WO2017214965A1 - 一种平衡车的控制方法及控制系统 - Google Patents

一种平衡车的控制方法及控制系统 Download PDF

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Publication number
WO2017214965A1
WO2017214965A1 PCT/CN2016/086141 CN2016086141W WO2017214965A1 WO 2017214965 A1 WO2017214965 A1 WO 2017214965A1 CN 2016086141 W CN2016086141 W CN 2016086141W WO 2017214965 A1 WO2017214965 A1 WO 2017214965A1
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Prior art keywords
height
balance
bracelet
rotation
wristband
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PCT/CN2016/086141
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English (en)
French (fr)
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尚艳燕
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尚艳燕
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Priority to PCT/CN2016/086141 priority Critical patent/WO2017214965A1/zh
Publication of WO2017214965A1 publication Critical patent/WO2017214965A1/zh

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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
    • B62K21/00—Steering devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors

Definitions

  • the invention relates to the field of balance vehicles, and in particular to a control method and a control system for a balance vehicle.
  • the traditional two-wheeled manned balance car is mainly turned by a pole that can swing left and right. Although the operation is simple, the structure of the pole and the steering shaft is complicated, and the weight and space of the balance car are increased.
  • the balance cars that appear in the future are mostly controlled by the leg-controlled levers. Although the hands are liberated, the legs of this type of operation need to keep the legs in the state of the levers, which is easy to cause high tension and fatigue of the legs. It is dangerous for users who use the balance car for a long time.
  • the technical problem to be solved by the present invention is to provide a control method and a control system for a balance vehicle that allows a user to more conveniently and effectively control the balance vehicle to perform steering.
  • the present invention provides a method for controlling a balance vehicle, comprising the steps of:
  • the direction of rotation of the bracelet is detected
  • the balance car controls the steering according to the direction of rotation of the bracelet.
  • the balance car when the rotation direction of the bracelet is clockwise, the balance car is controlled to turn right; when the rotation direction of the bracelet is counterclockwise, the balance car is controlled to turn left.
  • the right turn should be right, and the reverse should be turned left.
  • the reverse time For normal people, it is more conducive to operation; of course, it should be possible to set the reverse time to the left turn, and the reverse time should be right turn.
  • the corresponding relationship can be completed by the preset setting. Meet the habits of more people.
  • the determination of the rotation direction of the wristband has a threshold value, and when the amplitude of the rotation of the wristband in the clockwise direction exceeds the threshold value, it is determined that the rotation direction of the wristband is clockwise; when the rotation of the wristband in the counterclockwise direction exceeds the threshold value Only when it is determined that the direction of rotation of the bracelet is counterclockwise.
  • the threshold of the rotation direction of the bracelet is set. When the amplitude of the rotation exceeds the threshold, the balance car will determine that the rotation control is effective control. Reduced the occurrence of misuse.
  • the preset height range the height of the wristband relative to the balance car is 80CM to 130CM;
  • a height detecting sensor is disposed in the wristband.
  • the height setting range defaults to 80CM to 130CM, mainly because the normal person is using the balance car, the sagging of the wrist is beneficial to the stability of the balance car, and the height of the bracelet is determined by the height of the normal person. More reasonable; of course, if necessary, the height range can be changed to accommodate more people.
  • the balance vehicle detects that the center of gravity of the user is lowered or the height of the height detecting belt is lowered, the balance vehicle is accelerated; if the center of gravity of the user is increased or the height of the height detecting belt is increased, the balance vehicle is decelerated.
  • the balance car if the balance car speed is faster, you can bend and slightly squat to balance control.
  • the height of the belt is lowered. The car is accelerated to help balance the car's control.
  • the second threshold determines whether the center of gravity or the height is changed.
  • the balance vehicle detects that the center of gravity of the user or the height of the height detecting belt decreases by more than the second threshold, determining that the center of gravity or the height is lowered, the balance vehicle accelerates;
  • the vehicle detects that the center of gravity of the user or the height of the height detecting belt increases beyond the second threshold, it is determined that the center of gravity or the height is increased, and the balance vehicle is decelerated.
  • the posture cannot be fixed. Setting the second threshold can reduce false acceleration and false deceleration. The situation happened.
  • a group is established, and one bracelet is set as the host in the group, and the other bracelets are slaves;
  • the steering information of the host is sent to each slave in the group, and the balance cars corresponding to all the slaves in the group are turned according to the instructions of the host bracelet.
  • various kinds of cycling activities are gradually increasing, and the riding activities of the balance vehicles are occasionally appearing. It is unrealistic to conduct the command of the team only by means of shouting, etc.
  • the machine can control the steering problem of the slave to a certain extent through the host, which is very helpful for solving the problem of inconvenient riding.
  • the slave can also not turn according to the control of the host, but only accepts the host. Turn to the information, and the slave user controls the steering.
  • a stop follow button is provided on the wristband, and when the stop follow button detects an operation, it is determined that the slave detects the stop following command.
  • a stop follow button can be set on each bracelet, so that there is a misalignment or a long distance between the master and the slave, and it is not suitable for steering together, and the slave can be prevented from blindly following the host for steering control. .
  • the greater the angle of rotation of the bracelet the greater the steering range corresponding to the balance car.
