WO2015101114A1 - Method and system for cruising two-wheel self-balancing scooter at constant speed - Google Patents

Method and system for cruising two-wheel self-balancing scooter at constant speed Download PDF

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Publication number
WO2015101114A1
WO2015101114A1 PCT/CN2014/091097 CN2014091097W WO2015101114A1 WO 2015101114 A1 WO2015101114 A1 WO 2015101114A1 CN 2014091097 W CN2014091097 W CN 2014091097W WO 2015101114 A1 WO2015101114 A1 WO 2015101114A1
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Prior art keywords
vehicle body
cruise control
speed
cruise
user
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PCT/CN2014/091097
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French (fr)
Chinese (zh)
Inventor
吴珑璁
李玉成
吴细龙
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东莞易步机器人有限公司
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Publication of WO2015101114A1 publication Critical patent/WO2015101114A1/en

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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
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • 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

Definitions

  • the invention relates to the field of self-balancing electric vehicle intelligent control technology, in particular to a constant speed cruise method and system for a two-wheel balance vehicle.
  • the traditional two-wheel balance car control mode is mainly controlled by the change of the controller's center of gravity, and the bottom gyro sensor controls the speed of the balance car in response to the change of the controller's center of gravity.
  • the gyroscope used in the balance car has high sensitivity, can detect a small change in the center of gravity of the controller, and controls the speed of the car body.
  • the controller wants to maintain the balance speed after the vehicle body reaches a certain speed, it must keep its center of gravity unchanged. However, it is impossible to maintain the center of gravity for a long time.
  • a constant speed cruise method for a two-wheel balance vehicle includes the following steps:
  • the vehicle body enters a cruise mode and drives the vehicle body to drive at a constant speed
  • the running state of the vehicle body is detected, and the user controls the vehicle body to exit the cruise control mode.
  • the cruise control condition includes the following three conditions:
  • the user sets the car body to use the cruise control mode and sets the speed of the cruise control at the same time;
  • the car body runs through the normal mode until the speed of the car body is equal to the speed of the cruise control setting, and the time is maintained for 1 ⁇ 300 seconds;
  • the change in the center of gravity of the user causes the deviation of the safe tilt angle ⁇ of the vehicle body from the vertical ground direction to be less than 10 degrees, and maintains the time. 1 ⁇ 300 seconds;
  • the vehicle body can enter the cruise control mode; if any of the conditions are not met, the vehicle body cannot enter the cruise control mode.
  • the manner in which the cruise control mode is exited includes the following two conditions:
  • the user sets the vehicle body to exit the cruise control mode
  • the change in the center of gravity of the user causes the angle ⁇ of the vehicle body to be greater than or equal to 10 degrees;
  • the vehicle body can exit the cruise control mode.
  • a two-wheel balance car cruise control system comprising:
  • a sensor unit for detecting whether the vehicle body meets a fixed speed cruise condition
  • a driving unit for driving the vehicle body to drive
  • An operation interface unit for displaying and controlling the operating state of the vehicle body
  • the sensor unit is electrically connected to the driving unit and the operation interface unit, and the sensor unit transmits the detected signal to the driving unit and the operation interface unit, the driving unit performs the received signal, and the operation interface unit displays the vehicle The current operating state of the body and the display information is passed to the sensor unit.
  • the sensor unit includes a detection module, a monitoring module, and a motion algorithm module
  • the detection module is configured to detect a safe tilt angle of the vehicle body and a vertical ground direction
  • the monitoring module is configured to monitor a user's Control state
  • the motion algorithm module is used to calculate the running speed of the vehicle body.
  • the fixed-speed cruise method and system of the above two-wheel balance car the fixed-speed cruise method is practical and safe, and the fixed-speed cruise system has a simple structure and is convenient to operate, so that the two-wheel balance car is more convenient to control and comfortable to ride.
  • 1 is a flow chart of a cruise control method of the present invention.
  • FIG. 2 is a schematic view of a cruise control system of the present invention.
  • sensor unit 10 detection module 11, monitoring module 12, motion algorithm module 13, the drive unit 20, the operation interface unit 30.
