CN108100132B - Driving balance method for balance vehicle - Google Patents
Driving balance method for balance vehicle Download PDFInfo
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- CN108100132B CN108100132B CN201711090182.6A CN201711090182A CN108100132B CN 108100132 B CN108100132 B CN 108100132B CN 201711090182 A CN201711090182 A CN 201711090182A CN 108100132 B CN108100132 B CN 108100132B
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- 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
- B62K15/00—Collapsible or foldable cycles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- 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
- B62K2204/00—Adaptations for driving cycles by electric motor
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Abstract
The invention discloses a driving balance method of a balance car, which is characterized in that the balance car comprises a first car body and a second car body, wherein a driving mechanism is arranged on the first car body or the second car body, and a first driving wheel which is driven independently is arranged on the first car body; two second driving wheels which are independently driven are installed on the second vehicle body, the first vehicle body is installed at the middle position of the second vehicle body, and the first vehicle body can extend and contract relative to the second vehicle body through a telescopic mechanism, and the method comprises the following steps: acquiring driving parameters of the balance car; judging whether the driving parameters meet a first preset condition or not; if driving parameter satisfies first preset condition, then drive first automobile body and stretch out, guarantee balance car driver's safety that can be very good, can both can go unusual stability under the fast speed by the balance car, make things convenient for the house of balance car and control, further reduction driver's driving risk.
Description
Technical Field
The invention relates to the field of balance cars, in particular to a driving balance method of a balance car.
Background
The operation principle of the electric balance vehicle, also called a somatosensory vehicle and a thinking vehicle, is mainly based on a basic principle called dynamic stability, a gyroscope and an acceleration sensor in the vehicle body are utilized to detect the change of the posture of the vehicle body, and a servo control system is utilized to accurately drive a motor to perform corresponding adjustment so as to keep the balance of the system.
The current popular balance car is high in running speed, a driver leans forward and leans backward to keep balance when the balance car runs on an uphill road condition or in an acceleration driving mode of the balance car at the high speed, and the driver leans backward to keep balance when the balance car runs on a downhill road condition or in a deceleration braking mode of the balance car, and the driver is very easy to cause driving accident risks when the driver keeps the forward or backward posture on the balance car at the high speed.
In view of the above, there is a need for a solution to this problem.
Disclosure of Invention
The invention aims to provide a balance vehicle running balancing method for effectively reducing driving risks.
The purpose of the invention is realized by the following technical scheme:
a driving balance method of a balance car comprises a first car body and a second car body, wherein a driving mechanism is arranged on the first car body or the second car body, and a first driving wheel which is driven independently is arranged on the first car body; two second driving wheels which are independently driven are installed on the second vehicle body, the first vehicle body is installed at the middle position of the second vehicle body, and the first vehicle body can extend and contract relative to the second vehicle body through a telescopic mechanism, and the method comprises the following steps:
acquiring driving parameters of the balance car;
judging whether the driving parameters meet a first preset condition or not;
and if the driving parameters meet the first preset condition, driving the first vehicle body to extend out.
Preferably, the driving parameters include angle parameters and duration parameters, the angle parameters include angle information of a front rake angle or a rear elevation angle of a driver in the driving process of the balance car, and the duration parameters are duration information of the angle parameters in the driving process of the balance car; if the driving parameters meet a first preset condition, the method for driving the first vehicle body to extend out comprises the following steps:
and if the angle parameter is greater than or equal to the preset angle threshold value and the duration parameter is greater than or equal to the preset time threshold value, driving the first vehicle body to extend out.
Preferably, the driving parameters comprise road condition parameters, and the road condition parameters comprise an uphill road condition, a downhill road condition or a flat road condition; if the driving parameters meet a first preset condition, the method for driving the first vehicle body to extend out comprises the following steps:
and if the road condition parameter is an uphill road condition or a downhill road condition, driving the first vehicle body to extend out.
Preferably, the driving parameters include an altitude parameter, and the altitude parameter is change information of the altitude in unit time; if the driving parameters meet a first preset condition, the method for driving the first vehicle body to extend out comprises the following steps:
and if the altitude parameter is altitude rise or altitude fall, driving the first vehicle body to extend out.
