CN106114704B - 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 PDFInfo
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- CN106114704B CN106114704B CN201610455575.1A CN201610455575A CN106114704B CN 106114704 B CN106114704 B CN 106114704B CN 201610455575 A CN201610455575 A CN 201610455575A CN 106114704 B CN106114704 B CN 106114704B
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- balance car
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- gravity
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000005484 gravity Effects 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 21
- 210000000707 wrist Anatomy 0.000 description 16
- 230000000694 effects Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 238000007665 sagging Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001755 vocal effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K21/00—Steering devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a kind of control method of balance car and control system, the control method is comprising steps of detect the rotation direction of the first bracelet and the second bracelet；If the rotation direction of the first bracelet and the second bracelet is consistent, balance car is turned to according to the rotation direction of the first bracelet and the second bracelet.The present invention makes user more convenient and effectively controls the balance car that balance car is turned to.
Description
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
Detect the rotation direction of the first bracelet and the second bracelet；
If the rotation direction of the first bracelet and the second bracelet is consistent, balance car turns according to the first bracelet and the second bracelet
Dynamic direction is turned to.
Further, when the rotation direction of the first bracelet and the second bracelet is clockwise, control balance car is turned right；When
When the rotation direction of first bracelet and the second bracelet is counterclockwise, control balance car turns left.It is corresponding clockwise to turn right, counterclockwise
Corresponding left-hand rotation, for normal person, more conducively operates；Certainly, setting corresponding left-hand rotation counterclockwise, and correspond to turn right counterclockwise
It is possible, corresponding relationship is provided with by preparatory, can satisfy the use habit of more people.
Further, there are threshold values for the judgement of the rotation direction of the first bracelet and the second bracelet, when the first bracelet and second
When the amplitude that bracelet rotates clockwise is more than threshold value, determine that the rotation direction of bracelet is clockwise just now；When first
When the amplitude that bracelet and second-hand's circumferential direction rotate in an anti-clockwise direction is more than threshold value, determine that the rotation direction of bracelet is the inverse time just now
Needle.When using balance car, inevitable body can be shaken user, in the present solution, setting the rotation direction of bracelet
Threshold value, i.e., in the present solution, balance car just will do it when necessary first bracelet and the second bracelet are with turning to, and being more than threshold value
The case where course changing control of effect has gone up the insurance of the double-deck maloperation, reduced maloperation generation.
Further, it is described detection the first bracelet and the second bracelet rotation direction the step of before further comprise the steps of:
Judge the height of the first bracelet；
If the height of the first bracelet and the second bracelet in preset altitude range, detects the first bracelet and second-hand
The rotation direction of ring.In the present solution, the first bracelet and the second bracelet must can just trigger steering control in preset altitude range
System, this is because people easily causes maloperation since balance is poor sometimes, such as when holding arm high, the present invention
Preset altitude range is set, the generation of maloperation can be preferably reduced, make better use of the operability of wrist.
Further, the preset altitude range: the height of the first bracelet and the second 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；
Whether center of gravity or height change is determined by second threshold, when balance car detects that the center of gravity of user or height are examined
When surveying the amplitude of the height reduction of waistband more than second threshold, determine that center of gravity or height reduce, balance car acceleration；Work as balance car
The amplitude for detecting that the height of the center of gravity of user perhaps height detection waistband improves determine when being more than second threshold center of gravity or
Height improves, and balance car slows down.When using balance car, if balance car fast speed, can bend over and slightly squat down into
Row balance 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
When, balance car is then accelerated, and the control of balance car is conducive to；.For user in use balance car, impossible one one-tenth of posture is not
Become, setting second threshold can reduce the case where accidentally accelerating and accidentally slowing down.
Further, establish a group, one group of first bracelet and the second bracelet set in group as main machine, other be from
Machine；
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；
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.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, setting host and slave,
The Steering that slave can be controlled to a certain extent by host has the command inconvenience that solves the problems, such as to ride very big
It helps；Certainly, which can not also be turned to according to the control of host, and only receive the direction information of host, and by
The user of slave voluntarily controls steering；Can be set on each bracelet it is a kind of stopping follow button, in this way, in host and slave
Between exist and turn to inconsistent or distance farther out, be not suitable for when turning to together, blindly host can be followed to carry out to avoid slave
The case where course changing control, occurs.