  • a fixed-speed cruise method for a two-wheel balance vehicle includes the following steps:
  • S1 Detect whether the vehicle body meets the fixed-speed cruise condition. If the cruise control condition is met, go directly to the next step; otherwise, the user first controls the vehicle body to reach the fixed-speed cruise condition and then proceeds to the next step.
  • the car body enters the cruise control mode, driving the car body to drive at a constant speed.
  • the cruise control conditions include the following three conditions:
  • the user sets the car body to use the cruise control mode, and sets the speed of the cruise control at the same time.
  • the user can set the speed of the cruise control according to the actual situation and comfort;
  • the car body runs through the normal mode until the speed of the car body is equal to the speed of the cruise control setting, and the time is maintained from 1 to 300. Second, after the car body reaches the speed set by the cruise control, it will not accelerate and drive at the set speed;
  • the change of the center of gravity of the user causes the deviation of the safe tilt angle ⁇ of the vehicle body from the vertical ground direction to be less than 10 degrees, and maintains the time 1 ⁇ 300. second;
  • the user's center of gravity is the most ideal driving condition perpendicular to the ground, but in actual driving, the user may be completely perpendicular to the ground during the middle of the standing process.
  • the center of gravity of the car body is changed, so that the standing angle and the ground cannot be completely perpendicular, and there is a certain safe inclination angle ⁇ , and the safety inclination angle ⁇ deviation is smaller than 10 degrees does not affect the safety of driving.
  • the car body can enter the cruise control mode; if any of the conditions are not met, the car body cannot enter the cruise mode and still drive in the normal mode.
  • the way to exit the cruise control mode includes the following two conditions:
  • the user sets the vehicle body to exit the cruise control mode
  • the change in the center of gravity of the user causes the angle ⁇ of the vehicle body to be greater than or equal to 10 degrees;
  • the vehicle body can exit the cruise control mode.
  • a constant speed cruise system for a two-wheel balance vehicle includes:
  • the sensor unit 10 is configured to detect whether the vehicle body meets the cruise control condition.
  • the driving unit 20 is configured to drive the vehicle body to travel.
  • the sensor unit 10 is electrically connected to the drive unit 20 and the operation interface unit 30. Sensor unit 10 The detected signals are transmitted to the drive unit 20 and the operation interface unit 30. The drive unit 20 performs the received signal. Operation interface unit 30 The current operational state of the vehicle body is displayed and display information is transmitted to the sensor unit 10.
  • the sensor unit 10 includes a detection module 11, a monitoring module 12, and a motion algorithm module 13.
  • Detection module 11 Used for safe tilting of the car body and the vertical ground direction.
  • the monitoring module 12 is used to monitor the control status of the user.
  • the motion algorithm module 13 is used to calculate the running speed of the vehicle body.
  • the operation interface unit 30 is provided with a control button for controlling the operation mode of the vehicle body.
  • the user first sets the vehicle body to use the cruise control mode, and sets the speed of the cruise control at the same time; and the user's center of gravity changes causes the vehicle body to deviate from the vertical tilt angle ⁇ of the ground direction by less than 10 Degree, and maintain the time 1 ⁇ 300 seconds; and the car body runs through the normal mode until the speed of the car body is equal to the speed of the cruise control setting, and the time is maintained from 1 to 300.
  • the car body enters the cruise control mode and travels at a constant speed at the set speed.
  • the user can exit the cruise control mode by setting the vehicle body, or the angle ⁇ of tilting the vehicle body is greater than or equal to 10 The body is allowed to exit the cruise at a constant speed.
  • the fixed-speed cruise method of the above two-wheel balance car is practical and safe.
  • the fixed-speed cruise system has a simple structure and is easy to operate, so that the two-wheel balance car is more convenient to control and ride comfortably; the balance car is controlled to set The speed is running at a constant speed to improve the comfort and convenience of the balance car.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Disclosed is a method for cruising a two-wheel self-balancing scooter at constant speed, comprising the following steps: detecting and controlling a scooter body so as to satisfy the conditions for cruising at constant speed; causing the scooter body to enter a cruising mode at constant speed, and driving the scooter body to run at a fixed speed; and checking the operating state of the scooter body, and controlling the scooter body to exit the cruising mode at constant speed by the user. The present invention is simple and practical, and easy to operate. The self-balancing scooter is controlled to drive at a uniform pre-set speed, and the comfort and convenience of the self-balancing scooter is improved.

