CN106347545A - Balance car control method based on human-computer interaction - Google Patents
Balance car control method based on human-computer interaction Download PDFInfo
- Publication number
- CN106347545A CN106347545A CN201610800411.8A CN201610800411A CN106347545A CN 106347545 A CN106347545 A CN 106347545A CN 201610800411 A CN201610800411 A CN 201610800411A CN 106347545 A CN106347545 A CN 106347545A
- Authority
- CN
- China
- Prior art keywords
- action
- sensor
- hammer action
- balance car
- hammer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
- B62K1/00—Unicycles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electrophonic Musical Instruments (AREA)
Abstract
The invention discloses a balance car control method based on human-computer interaction. Compared with the prior art, a motion sensor and a vibration sensor are used for detecting a knocking motion and vibration frequency of an automobile, and generating and outputting motion data and vibration data matched with the knocking motion and the vibration frequency; a controller analyzes the motion data to obtain the type of the knocking motion and the section of the vibration frequency, and a corresponding human-computer interaction function is enabled according to the type of the knocking motion and the section of the vibration frequency; when the abundant human-computer interaction function is achieved, no automobile structural design difficulty needs to be added, and the appearance of the whole automobile cannot be affected.
Description
Technical field
The present invention relates to a kind of balance car control method, specifically a kind of balance car control method based on man-machine interaction,
Belong to balance car control technology field.
Background technology
At this stage, occur in that dynamic balancing car on the market, be configured with balance control system to realize car in this dynamic balancing car
Balance in running controls.At present, the dynamic balancing car owner occurring on the market will include two-wheeled balance car and single wheel balance
Car.For two-wheeled balance car, due to having two wheels in left and right, there are two contact points with ground so that left-right balance holds
Easy to control, therefore balance controls and is mainly anterior-posterior balance control.For single-wheel balance car, due to only one of which wheel, with
Ground only one of which contact point, therefore, its balance control mechanism is complex.Such as, in current single wheel balance car controls,
Realize the anterior-posterior balance of car body by integrated balance control system in car body and motor driven systems, user relies on wheel
Leg plate on the pedal and vehicle enclosure of both sides is keeping the left-right balance of vehicle.In terms of man-machine interaction, either two
Wheel balance car or single-wheel balance car, are generally only configured with a switching on and shutting down button.And in order to keep the compact of body construction, with
This in order to increase the rich of man-machine interaction, is generally configured with a control panel simultaneously.By increasing on this control panel
Multiple buttons realize abundant man-machine interaction.But, based on the consideration of the compact aspect of complete vehicle structure, control panel can be arranged
Button also has a upper limit.Therefore, human-computer interaction function is realized receiving certain limitation on balance car.This situation, single
Wheel balance car is more prominent with respect to two-wheeled balance car.For two-wheeled balance car, be typically equipped with one handle or
Lower limb control action bars, can by handle or lower limb control action bars on configure control panel, or directly handling or lower limb control
Button is increased on action bars.But this mode often affects the structure of car load, increase the difficulty of structure design it is possible to or
The performance of impact car load.
Content of the invention
The problem existing for above-mentioned prior art, the present invention provides a kind of balance car controlling party based on man-machine interaction
Method, reduces the difficulty of Automobile structure design.
To achieve these goals, the present invention utilizes the action sensor and shaking sensor detecting hammer action to vehicle
And vibration frequency, and produce and export the action data mating with described hammer action and vibration frequency and vibration data；Institute
The controller stated is analyzed to described action data obtaining the type of described hammer action and the interval of vibration frequency, according to
The interval of the type of hammer action and vibration frequency executes corresponding human-computer interaction function.
Further, including sensor and controller, described sensor is used for the hammer action to vehicle for the detecting, and produce and
Export the action data mating with described hammer action；Described controller is used for described action data is analyzed described in acquisition
The type of hammer action, the type according to hammer action executes corresponding human-computer interaction function.
