracelet are set as host, remaining is slave；
Host is sent to slave when carrying out predetermined registration operation, by corresponding operation information；
Slave carries out control operation according to operation information；
The predetermined registration operation is steering operation, and the operation information includes speed change information: slave is carried out according to the speed change information
Control speed change；
The speed change information includes control gear-shift command or prompt gear-shift command；
The control gear-shift command follows host to carry out control speed change for controlling slave；
The prompt gear-shift command is used to prompt the speed change situation of host, so that the slave in group refers to the speed change situation of host
Carry out control speed change；
Whether the height of host decision height detection waistband changes, if the height of height detection waistband reduces, and reduced amplitude
More than preset threshold, then balance car accelerates, and corresponding control assisted instruction or prompt assisted instruction are sent to slave；
If the height of height detection waistband improves, and the amplitude improved is more than preset threshold, then balance car slows down, and will be corresponding
Control deceleration instruction or prompt deceleration instruction are sent to slave.
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| CN201610436600.1A CN105911997B (en) | 2016-06-17 | 2016-06-17 | A kind of control method and control system of electrodynamic balance vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610436600.1A CN105911997B (en) | 2016-06-17 | 2016-06-17 | A kind of control method and control system of electrodynamic balance vehicle |
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| CN105911997A CN105911997A (en) | 2016-08-31 |
| CN105911997B true CN105911997B (en) | 2019-11-29 |
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| WO2017214965A1 (en) * | 2016-06-17 | 2017-12-21 | 尚艳燕 | Control method and control system for balancing vehicle |
| WO2017214966A1 (en) * | 2016-06-17 | 2017-12-21 | 尚艳燕 | Control method and control system for electric balancing vehicle |
| CN106647743A (en) * | 2016-10-26 | 2017-05-10 | 纳恩博（北京）科技有限公司 | Control method of electronic device and electronic device |
| CN108121341B (en) * | 2017-10-31 | 2021-04-16 | 深圳市博鑫创科科技有限公司 | Automatic parking method and system for balance car fleet |
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