Description

两轮平衡车的定速巡航方法和系统Constant speed cruise method and system for two-wheel balance car 技术领域Technical field
本发明涉及自平衡电动车智能控制技术领域，特别是涉及一种两轮平衡车的定速巡航方法和系统。  The invention relates to the field of self-balancing electric vehicle intelligent control technology, in particular to a constant speed cruise method and system for a two-wheel balance vehicle.
背景技术Background technique
传统的两轮平衡车控制方式主要通过控制者重心的变化来控制，底层陀螺仪传感器响应控制者重心的变化来控制平衡车的速度。一般平衡车使用的陀螺仪的灵敏度较高，能检测到控制者较小的重心变化，并对车体的速度做出控制。而控制者在车体运行到达一定的速度后若想继续保持平衡的速度就必须保持自己的重心不变，然而长时间保持重心不变是不可能实现的。因此，使用传统的左右两轮平衡车以固定的速度行驶比较困难，而这样的恒速工作模式却在很多场合上需要用到，比如说常规巡逻、观景等，控制者都希望能较轻松的控制车辆匀速运行。 The traditional two-wheel balance car control mode is mainly controlled by the change of the controller's center of gravity, and the bottom gyro sensor controls the speed of the balance car in response to the change of the controller's center of gravity. Generally, the gyroscope used in the balance car has high sensitivity, can detect a small change in the center of gravity of the controller, and controls the speed of the car body. However, if the controller wants to maintain the balance speed after the vehicle body reaches a certain speed, it must keep its center of gravity unchanged. However, it is impossible to maintain the center of gravity for a long time. Therefore, it is more difficult to use the traditional left and right two-wheel balance car to drive at a fixed speed, and such a constant speed mode of operation is needed in many occasions, such as conventional patrol, viewing, etc., the controller hopes to be easier. The control vehicle runs at a constant speed.
技术问题technical problem
基于此，有必要针对现有技术的缺点的问题，提供一种两轮平衡车的定速巡航方法及系统，简单、实用，便于操作，控制平衡车以设定的速度匀速行驶，提高平衡车的舒适度与便捷性。 Based on this, it is necessary to provide a two-wheel balance car cruise control method and system for the problem of the shortcomings of the prior art, which is simple, practical, and easy to operate, and controls the balance car to travel at a set speed at a constant speed to improve the balance car. Comfort and convenience.
技术解决方案Technical solution
一种两轮平衡车的定速巡航方法，包括以下步骤： A constant speed cruise method for a two-wheel balance vehicle includes the following steps:
检测车体是否满足定速巡航条件，若满足定速巡航条件，直接进入下一步；否则，使用者控制车体达到所述的定速巡航条件后再进入下一步； Detecting whether the vehicle body meets the fixed-speed cruise condition, and if the cruise control condition is met, directly proceeds to the next step; otherwise, the user controls the vehicle body to reach the fixed-speed cruise condition and then proceeds to the next step;
车体进入定速巡航模式，驱动车体以恒定的速度行驶； The vehicle body enters a cruise mode and drives the vehicle body to drive at a constant speed;
检测车体的运行状态，使用者控制车体退出定速巡航模式。 The running state of the vehicle body is detected, and the user controls the vehicle body to exit the cruise control mode.
在其中一个实施例中，所述定速巡航条件包括以下三个条件： In one of the embodiments, the cruise control condition includes the following three conditions:
①、使用者设置车体使用定速巡航模式，同时设置定速巡航的速度 ; 1. The user sets the car body to use the cruise control mode and sets the speed of the cruise control at the same time;
②、车体通过正常模式运行至车体速度与定速巡航设置的速度相等，并维持时间 1~300 秒； 2. The car body runs through the normal mode until the speed of the car body is equal to the speed of the cruise control setting, and the time is maintained for 1~300 seconds;
③、使用者的重心变化致使车体与垂直地面方向的安全倾斜角度θ偏差小于 10 度，并维持时间 1~300 秒； 3. The change in the center of gravity of the user causes the deviation of the safe tilt angle θ of the vehicle body from the vertical ground direction to be less than 10 degrees, and maintains the time. 1~300 seconds;
上述三个条件同时满足时，车体即可进入定速巡航模式；若有任一条件不满足时，车体便不能进入定速巡航模式。 When the above three conditions are satisfied at the same time, the vehicle body can enter the cruise control mode; if any of the conditions are not met, the vehicle body cannot enter the cruise control mode.