Further, sensor detecting includes to the hammer action of vehicle: by sensor detecting pair existing in control system
The hammer action of vehicle；Or by the hammer action to vehicle independent of the sensor detecting increasing outside control system.
Further, described control system is located on the wheel of single-wheel balance car, is detectd by sensor existing in control system
Survey the hammer action to vehicle to include detecting the hammer action to described single-wheel balance car wheel；Or, described control system position
At the pedal of two-wheeled balance car, it is right the hammer action of vehicle to be included detect by sensor detecting existing in control system
The hammer action of described two-wheeled balance car pedal.
Further, described sensor includes gyroscope and/or acceleration transducer；Described controller is to described action data
Be analyzed including: the angular velocity to described gyroscope and/or the acceleration of described acceleration transducer are analyzed.
Further, acceleration transducer is 3-axis acceleration sensor, and the acceleration to described acceleration transducer divides
Analysis includes: the acceleration in three axial directions is carried out with size analysis, the maximum acceleration of acquired value.
Further, sensor includes microswitch and/or audio sensor, and described controller enters to described action data
Row analysis includes: the level signal of described microswitch output is analyzed and/or the sound to the output of described audio sensor
Frequency signal is analyzed.
Compared with prior art, the hammer action to vehicle and vibrations frequency are detected using action sensor and shaking sensor
Rate, and produce and export the action data mating with described hammer action and vibration frequency and vibration data；Described control
Device is analyzed to described action data obtaining the type of described hammer action and the interval of vibration frequency, according to hammer action
Type and the interval of vibration frequency execute corresponding human-computer interaction function, when realizing abundant human-computer interaction function, no
The difficulty of Automobile structure design need to be increased, any impact will not be produced on the external attractive in appearance of car load.
Specific embodiment
With reference to embodiment, the invention will be further described.
The present invention provides a kind of balance car control method based on man-machine interaction, and concrete grammar is as follows:
Detect the hammer action to vehicle and vibration frequency using action sensor and shaking sensor, and produce and export and institute
State hammer action and vibration frequency coupling action data and vibration data；Described controller is carried out to described action data
The analysis acquisition type of described hammer action and the interval of vibration frequency, the type according to hammer action and vibration frequency
The corresponding human-computer interaction function of interval execution.
Further, including sensor and controller, described sensor is used for the hammer action to vehicle for the detecting, and produce and
Export the action data mating with described hammer action；Described controller is used for described action data is analyzed described in acquisition
The type of hammer action, the type according to hammer action executes corresponding human-computer interaction function.
Further, sensor detecting includes to the hammer action of vehicle: by sensor detecting pair existing in control system
The hammer action of vehicle；Or by the hammer action to vehicle independent of the sensor detecting increasing outside control system.
Further, described control system is located on the wheel of single-wheel balance car, is detectd by sensor existing in control system
Survey the hammer action to vehicle to include detecting the hammer action to described single-wheel balance car wheel；Or, described control system position
At the pedal of two-wheeled balance car, it is right the hammer action of vehicle to be included detect by sensor detecting existing in control system
The hammer action of described two-wheeled balance car pedal.
Further, described sensor includes gyroscope and/or acceleration transducer；Described controller is to described action data
Be analyzed including: the angular velocity to described gyroscope and/or the acceleration of described acceleration transducer are analyzed.
Further, acceleration transducer is 3-axis acceleration sensor, and the acceleration to described acceleration transducer divides
Analysis includes: the acceleration in three axial directions is carried out with size analysis, the maximum acceleration of acquired value.
Further, sensor includes microswitch and/or audio sensor, and described controller enters to described action data
Row analysis includes: the level signal of described microswitch output is analyzed and/or the sound to the output of described audio sensor
Frequency signal is analyzed.