Further, the rotational angle of the first bracelet and the second bracelet is bigger, then the corresponding steering angle of balance car is bigger.
This programme allows user to the more fine control of progress is turned to, and improves the operating experience of user.Specifically, rotational angle
30 degree of -90 degree can be taken；And steering angle can take 10 degree of -360 degree；It can smoothly correspond to, be also possible to pair of multiple gears
It answers.
Further, the rotational angle of the first bracelet and the second bracelet takes the flat of the first bracelet and the second bracelet rotational angle
Mean value.When the first bracelet and inconsistent the second bracelet rotational angle, being averaged preferably to be turned to balance car
Control.
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 first bracelet and the second bracelet that are wirelessly connected with balance car ontology；
The balance car ontology carries out control steering according to the rotation direction of first bracelet and the second bracelet.
The beneficial effects of the present invention are: being carried out since the bracelet that can be worn at user's wrist used carrys out complex equilibrium vehicle
Course changing control, thus given full play to that wrist rotation is flexible, handling good advantage, so that the course changing control of balance car is more square
Just efficient, also, handrail is eliminated due to using bracelet, preponderance and the occupied space for avoiding balance car are excessive
Problem；In addition, leg can be absorbed in the balance control of balance car, and wrist is then used for turning for balance car since trick separates
To control, the control mode for reducing the prior art may cause the overstretched and tired problem in leg, improve balance car
Safety in utilization；Furthermore since, user is when using balance car, body and hands wrist shakes unavoidably, and bracelet of the invention includes the
When one bracelet and the second bracelet, only the first bracelet and the second bracelet are with the effective control turned to, balance car just will do it control
System turns to, and avoids the generation of maloperation.
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, repairs this and be 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, comprising steps of
S1: the rotation direction of detection the first bracelet and the second bracelet；
S2: if the rotation direction of the first bracelet and the second bracelet is consistent, balance car is according to the first bracelet and the second bracelet
Rotation direction turned to.
The beneficial effects of the present invention are: being carried out since the bracelet that can be worn at user's wrist used carrys out complex equilibrium vehicle
Course changing control, thus given full play to that wrist rotation is flexible, handling good advantage, so that the course changing control of balance car is more square
Just efficient, also, handrail is eliminated due to using bracelet, preponderance and the occupied space for avoiding balance car are excessive
Problem；In addition, leg can be absorbed in the balance control of balance car, and wrist is then used for turning for balance car since trick separates
To control, the control mode for reducing the prior art may cause the overstretched and tired problem in leg, improve balance car
Safety in utilization；Furthermore since, user is when using balance car, body and hands wrist shakes unavoidably, and bracelet of the invention includes the
When one bracelet and the second bracelet, only the first bracelet and the second bracelet are with the effective control turned to, balance car just will do it control
System turns to, and avoids the generation of maloperation.
The present embodiment is preferred, when the rotation direction of the first bracelet and the second bracelet is clockwise, controls balance car
It turns right；When the rotation direction of the first bracelet and the second bracelet is counterclockwise, control balance car turns left.It is corresponding right clockwise
Turn, corresponding left-hand rotation, for normal person, more conducively operates counterclockwise；Certainly, setting corresponding left-hand rotation counterclockwise, and it is counterclockwise
Corresponding right-hand rotation is also possible, and corresponding relationship is 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 the first bracelet and the second bracelet, when the first bracelet
When being more than threshold value with the amplitude of second-hand's circumferential direction rotationally clockwise, determine that the rotation direction of bracelet is clockwise just now；
When the amplitude that the first bracelet and second-hand's circumferential direction rotate in an anti-clockwise direction is more than threshold value, the rotation direction of bracelet is determined just now
It is counterclockwise.When using balance car, inevitable body can be shaken user, in the present solution, setting turning for bracelet
Dynamic direction threshold value, i.e., in the present solution, when necessary first bracelet and the second bracelet are with turning to, and being more than threshold value, balance car just meeting
The case where carrying out effective course changing control, having gone up the insurance of the double-deck maloperation, reduced maloperation generation.