在其中一个实施例中，退出定速巡航模式的方式包括以下两个条件： In one of the embodiments, the manner in which the cruise control mode is exited includes the following two conditions:
①、使用者设置车体退出定速巡航模式； 1. The user sets the vehicle body to exit the cruise control mode;
②、使用者的重心变化使车体倾斜的角度θ大于或等于 10 度； 2. The change in the center of gravity of the user causes the angle θ of the vehicle body to be greater than or equal to 10 degrees;
上述两个条件满足任一条件时，车体即可退出定速巡航模式。 When the above two conditions satisfy any of the conditions, the vehicle body can exit the cruise control mode.
一种两轮平衡车的定速巡航系统，包括： A two-wheel balance car cruise control system comprising:
传感器单元，用于检测车体是否满足定速巡航条件； a sensor unit for detecting whether the vehicle body meets a fixed speed cruise condition;
驱动单元，用于驱动车体行驶； a driving unit for driving the vehicle body to drive;
操作界面单元，用于显示及控制车体的运作状态； An operation interface unit for displaying and controlling the operating state of the vehicle body;
所述传感器单元电性连接所述驱动单元和操作界面单元，所述传感器单元将检测的信号传送至驱动单元和操作界面单元，所述驱动单元执行所接收的信号，所述操作界面单元显示车体当前的运作状态，并把显示信息传递至所述传感器单元。 The sensor unit is electrically connected to the driving unit and the operation interface unit, and the sensor unit transmits the detected signal to the driving unit and the operation interface unit, the driving unit performs the received signal, and the operation interface unit displays the vehicle The current operating state of the body and the display information is passed to the sensor unit.
在其中一个实施例中，所述传感器单元包括检测模块、监控模块和运动算法模块，所述检测模块用于检测车体与垂直地面方向的安全倾斜角度，所述监控模块用于监控使用者的控制状态，所述运动算法模块用于计算车体的运行速度。 In one embodiment, the sensor unit includes a detection module, a monitoring module, and a motion algorithm module, the detection module is configured to detect a safe tilt angle of the vehicle body and a vertical ground direction, and the monitoring module is configured to monitor a user's Control state, the motion algorithm module is used to calculate the running speed of the vehicle body.
有益效果Beneficial effect
上述两轮平衡车的定速巡航方法及系统，该定速巡航方法实用、安全，该定速巡航系统结构简单，便于操作，使两轮平衡车更加方便控制，乘坐舒适。 The fixed-speed cruise method and system of the above two-wheel balance car, the fixed-speed cruise method is practical and safe, and the fixed-speed cruise system has a simple structure and is convenient to operate, so that the two-wheel balance car is more convenient to control and comfortable to ride.
附图说明DRAWINGS
图 1 为本发明的定速巡航方法的流程图。 1 is a flow chart of a cruise control method of the present invention.
图 2 为本发明的定速巡航系统示意图。 2 is a schematic view of a cruise control system of the present invention.
以下是本发明零部件符号标记说明： 传感器单元 10 、检测模块 11 、监控模块 12 、运动算法模块 13 、驱动单元 20 、操作界面单元 30 。 The following is a description of the symbol mark of the component of the present invention: sensor unit 10, detection module 11, monitoring module 12, motion algorithm module 13, the drive unit 20, the operation interface unit 30.
本发明的最佳实施方式BEST MODE FOR CARRYING OUT THE INVENTION
为能进一步了解本发明的特征、技术手段以及所达到的具体目的、功能，解析本发明的优点与精神，藉由以下结合附图与具体实施方式对本发明的详述得到进一步的了解。 The advantages and spirit of the present invention will be further understood from the following detailed description of the invention.