Compared with prior art, the hammer action to vehicle and vibrations frequency are detected using action sensor and shaking sensor
Rate, and produce and export the action data mating with described hammer action and vibration frequency and vibration data；Described control
Device is analyzed to described action data obtaining the type of described hammer action and the interval of vibration frequency, according to hammer action
Type and the interval of vibration frequency execute corresponding human-computer interaction function, when realizing abundant human-computer interaction function, no
The difficulty of Automobile structure design need to be increased, any impact will not be produced on the external attractive in appearance of car load.
Claims (7)
1. a kind of balance car control method based on man-machine interaction is it is characterised in that include:
Detect the hammer action to vehicle and vibration frequency using action sensor and shaking sensor, and produce and export and institute
State hammer action and vibration frequency coupling action data and vibration data；Described controller is carried out to described action data
The analysis acquisition type of described hammer action and the interval of vibration frequency, the type according to hammer action and vibration frequency
The corresponding human-computer interaction function of interval execution.
2. a kind of balance car control method based on man-machine interaction is it is characterised in that include sensor and controller, described sensing
Device is used for the hammer action to vehicle for the detecting, and produces and export the action data mating with described hammer action；Described control
Device is used for described action data is analyzed obtaining the type of described hammer action, executes correspondence according to the type of hammer action
Human-computer interaction function.
3. method according to claim 1 or a kind of balance car controlling party based on man-machine interaction described in claim 2
Method is it is characterised in that sensor detecting includes to the hammer action of vehicle: by sensor detecting existing in control system to car
Hammer action；Or by the hammer action to vehicle independent of the sensor detecting increasing outside control system.
4. method according to claim 3 or a kind of described balance car control method based on man-machine interaction, its feature
It is, described control system is located on the wheel of single-wheel balance car, by sensor detecting existing in control system to vehicle
Hammer action includes detecting the hammer action to described single-wheel balance car wheel；Or, described control system is located at two-wheeled and balances
At the pedal of car, detecting is included by sensor detecting existing in control system to the hammer action of vehicle described two-wheeled is put down
The hammer action of weighing apparatus car pedal.
5. method according to claim 1 or a kind of balance car controlling party based on man-machine interaction described in claim 2
Method is it is characterised in that described sensor includes gyroscope and/or acceleration transducer；Described controller is to described action data
Be analyzed including: the angular velocity to described gyroscope and/or the acceleration of described acceleration transducer are analyzed.
6. method according to claim 6 or a kind of described balance car control method based on man-machine interaction, its feature
It is, described acceleration transducer is 3-axis acceleration sensor, the acceleration analysis to described acceleration transducer includes:
Acceleration in three axial directions is carried out with size analysis, the maximum acceleration of acquired value.
7. a kind of balance car control method based on man-machine interaction according to claim 1 is it is characterised in that described sensing
Device includes microswitch and/or audio sensor, described controller described action data is analyzed including: to described micro-
The level signal of dynamic switch output is analyzed and/or the audio signal of described audio sensor output is analyzed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610800411.8A CN106347545A (en) | 2016-09-04 | 2016-09-04 | Balance car control method based on human-computer interaction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610800411.8A CN106347545A (en) | 2016-09-04 | 2016-09-04 | Balance car control method based on human-computer interaction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106347545A true CN106347545A (en) | 2017-01-25 |
Family