The present embodiment is preferred, further includes step before the step of detecting the rotation direction of the first bracelet and the second bracelet
It is rapid:
Judge the height of the first bracelet；
If the height of the first bracelet and the second bracelet in preset altitude range, detects the first bracelet and second-hand
The rotation direction of ring.In the present solution, the first bracelet and the second bracelet must can just trigger steering control in preset altitude range
System, this is because people easily causes maloperation since balance is poor sometimes, such as when holding arm high, the present invention
Preset altitude range is set, the generation of maloperation can be preferably reduced, make better use of the operability of wrist.
The present embodiment is preferred, preset altitude range: the height of the first bracelet and the second bracelet relative equilibrium vehicle is
80CM to 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；
Whether center of gravity or height change is determined by second threshold, when balance car detects that the center of gravity of user or height are examined
When surveying the amplitude of the height reduction of waistband more than second threshold, determine that center of gravity or height reduce, balance car acceleration；Work as balance car
The amplitude for detecting that the height of the center of gravity of user perhaps height detection waistband improves determine when being more than second threshold center of gravity or
Height improves, and balance car slows down.When using balance car, if balance car fast speed, can bend over and slightly squat down into
Row balance 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
When, balance car is then accelerated, and the control of balance car is conducive to；.For user in use balance car, impossible one one-tenth of posture is not
Become, setting second threshold can reduce the case where accidentally accelerating and accidentally slowing down.It is provided in the height detection waistband for examining
Survey the sensor of waistband height.
The present embodiment is preferred, establishes a group, one group of first bracelet and the second bracelet is set in group as main machine,
He is 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；
When slave detects that stopping follows instruction, then the instruction not further according to host bracelet is turned 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.Nowadays, various activities of riding gradually increase, and the activity of riding of balance car also occasionally occurs, if only by propagandaing directed to communicate
Etc. modes to carry out the commander of fleet be unpractical, in the present solution, setting host and slave by establishing group, can passing through
Host controls the Steering of slave to a certain extent, and for solving the problems, such as to ride, command inconvenience is very helpful；When
So, which can not also be turned to according to the control of host, and only receive the direction information of host, and by the use of slave
Family voluntarily controls steering；Can be set on each bracelet it is a kind of stopping follow button, in this way, existing between host and slave
It turns to inconsistent or distance farther out, when being not suitable for turning to together, blindly host can be followed to carry out course changing control to avoid slave
The case where occur.
The present embodiment is preferred, and the rotational angle of the first bracelet and the second bracelet is bigger, then the corresponding steering width of balance car
It spends bigger.This programme allows user to the more fine control of progress is turned to, and improves the operating experience of user.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.
The present embodiment is preferred, and the rotational angle of the first bracelet and the second bracelet takes the first bracelet and the second bracelet angle of rotation
The average value of degree.When the first bracelet and inconsistent the second bracelet rotational angle, be averaged can preferably to balance car into
Row course changing control.
Embodiment two:
Fig. 2 is a kind of schematic diagram of the control system of balance car of the present invention, which has used disclosed by the invention
Control method, the control system 100, including balance car ontology 1, and the first bracelet 2 being wirelessly connected with balance car ontology and the
Two bracelets 3；
Balance car ontology 1 carries out control steering according to the rotation direction of the first bracelet 2 and the second bracelet 3.