Preferably, the driving of the first vehicle body to extend includes the steps of:
acquiring the running speed of a second vehicle body;
the first drive wheel is controlled to accelerate in accordance with the running speed, so that the first vehicle body runs forward relative to the second vehicle body.
Preferably, the method further comprises:
acquiring driving parameters of balance vehicle balance driving under the condition that the first vehicle body extends out;
judging whether the driving parameters meet a second preset condition or not;
and if the driving parameters meet a second preset condition, driving the first vehicle body to contract.
Preferably, the driving parameters include an angle parameter and a continuous parameter, and if the driving parameters satisfy a second preset condition, the method for driving the first vehicle body to contract includes:
and if the angle parameter is smaller than the preset angle threshold value and the duration parameter is greater than or equal to the preset time threshold value, driving the first vehicle body to contract.
Preferably, the driving parameters include road condition parameters, and if the driving parameters satisfy a second preset condition, the method for driving the first vehicle body to contract includes:
and if the road condition parameter is a flat road condition, driving the first vehicle body to contract.
Preferably, the driving parameter is a state parameter, the state parameter is that the balance car is in a driving state or in a static state, and if the driving parameter meets a second preset condition, the method for driving the first car body to contract comprises the following steps:
and if the state parameter is in a static state, driving the first vehicle body to contract.
Preferably, the driving the first vehicle body to contract comprises the steps of:
acquiring the running speed of a second vehicle body;
and controlling the first vehicle body to decelerate according to the running speed, so that the first vehicle body is reset to the middle position of the second vehicle body, and a three-wheel coaxial line state is formed.
By adopting the method, the safety of a driver of the balance car can be well ensured, the balance car can run very stably at a higher speed, and the balance car is convenient for a family and control; under the condition of complex road conditions, the tendency of forward tilting or backward tilting of a driver can be effectively balanced, so that the driver keeps a stable posture to carry out driving operation, the driver can more stably and more leisurely cope with emergency situations, and the occurrence of dangerous situations can be effectively avoided; the driving state of the balance car is more stable, and the forward-leaning or backward-leaning posture of a driver can be effectively balanced, so that the driving safety of the driver is better ensured, and the driving risk of the driver is further reduced.
Drawings
FIG. 1 is a logic diagram of a driving balance method of a balance car according to an embodiment of the invention;
FIG. 2 is a schematic structural view of a first vehicle body of the balance vehicle according to the embodiment of the invention in a contracted state;
fig. 3 is a schematic structural view of a first vehicle body extending state of the balance vehicle according to the embodiment of the invention.
Wherein: 1. the vehicle comprises a first vehicle body 11, a first driving wheel 2, a second vehicle body 21, a second driving wheel 3 and a telescopic mechanism.
Detailed Description
Specific structural and functional details disclosed herein are merely representative and are provided for purposes of describing example embodiments of the present invention. The present invention may, however, be embodied in many alternate forms and should not be construed as limited to only the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "center", "lateral", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified. Furthermore, the term "comprises" and any variations thereof is intended to cover non-exclusive inclusions.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The invention is further described with reference to the drawings and the preferred embodiments.
As shown in fig. 1 to fig. 3, the embodiment discloses a driving balance method of a balance vehicle, the balance vehicle includes a first vehicle body 1 and a second vehicle body 2, a driving mechanism is disposed on the first vehicle body 1 or the second vehicle body 2, and a first driving wheel 11 which is independently driven is disposed on the first vehicle body 1; two second driving wheels 21 which are independently driven are installed on the second vehicle body 2, the first vehicle body 1 is installed at the middle position of the second vehicle body 2, and the first vehicle body 1 can extend and retract relative to the second vehicle body 2 through a telescopic mechanism 3, and the method comprises the following steps: acquiring driving parameters of the balance car; judging whether the driving parameters meet a first preset condition or not; and if the driving parameters meet the first preset condition, driving the first vehicle body 1 to extend out.