参考说明书附图 1 ，一种两轮平衡车的定速巡航方法，包括以下步骤： Referring to the specification of the specification, a fixed-speed cruise method for a two-wheel balance vehicle includes the following steps:
S1 、检测车体是否满足定速巡航条件，若满足定速巡航条件，直接进入下一步；否则，使用者首先控制车体达到所述的定速巡航条件后再进入下一步。 S1 Detect whether the vehicle body meets the fixed-speed cruise condition. If the cruise control condition is met, go directly to the next step; otherwise, the user first controls the vehicle body to reach the fixed-speed cruise condition and then proceeds to the next step.
S2 、车体进入定速巡航模式，驱动车体以恒定的速度行驶。 S2, the car body enters the cruise control mode, driving the car body to drive at a constant speed.
S3 、检测车体的运行状态，使用者控制车体退出定速巡航模式。 S3. Detecting the running state of the vehicle body, and the user controls the vehicle body to exit the cruise control mode.
该定速巡航条件包括以下三个条件： The cruise control conditions include the following three conditions:
①、使用者设置车体使用定速巡航模式，同时设置定速巡航的速度，使用者可根据实际情况及舒适度进行设置定速巡航的速度； 1. The user sets the car body to use the cruise control mode, and sets the speed of the cruise control at the same time. The user can set the speed of the cruise control according to the actual situation and comfort;
②、车体通过正常模式运行至车体速度与定速巡航设置的速度相等，并维持时间 1~300 秒，车体达到定速巡航设置的速度后便不再加速，以设定的速度行驶； 2. The car body runs through the normal mode until the speed of the car body is equal to the speed of the cruise control setting, and the time is maintained from 1 to 300. Second, after the car body reaches the speed set by the cruise control, it will not accelerate and drive at the set speed;
③、使用者的重心变化致使车体与垂直地面方向的安全倾斜角度θ偏差小于 10 度，并维持时间 1~300 秒； 3. The change of the center of gravity of the user causes the deviation of the safe tilt angle θ of the vehicle body from the vertical ground direction to be less than 10 degrees, and maintains the time 1~300. second;
使用者的重心与地面垂直是最理想的行驶状态，但是，在实际行驶中，使用者在站立过程中部可能完全与地面垂直。使用者变化站立的姿势会改变车体的重心，使得站立角度与地面不能做到完全垂直，会有一定的安全倾斜角度θ，安全倾斜角度θ偏差小于 10 度时并不影响行驶的安全。 The user's center of gravity is the most ideal driving condition perpendicular to the ground, but in actual driving, the user may be completely perpendicular to the ground during the middle of the standing process. When the user changes the standing posture, the center of gravity of the car body is changed, so that the standing angle and the ground cannot be completely perpendicular, and there is a certain safe inclination angle θ, and the safety inclination angle θ deviation is smaller than 10 degrees does not affect the safety of driving.
上述三个条件同时满足时，车体即可进入定速巡航模式；若有任一条件不满足时，车体便不能进入定速巡航模式，仍旧以正常模式行驶。 When the above three conditions are satisfied at the same time, the car body can enter the cruise control mode; if any of the conditions are not met, the car body cannot enter the cruise mode and still drive in the normal mode.
退出定速巡航模式的方式包括以下两个条件： The way to exit the cruise control mode includes the following two conditions:
①、使用者设置车体退出定速巡航模式； 1. The user sets the vehicle body to exit the cruise control mode;
②、使用者的重心变化使车体倾斜的角度θ大于或等于 10 度； 2. The change in the center of gravity of the user causes the angle θ of the vehicle body to be greater than or equal to 10 degrees;
上述两个条件满足任一条件时，车体即可退出定速巡航模式。 When the above two conditions satisfy any of the conditions, the vehicle body can exit the cruise control mode.
参考说明书附图 2 ，一种两轮平衡车的定速巡航系统，包括： Referring to the drawings of the specification 2, a constant speed cruise system for a two-wheel balance vehicle includes:
传感器单元 10 ，用于检测车体是否满足定速巡航条件。驱动单元 20 ，用于驱动车体行驶。操作界面单元 30 ，用于显示及控制车体的运作状态。 The sensor unit 10 is configured to detect whether the vehicle body meets the cruise control condition. The driving unit 20 is configured to drive the vehicle body to travel. Operation interface unit 30, used to display and control the working state of the car body.