The beneficial effects of the present invention are: being carried out since the bracelet that can be worn at user's wrist used carrys out complex equilibrium vehicle
Course changing control, thus given full play to that wrist rotation is flexible, handling good advantage, so that the course changing control of balance car is more square
Just efficient, also, handrail is eliminated due to using bracelet, preponderance and the occupied space for avoiding balance car are excessive
Problem；In addition, leg can be absorbed in the balance control of balance car, and wrist is then used for turning for balance car since trick separates
To control, the control mode for reducing the prior art may cause the overstretched and tired problem in leg, improve balance car
Safety in utilization；Furthermore since, user is when using balance car, body and hands wrist shakes unavoidably, and bracelet of the invention includes the
When one bracelet and the second bracelet, only the first bracelet and the second bracelet are with the effective control turned to, balance car just will do it control
System turns to, and avoids the generation of maloperation.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
Need creative work can it is according to the present invention design make it is many repair should and change.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 balance car, it is characterized in that: comprising steps of
Detect the rotation direction of the first bracelet and the second bracelet；
If the rotation direction of the first bracelet and the second bracelet is consistent, balance car is according to the rotation side of the first bracelet and the second bracelet
To being turned to；
It is described detection the first bracelet and the second bracelet rotation direction the step of before further comprise the steps of:
Judge the height of the first bracelet；
If the height of the first bracelet and the second bracelet in preset altitude range, detects the first bracelet and the second bracelet
Rotation direction；
The preset altitude range: the height of the first bracelet and the second bracelet relative equilibrium vehicle is 80CM to 130CM；
Height detection sensor is provided in the 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；
Whether center of gravity or height change is determined by second threshold, when balance car detects the center of gravity or height detection waist of user
When the amplitude that the height of band reduces is more than second threshold, determine that center of gravity or height reduce, balance car accelerates；When balance car detects
The amplitude improved to the height of the center of gravity perhaps height detection waistband of user determines center of gravity or height when being more than second threshold
It 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 side of the first bracelet and the second bracelet
To be clockwise when, control balance car turn right；When the rotation direction of the first bracelet and the second 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: the rotation direction of the first bracelet and the second bracelet
Judgement there are threshold values to sentence just now when the amplitude of the first bracelet and second-hand's circumferential direction rotationally clockwise is more than threshold value
It is clockwise for determining the rotation direction of bracelet；When the amplitude that the first bracelet and second-hand's circumferential direction rotate in an anti-clockwise direction is more than threshold value
When, determine that the rotation direction of bracelet is counterclockwise just now.
4. the control method of balance car as described in claim 1 sets one group it is characterized in that: establishing a group in group
First bracelet and the second bracelet are main machine, other 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；
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.
5. the control method of balance car as described in claim 1, it is characterized in that: the rotational angle of the first bracelet and the second bracelet
Bigger, then the corresponding steering angle of balance car is bigger.
6. the control method of balance car as claimed in claim 5, it is characterized in that: the rotational angle of the first bracelet and the second bracelet
Take the average value of the first bracelet and the second bracelet rotational angle.
7. a kind of control system of the balance car using the control method as described in claim 1-6, it is characterized in that: including flat
Weigh vehicle ontology, and the first bracelet and the second bracelet that are wirelessly connected with balance car ontology；
The balance car ontology carries out control steering according to the rotation direction of first bracelet and the second bracelet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610455575.1A CN106114704B (en) | 2016-06-22 | 2016-06-22 | A kind of control method and control system of balance car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610455575.1A CN106114704B (en) | 2016-06-22 | 2016-06-22 | A kind of control method and control system of balance car |
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| Publication Number | Publication Date |
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| CN106114704A CN106114704A (en) | 2016-11-16 |
| CN106114704B true CN106114704B (en) | 2019-01-15 |
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| CN201610455575.1A Active CN106114704B (en) | 2016-06-22 | 2016-06-22 | A kind of control method and control system of balance car |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017219262A1 (en) * | 2016-06-22 | 2017-12-28 | 尚艳燕 | Control method and control system for balance vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105094287A (en) * | 2014-04-15 | 2015-11-25 | 联想(北京)有限公司 | Information processing method and electronic device |
| CN205113575U (en) * | 2015-10-10 | 2016-03-30 | 长沙学院 | Two -wheeled self -balancing car based on outside intelligent device APP control |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8800697B2 (en) * | 2009-09-01 | 2014-08-12 | Ryno Motors, Inc. | Electric-powered self-balancing unicycle with steering linkage between handlebars and wheel forks |
-
2016
- 2016-06-22 CN CN201610455575.1A patent/CN106114704B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105094287A (en) * | 2014-04-15 | 2015-11-25 | 联想(北京)有限公司 | Information processing method and electronic device |
| CN104353236A (en) * | 2014-11-14 | 2015-02-18 | 上海斐讯数据通信技术有限公司 | Driving bracelet and driving instruction system for application of driving bracelet |
| CN205113575U (en) * | 2015-10-10 | 2016-03-30 | 长沙学院 | Two -wheeled self -balancing car based on outside intelligent device APP control |
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| CN106114704A (en) | 2016-11-16 |
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