By adopting the method, the safety of a driver of the balance car can be well ensured, the balance car can run very stably at a higher speed, and the balance car is convenient for families and controls; under the condition of complex road conditions, the tendency of forward tilting or backward tilting of a driver can be effectively balanced, so that the driver keeps a stable posture to carry out driving operation, the driver can more stably and more leisurely cope with emergency situations, and the occurrence of dangerous situations can be effectively avoided; when the driver drives the balance car, the acquisition module that sets up on the balance car acquires the driving parameter under the driving state, satisfy first preset condition when the driving parameter who acquires, the first drive wheel 11 of independent drive who sets up on the control module control first automobile body 1 that sets up through setting up on the balance car, make first automobile body 1 stretch out, thereby two independent drive's second drive wheel 21 that install on first drive wheel 11 and the second automobile body 2 become the tricycle mode of traveling, three drive wheel is triangle-shaped's structural mode and travels, make the driving state of balance car more stable like this, can effectual balance driver's posture that leans forward or pitch backward, thereby better assurance driver's driving safety, further reduction driver's driving risk.
The driving parameters comprise angle parameters and continuous parameters, the angle parameters comprise angle information of a front rake angle or a rear elevation angle of a driver in the driving process of the balance car, and the continuous parameters are duration information of the angle parameters in the driving process of the balance car; if the driving parameters meet the first preset condition, the method for driving the first vehicle body 1 to extend out comprises the following steps: if the angle parameter is greater than or equal to the preset angle threshold and the duration parameter is greater than or equal to the preset time threshold, the first vehicle body 1 is driven to extend out. The method comprises the steps that angle information of a forward inclination angle or a backward inclination angle of a driver in a driving state of the balance car is continuously acquired in real time through an acquisition module, when an angle parameter is larger than or equal to a preset angle threshold value, a continuous parameter of the duration of the angle parameter larger than or equal to the preset angle threshold value is acquired, if the continuous parameter is larger than or equal to a preset time threshold value, a control module is used for controlling a first driving wheel 11, so that a first car body 1 extends out, the three driving wheels drive in a triangular structural mode, the driving state of the balance car is more stable, the forward inclination or backward inclination posture of the driver can be effectively balanced, the driving safety of the driver is better guaranteed, and the driving risk of the driver is further reduced; if the angle parameter is smaller than the preset angle threshold value, the condition that the driver is in the range with a safe front inclination angle or rear elevation angle is indicated, the safety of the driver can be well ensured due to the coaxial state of the three driving wheels, the electric energy can be better saved on the premise of ensuring the safe driving of the driver, and the balance car can keep better cruising ability, so that the better cruising distance of the balance car is ensured, and the efficient use of the balance car is more facilitated; when the angle parameter is greater than or equal to the preset angle threshold value, but the continuous parameter is less than the preset time threshold value, the condition that the driver is in a very short forward tilting or backward tilting state is indicated, the driver can adjust to a safer forward tilting or backward tilting posture under more practical conditions, and the driving safety of the driver is ensured.
The driving parameters comprise road condition parameters, and the road condition parameters comprise an uphill road condition, a downhill road condition or a flat road condition; if the driving parameters meet the first preset condition, the method for driving the first vehicle body 1 to extend out comprises the following steps: and if the road condition parameter is an uphill road condition or a downhill road condition, driving the first vehicle body 1 to extend. The road condition parameters under the driving state of the balance car are continuously acquired in real time through the acquisition module, and can be acquired according to a positioning device, map information and a driving route plan of a driver which are arranged in the balance car, when the balance car judges that the positioned place is in an uphill road condition or a downhill road condition on a map, the balance car can drive the first car body 1 to stretch out in advance according to the road condition parameters, so that the advance judgment and advance preparation are realized, the driving risk of the driver is better reduced, and the driving safety of the driver is better ensured; in the example, a small slope is required to pass through in the driving route planning of the driver, when the positioning device is positioned to a distance of 10 meters from the small slope, the first vehicle body 1 is driven to extend out, and when the balance vehicle reaches the small slope, the three driving wheels are in a triangular structural mode to drive, so that the driving risk of the driver is well reduced, and the driving safety of the driver is better ensured.