传感器单元 10 电性连接所述驱动单元 20 和操作界面单元 30 。传感器单元 10 将检测的信号传送至驱动单元 20 和操作界面单元 30 ，。驱动单元 20 执行所接收的信号，。操作界面单元 30 显示车体当前的运作状态，并把显示信息传递至所述传感器单元 10 。 The sensor unit 10 is electrically connected to the drive unit 20 and the operation interface unit 30. Sensor unit 10 The detected signals are transmitted to the drive unit 20 and the operation interface unit 30. The drive unit 20 performs the received signal. Operation interface unit 30 The current operational state of the vehicle body is displayed and display information is transmitted to the sensor unit 10.
传感器单元 10 包括检测模块 11 、监控模块 12 和运动算法模块 13 。检测模块 11 用于车体与垂直地面方向的安全倾斜角度。监控模块 12 用于监控使用者的控制状态。运动算法模块 13 用于计算车体的运行速度。 The sensor unit 10 includes a detection module 11, a monitoring module 12, and a motion algorithm module 13. Detection module 11 Used for safe tilting of the car body and the vertical ground direction. The monitoring module 12 is used to monitor the control status of the user. The motion algorithm module 13 is used to calculate the running speed of the vehicle body.
操作界面单元 30 上设有控制按钮，便于控制车体的运行模式。 The operation interface unit 30 is provided with a control button for controlling the operation mode of the vehicle body.
在使用本发明时，使用者首先使用者设置车体使用定速巡航模式，同时设置定速巡航的速度；且使用者的重心变化致使车体与垂直地面方向的安全倾斜角度θ偏差小于 10 度，并维持时间 1~300 秒；且车体通过正常模式运行至车体速度与定速巡航设置的速度相等，并维持时间 1~300 秒。车体进入定速巡航模式，以所设定的速度匀速行驶。当需要退出定速巡航模式时，使用者可通过设置车体退出定速巡航模式，亦可通过使车体倾斜的角度θ大于或等于 10 度而使车体退出定速巡航。 When using the present invention, the user first sets the vehicle body to use the cruise control mode, and sets the speed of the cruise control at the same time; and the user's center of gravity changes causes the vehicle body to deviate from the vertical tilt angle θ of the ground direction by less than 10 Degree, and maintain the time 1~300 seconds; and the car body runs through the normal mode until the speed of the car body is equal to the speed of the cruise control setting, and the time is maintained from 1 to 300. second. The car body enters the cruise control mode and travels at a constant speed at the set speed. When it is necessary to exit the cruise control mode, the user can exit the cruise control mode by setting the vehicle body, or the angle θ of tilting the vehicle body is greater than or equal to 10 The body is allowed to exit the cruise at a constant speed.
综上所述，上述两轮平衡车的定速巡航方法，实用、安全，该定速巡航系统结构简单，便于操作，使两轮平衡车更加方便控制，乘坐舒适；控制平衡车以设定的速度匀速行驶，提高平衡车的舒适度与便捷性。 In summary, the fixed-speed cruise method of the above two-wheel balance car is practical and safe. The fixed-speed cruise system has a simple structure and is easy to operate, so that the two-wheel balance car is more convenient to control and ride comfortably; the balance car is controlled to set The speed is running at a constant speed to improve the comfort and convenience of the balance car.
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。 The above-mentioned embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims (5)

  1. 一种两轮平衡车的定速巡航方法，其特征在于， A constant speed cruise method for a two-wheel balance vehicle, characterized in that
    检测车体是否满足定速巡航条件，若满足定速巡航条件，直接进入下一步；否则，使用者控制车体达到所述的定速巡航条件后再进入下一步；Detecting whether the vehicle body meets the fixed-speed cruise condition, and if the cruise control condition is met, directly proceeds to the next step; otherwise, the user controls the vehicle body to reach the fixed-speed cruise condition and then proceeds to the next step;
    车体进入定速巡航模式，驱动车体以恒定的速度行驶；The vehicle body enters a cruise mode and drives the vehicle body to drive at a constant speed;
    检测车体的运行状态，使用者控制车体退出定速巡航模式。The running state of the vehicle body is detected, and the user controls the vehicle body to exit the cruise control mode.