ID=57858932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610800411.8A Pending CN106347545A (en) | 2016-09-04 | 2016-09-04 | Balance car control method based on human-computer interaction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106347545A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147969A (en) * | 2020-01-22 | 2021-07-23 | 纳恩博（北京）科技有限公司 | Electric vehicle, control method thereof and storage medium |
| WO2022001603A1 (en) * | 2020-06-29 | 2022-01-06 | 纳恩博（常州）科技有限公司 | Vehicle control method and apparatus, vehicle, and computer storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130238231A1 (en) * | 2012-02-12 | 2013-09-12 | Shane Chen | Two-Wheel, Self-Balancing Vehicle With Independently Movable Foot Placement Sections |
| CN204223088U (en) * | 2014-09-26 | 2015-03-25 | 杭州云造科技有限公司 | A kind of self-balancing vehicle |
| CN104494752A (en) * | 2015-01-05 | 2015-04-08 | 纳恩博（天津）科技有限公司 | Dynamic balance car and human-machine interaction method |
| CN204415610U (en) * | 2015-02-05 | 2015-06-24 | 深圳市立宇体育用品有限公司 | A kind of body sense car |
| CN204998693U (en) * | 2015-10-08 | 2016-01-27 | 肖金城 | Novel electrodynamic balance swing car |
-
2016
- 2016-09-04 CN CN201610800411.8A patent/CN106347545A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130238231A1 (en) * | 2012-02-12 | 2013-09-12 | Shane Chen | Two-Wheel, Self-Balancing Vehicle With Independently Movable Foot Placement Sections |
| CN204223088U (en) * | 2014-09-26 | 2015-03-25 | 杭州云造科技有限公司 | A kind of self-balancing vehicle |
| CN104494752A (en) * | 2015-01-05 | 2015-04-08 | 纳恩博（天津）科技有限公司 | Dynamic balance car and human-machine interaction method |
| CN204415610U (en) * | 2015-02-05 | 2015-06-24 | 深圳市立宇体育用品有限公司 | A kind of body sense car |
| CN204998693U (en) * | 2015-10-08 | 2016-01-27 | 肖金城 | Novel electrodynamic balance swing car |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147969A (en) * | 2020-01-22 | 2021-07-23 | 纳恩博（北京）科技有限公司 | Electric vehicle, control method thereof and storage medium |
| WO2021147636A1 (en) * | 2020-01-22 | 2021-07-29 | 纳恩博（北京）科技有限公司 | Electric vehicle and control method and storage medium thereof |
| WO2022001603A1 (en) * | 2020-06-29 | 2022-01-06 | 纳恩博（常州）科技有限公司 | Vehicle control method and apparatus, vehicle, and computer storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2002084578A3 (en) | Tangential force control in a touch location device | |
| CN104494752B (en) | Dynamic balancing vehicle and its man-machine interaction method | |
| US20130042686A1 (en) | Inertia sensing apparatus | |
| WO2007016300A3 (en) | Magnetic crash sensor | |
| CN106347545A (en) | Balance car control method based on human-computer interaction | |
| WO2011022533A3 (en) | Effect generating device in response to user actions | |
| CN104773238B (en) | intelligent balance car | |
| US20200230649A1 (en) | Vibration provision system for providing real-time vibration according to frequency change and vibration provision method therefor | |
| JP2011060273A (en) | Portable type electronic device | |
| WO2004070392A3 (en) | Device for determining a value that is representative of accelerations as well as an ergometer | |
| CN105373002B (en) | Safety identification control method is carried out by Intelligent bracelet gravity sensor | |
| CN105259837B (en) | A kind of Intelligent bracelet control method of Remote gate control system | |
| CN105771280A (en) | Intelligent toy bar | |
| CN104083867B (en) | Intelligent toy based on mobile phone sensor and control method thereof | |
| CN105425660B (en) | The analysis that human body behavior judgement is carried out by inertial sensor matches method of work | |
| KR101313794B1 (en) | Robot education service apparatus | |
| US20080186169A1 (en) | Operation signal generation device | |
| CN105404182B (en) | Acceleration of gravity instrument obtains the method that directional information carries out behavioural analysis | |
| CN202459189U (en) | Blindman guide stick | |
| CN105477855A (en) | Body sense game control device and system capable of automatically starting calibration program | |
| CN105404801B (en) | Gravity sensor is controlled to carry out the system and method for identity security access registrar | |
| CN105389009B (en) | The control system and method for identification are carried out by gravity sensor | |
| GB2416419B (en) | Improvements in or relating to an arrangement for triggering a vehicle safety device | |
| CN205365279U (en) | Electrodynamic balance car with speech recognition function | |
| CN105259838B (en) | Acceleration transducer action trail control method based on car networking |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170125 |
|
| RJ01 | Rejection of invention patent application after publication |