The driving parameters comprise an altitude parameter which is the variation information of the altitude in unit time; if the driving parameters meet the first preset condition, the method for driving the first vehicle body 1 to extend out comprises the following steps: if the altitude parameter is altitude rise or altitude fall, the first vehicle body 1 is driven to extend. The altitude information of the balance vehicle in the running state is continuously acquired in real time through the acquisition module, the altitude parameter is formed according to the change information of the altitude in unit time, and if the altitude parameter is altitude rise or altitude fall, the first vehicle body 1 can be controlled and driven to stretch out better in combination with the angle parameter of the driver, so that the driving safety of the driver is better ensured, and the driving risk of the driver is further reduced; when the balance car is in a static state, and the altitude parameter is altitude rise or altitude fall, the state of the coaxial lines of the three driving wheels is kept, electric energy is better saved, and the balance car can keep better cruising ability.
The step of extending the first vehicle body 1 includes: acquiring the running speed of the second vehicle body 2; the first drive wheels 11 are controlled to accelerate according to the running speed so that the first vehicle body 1 runs forward relative to the second vehicle body 2. The running speeds of the two independently driven second driving wheels 21 on the second vehicle body 2 are continuously obtained in real time through the obtaining module, the control module controls the driving mechanism to enable the speed of the independently driven first driving wheel 11 on the first vehicle body 1 to be larger than the running speeds of the two independently driven second driving wheels 21 on the second vehicle body 2, the first driving wheel 11 runs forwards, and therefore the first driving wheel 11 and the two second driving wheels 21 form a three-wheel running mode, and a triangular balance state that the first driving wheel 11 runs in a rear triangular balance state of the two front second driving wheels 21 is formed; the driving mechanism can also be controlled to enable the first driving wheel 11 to keep running at a constant speed, and the running speed of the two independently driven second driving wheels 21 is reduced, so that the first driving wheel 11 and the two second driving wheels 21 are in a three-wheel running mode, and a triangular balance state that the first driving wheel 11 runs at the back of the two front second driving wheels 21 is formed; of course, the control module may control the driving mechanism to make the speed of the first driving wheel 11 independently driven on the first vehicle body 1 lower than the running speed of the two second driving wheels 21 independently driven on the second vehicle body 2, so that the first driving wheel 11 runs backward, and thus the first driving wheel 11 and the two second driving wheels 21 are in a three-wheel running mode, and the two second driving wheels 21 run in a triangular balance state in which the first driving wheel 11 is in front of and behind.
The method further comprises the following steps: under the condition that the first vehicle body 1 extends out, obtaining driving parameters of balance vehicle balance driving; judging whether the driving parameters meet a second preset condition or not; and if the driving parameters meet a second preset condition, driving the first vehicle body 1 to contract. Under the condition that first automobile body 1 stretches out, when the driver drives the operation to the balance car, the acquisition module that sets up on the balance car is real-time and continuously acquires the driving parameter under the driving state, satisfy the second and predetermine the condition when the driving parameter who acquires, reset first automobile body 1 to the intermediate position of second automobile body 2, form the state of tricycle coaxial line, can be very good reset first automobile body 1 to the intermediate position of second automobile body 2, form the state of tricycle coaxial line, better under the prerequisite of guaranteeing driver safe driving protect first automobile body 1, and the volume of reduction balance car that can be fine, guarantee the good passing performance of balance car.
The driving parameters comprise angle parameters and continuous parameters, and if the driving parameters meet a second preset condition, the method for driving the first vehicle body 1 to contract comprises the following steps: and if the angle parameter is smaller than the preset angle threshold and the duration parameter is greater than or equal to the preset time threshold, driving the first vehicle body 1 to contract. Under the condition that first automobile body 1 stretches out, in real time and continuously acquire the angle information of the angle of anteversion or the angle of retroversion of driver under the balance car driving state through the acquisition module, when the angle parameter is less than predetermineeing the angle threshold value, acquire the duration parameter of the duration of the angle parameter that is less than predetermineeing the angle threshold value, if the duration parameter is greater than or equal to predetermined time threshold value, then control first drive wheel 11 through control module, reset first automobile body 1 to the intermediate position of second automobile body 2, form the state of tricycle coaxial line, better protecting first automobile body 1 under the prerequisite of guaranteeing driver safe driving, and the volume of reduction balance car that can be fine, guarantee the good trafficability characteristic of balance car.