  2. 根据权利要求 1 所述的两轮平衡车的定速巡航方法，其特征在于，所述定速巡航条件包括以下三个条件：The cruise control method for a two-wheel balance vehicle according to claim 1, wherein the cruise control condition comprises the following three conditions:
    ①、使用者设置车体使用定速巡航模式，同时设置定速巡航的速度 ;1. The user sets the car body to use the cruise control mode and sets the speed of the cruise control at the same time;
    ②、车体通过正常模式运行至车体速度与定速巡航设置的速度相等，并维持时间 1~300 秒；2. The car body runs through the normal mode until the speed of the car body is equal to the speed of the cruise control setting, and the time is maintained for 1~300 seconds;
    ③、使用者的重心变化致使车体与垂直地面方向的安全倾斜角度θ偏差小于 10 度，并维持时间 1~300 秒；3. The change of the center of gravity of the user causes the deviation of the safe tilt angle θ of the vehicle body from the vertical ground direction to be less than 10 degrees, and maintains the time 1~300. second;
    上述三个条件同时满足时，车体即可进入定速巡航模式；若有任一条件不满足时，车体便不能进入定速巡航模式。When the above three conditions are satisfied at the same time, the vehicle body can enter the cruise control mode; if any of the conditions are not met, the vehicle body cannot enter the cruise control mode.
  3. 根据权利要求 1 所述的两轮平衡车的定速巡航方法，其特征在于，退出定速巡航模式的方式包括以下两个条件：According to claim 1 The fixed-speed cruise method of the two-wheel balance vehicle is characterized in that the manner of exiting the cruise control mode includes the following two conditions:
    ①、使用者设置车体退出定速巡航模式；1. The user sets the vehicle body to exit the cruise control mode;
    ②、使用者的重心变化使车体安全倾斜角度θ大于或等于 10 度；2. The user's center of gravity changes so that the vehicle body safety tilt angle θ is greater than or equal to 10 degrees;
    上述两个条件满足任一条件时，车体即可退出定速巡航模式。When the above two conditions satisfy any of the conditions, the vehicle body can exit the cruise control mode.
  4. 一种两轮平衡车的定速巡航系统，其特征在于，包括：A constant speed cruise system for a two-wheel balance vehicle, characterized in that it comprises:
    传感器单元，用于检测车体是否满足定速巡航条件、计算车体的运行姿态；The sensor unit is configured to detect whether the vehicle body meets the cruise control condition and calculate the running posture of the vehicle body;
    驱动单元，用于驱动车体行驶；a driving unit for driving the vehicle body to drive;
    操作界面单元，用于显示及提供用户控制的交互方式；An operation interface unit for displaying and providing a user-controlled interaction mode;
    所述传感器单元电性连接所述驱动单元和操作界面单元，所述传感器单元将检测的信号传送至驱动单元和操作界面单元，所述驱动单元执行所接收的信号，所述操作界面单元显示车体当前的运作状态，并把显示信息传递至所述传感器单元。The sensor unit is electrically connected to the driving unit and the operation interface unit, and the sensor unit transmits the detected signal to the driving unit and the operation interface unit, the driving unit performs the received signal, and the operation interface unit displays the vehicle The current operating state of the body and the display information is passed to the sensor unit.
  5. 一种两轮平衡车的定速巡航系统，其特征在于，所述传感器单元包括检测模块、监控模块和运动算法模块，所述检测模块用于检测车体与垂直地面方向的安全倾斜角度，所述监控模块用于监控使用者的控制状态，所述运动算法模块用于计算车体的运行速度。 A cruise control system for a two-wheel balance vehicle, characterized in that the sensor unit comprises a detection module, a monitoring module and a motion algorithm module, wherein the detection module is used for detecting a safe tilt angle of the vehicle body and the vertical ground direction. The monitoring module is used to monitor the control state of the user, and the motion algorithm module is used to calculate the running speed of the vehicle body.
PCT/CN2014/091097 2013-12-31 2014-11-14 Method and system for cruising two-wheel self-balancing scooter at constant speed WO2015101114A1 (en)

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