The driving parameters comprise road condition parameters, and if the driving parameters meet a second preset condition, the method for driving the first vehicle body 1 to contract comprises the following steps: if the road condition parameter is a flat road condition, the first vehicle body 1 is driven to contract. Under the condition that the first vehicle body 1 extends out, the road condition parameters under the driving state of the balance vehicle are continuously acquired in real time through the acquisition module, and can be acquired according to a positioning device, map information and a driving route plan of a driver which are arranged in the balance vehicle; according to the example, a driver needs to pass through a flat road section at one end in the driving route planning, when the positioning device is positioned to be 2 meters away from the flat road section, the first vehicle body 1 is driven to shrink, when the balance car reaches the flat road section, the first vehicle body 1 is just reset to the middle position of the second vehicle body 2, the hook is used for better pre-judging in advance, the first vehicle body 1 can be timely retracted, and the balance car has better controllability and good passing capacity.
The driving parameter is a state parameter, the state parameter is that the balance car is in a driving state or in a static state, and if the driving parameter meets a second preset condition, the method for driving the first car body 1 to contract comprises the following steps: if the state parameter is the stationary state, the first vehicle body 1 is driven to contract. Under the condition that first automobile body 1 stretches out, have more the state parameter and judge that the vehicle is quiescent condition, then control first drive wheel 11 through control module, reset first automobile body 1 to the intermediate position of second automobile body 2, form the state of tricycle coaxial line, the volume of reduction balance car that can be better is favorable to the balance car conveniently to carry and transport, makes things convenient for driver's carrying more.
The driving of the first vehicle body 1 to contract includes the steps of: acquiring the running speed of the second vehicle body 2; and controlling the first vehicle body 1 to decelerate according to the running speed, so that the first vehicle body 1 is reset to the middle position of the second vehicle body 2, and a three-wheel coaxial line state is formed. The running speeds of the two independently driven second driving wheels 21 on the second vehicle body 2 are continuously obtained in real time through the obtaining module, when the balance state of the balance vehicle is a triangular balance state with the first driving wheel 11 in front and the two second driving wheels 21 in back, the control module controls the driving mechanism to enable the speed of the independently driven first driving wheel 11 to be smaller than the running speed of the second driving wheel 21, the first driving wheel 11 is enabled to run backwards, the first vehicle body 1 is enabled to be reset to the middle position of the second vehicle body 2, and a three-wheel coaxial line state is formed; when the balance state of the balance vehicle is a triangular balance state with two second driving wheels 21 in front and the first driving wheel 11 in back, the control module controls the driving mechanism to enable the speed of the first driving wheel 11 independently driven on the first vehicle body 1 to be higher than the running speed of the second driving wheel 21, so that the first driving wheel 11 runs forwards, the first vehicle body 1 is reset to the middle position of the second vehicle body 2, and a three-wheel coaxial state is formed; the driving mechanism can also be controlled to enable the first driving wheel 11 to keep running at a constant speed, and the running speeds of the two independently driven second driving wheels 21 are reduced or increased according to different balance state modes, so that the first vehicle body 1 is reset to the middle position of the second vehicle body 2, and a three-wheel coaxial state is formed.
Certainly, the driver can make first automobile body 1 stretch out by own demand control, thereby three drive wheel is triangle-shaped's structural mode and traveles, make the more stable of the running state of balance car, especially when the beginner electrodynamic balance car, use this kind of motion state of tricycle electrodynamic balance car to make the operator safer, better assurance driver's driving safety, further reduction driver's driving risk, and when putting the needs balance car and carrying the thing, first automobile body 1 stretches out, the space is placed in the increase that telescopic machanism 3 between first automobile body 1 and the second automobile body 2 can be fine, make during the transportation goods more convenient.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (8)
1. The driving balance method of the balance car is characterized in that the balance car comprises a first car body and a second car body, a driving mechanism is arranged on the first car body or the second car body, and a first driving wheel which is driven independently is arranged on the first car body; two second driving wheels which are independently driven are installed on the second vehicle body, the first vehicle body is installed at the middle position of the second vehicle body, and the first vehicle body can extend and contract relative to the second vehicle body through a telescopic mechanism, and the method comprises the following steps:
acquiring driving parameters of the balance car;
judging whether the driving parameters meet a first preset condition or not;
if the driving parameters meet a first preset condition, driving the first vehicle body to extend out;
the driving of the first vehicle body to extend includes the steps of:
acquiring the running speed of a second vehicle body;
the first drive wheel is controlled to accelerate in accordance with the running speed, so that the first vehicle body runs forward relative to the second vehicle body.
2. The driving balance method of the balance vehicle according to claim 1, wherein the driving parameters comprise an angle parameter and a duration parameter, the angle parameter comprises angle information of a forward inclination angle or a backward inclination angle of the balance vehicle during driving, and the duration parameter is duration information of the angle parameter during driving of the balance vehicle; if the driving parameter meets a first preset condition, the method for driving the first vehicle body to extend out comprises the following steps:
and if the angle parameter is greater than or equal to the preset angle threshold value and the duration parameter is greater than or equal to the preset time threshold value, driving the first vehicle body to extend out.
3. The driving balance method of the balance vehicle according to claim 1,
the driving parameters comprise road condition parameters, and the road condition parameters comprise an uphill road condition, a downhill road condition or a flat road condition; if the driving parameter meets a first preset condition, the method for driving the first vehicle body to extend out comprises the following steps:
and if the road condition parameter is an uphill road condition or a downhill road condition, driving the first vehicle body to extend out.
4. The driving balance method of the balance vehicle according to claim 1,
the driving parameters comprise an altitude parameter which is the variation information of the altitude in unit time; if the driving parameter meets a first preset condition, the method for driving the first vehicle body to extend out comprises the following steps:
and if the altitude parameter is altitude rise or altitude fall, driving the first vehicle body to extend out.
5. The driving balance method of the balance vehicle according to claim 1, wherein the method further comprises:
acquiring driving parameters of balance vehicle balance driving under the condition that the first vehicle body extends out;
judging whether the driving parameters meet a second preset condition or not;
if the driving parameters meet a second preset condition, driving the first vehicle body to contract;
the driving of the first vehicle body to retract includes the steps of:
acquiring the running speed of a second vehicle body;
and controlling the first vehicle body to decelerate according to the running speed, so that the first vehicle body is reset to the middle position of the second vehicle body, and a three-wheel coaxial line state is formed.
6. The driving balance method for balance vehicle as claimed in claim 5, wherein the driving parameters include an angle parameter and a duration parameter, and if the driving parameters satisfy a second preset condition, the method for driving the first vehicle body to contract comprises:
and if the angle parameter is smaller than the preset angle threshold value and the duration parameter is greater than or equal to the preset time threshold value, driving the first vehicle body to contract.
7. The driving balance method of the balance vehicle as claimed in claim 5, wherein the driving parameters include road condition parameters, and if the driving parameters satisfy a second predetermined condition, the method for driving the first vehicle body to contract comprises:
and if the road condition parameter is a flat road condition, driving the first vehicle body to contract.
8. The driving balance method of the balance vehicle according to claim 5,
the driving parameter is a state parameter, the state parameter is that the balance car is in a driving state or in a static state, and if the driving parameter meets a second preset condition, the method for driving the first car body to contract comprises the following steps:
and if the state parameter is in a static state, driving the first vehicle body to contract.
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| CN103019246B (en) * | 2011-09-26 | 2015-09-02 | 东莞易步机器人有限公司 | A kind of attitude control method of two wheeler |
| CN104108386B (en) * | 2013-04-16 | 2019-06-25 | 博世汽车部件(苏州)有限公司 | The method and apparatus for improving vehicle run stability |
| CN204173053U (en) * | 2014-11-04 | 2015-02-25 | 李陈 | A kind of pedal has the self-balancing wheelbarrow of auxiliary wheel |
| CN104943786B (en) * | 2015-06-29 | 2018-09-07 | 广东宝乐机器人股份有限公司 | The automatic safe protective method of two-wheeled balance car |
| CN205256540U (en) * | 2015-12-28 | 2016-05-25 | 钭子奇 | Electric scooter |
| CN205854367U (en) * | 2016-07-19 | 2017-01-04 | 尚艳燕 | A kind of electrodynamic balance car |
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2017
- 2017-11-06 CN CN201711090182.6A patent/CN108100132B/en active Active
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