  • the rotation angle can be 30 degrees - 90 degrees; and the steering range can be 10 degrees - 360 degrees; can be smooth corresponding, or can be the correspondence of multiple gears.
  • the present invention also provides a control system for a balance vehicle using the control method of the present invention, comprising a balance vehicle body and a wristband wirelessly coupled to the balance vehicle body;
  • the balance vehicle body performs steering steering according to the rotation direction of the hand ring.
  • the invention has the beneficial effects that the invention adopts the wristband that can be worn on the wrist of the user to cooperate with the balance car for steering control, thereby fully utilizing the advantages of flexible wrist rotation and good maneuverability, which makes the steering control of the balance car more convenient. It is highly efficient, and the use of the wristband removes the pole, avoiding the problem of excessive weight and excessive space of the balance car; in addition, in the present invention, the wristband must be pre-
  • the steering control is triggered within the height range of the set. This is because at some time, for example, when the arm is raised, the balance is poor and the misoperation is easy.
  • the present invention sets the preset height range, which can be compared.
  • the legs can focus on the balance control of the balance car, while the wrist is used to balance the steering control of the car, reducing the existing technology
  • the control method may cause excessive tension and fatigue of the legs, which improves the safety of the balance car.
  • FIG. 1 is a flow chart of a control method of a balance car according to the present invention.
  • FIG. 2 is a schematic view of a control system of a balance car of the present invention.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • FIG. 1 is a flow chart of a method for controlling a balance car according to the present invention.
  • the control method of the balance car includes the steps of:
  • S3 The balance car controls the steering according to the direction of rotation of the bracelet.
  • the invention has the beneficial effects that the invention adopts the wristband that can be worn on the wrist of the user to cooperate with the balance car for steering control, thereby fully utilizing the advantages of flexible wrist rotation and good maneuverability, which makes the steering control of the balance car more convenient.
  • the utility model has the advantages of high efficiency and the removal of the support bar by using the wristband, thereby avoiding the problem that the balance car is overweight and occupying too much space; in addition, in the present invention, the wristband must be within a preset height range.
  • the steering control is triggered. This is because at some time, for example, when the arm is raised, the balance is poor and the misoperation is easy.
  • the present invention sets the preset height range, which can better reduce the occurrence of misoperation.
  • steps S2 and S3 when the direction of rotation of the bracelet is clockwise, the balance car is controlled to turn right; when the direction of rotation of the bracelet is counterclockwise, the balance car is controlled to turn left.
  • the right turn should be right, and the reverse should be turned left.
  • the reverse time For normal people, it is more conducive to operation; of course, it should be possible to set the reverse time to the left turn, and the reverse time should be right turn.
  • the corresponding relationship can be completed by the preset setting. Meet the habits of more people.
  • the determination of the direction of rotation of the bracelet has a threshold value when the wristband is clockwise.
  • the threshold of the rotation direction of the bracelet is set.
  • the balance car will determine that the rotation control is effective control. Reduced the occurrence of misuse.
  • the preset height range in step S2 is: the height of the wristband relative to the balance car is 80CM to 130CM;
  • a height detecting sensor is provided in the wristband.
  • the height setting range defaults to 80CM to 130CM, mainly because the normal person is using the balance car, the sagging of the wrist is beneficial to the stability of the balance car, and the height of the bracelet is determined by the height of the normal person. More reasonable; of course, if necessary, the height range can be changed to accommodate more people.
  • the height detecting sensor may be an infrared type, a Bluetooth or the like type sensor for transmitting a signal and receiving a reflected signal of the ground or the upper surface of the balance vehicle; of course, a marker may be disposed at the balance vehicle to detect the wristband and the logo. Height detection is performed at the height between objects.
  • the balance vehicle detects that the center of gravity of the user is lowered or the height of the height detecting belt is lowered, the balance vehicle is accelerated; and if the center of gravity of the user is increased or the height of the height detecting belt is increased, the balance vehicle is decelerated.
  • the balance car if the balance car speed is faster, you can bend and slightly squat to balance control.
  • the height of the belt is lowered. The car is accelerated to help balance the car's control.
  • a sensor for detecting the height of the belt is provided in the height detecting waist belt.
  • the second threshold determines whether the center of gravity or the height is changed by the second threshold.
  • the balance vehicle detects that the center of gravity of the user or the height of the height detecting belt decreases by more than the second threshold, the center of gravity or the height is lowered, and the balance vehicle is accelerated.
  • the balance car detects the center of gravity of the user or the height detection height of the height detecting belt exceeds the second threshold, it is determined that the center of gravity or the height is increased, and the balance vehicle is decelerated.
  • the posture cannot be fixed. Setting the second threshold can reduce the occurrence of false acceleration and false deceleration.
  • a group is established, and one bracelet is set as a host in the group, and the other bracelets are slaves;
  • the steering information of the host is sent to each slave in the group, and the balance cars corresponding to all the slaves in the group are turned according to the instructions of the host bracelet.
  • various kinds of cycling activities are gradually increasing, and the riding activities of the balance vehicles are occasionally appearing. It is unrealistic to conduct the command of the team only by means of shouting, etc.
  • the machine can control the steering problem of the slave to a certain extent through the host, which is very helpful for solving the problem of inconvenient riding.
  • the slave can also not turn according to the control of the host, but only accepts the host. Turn to the information, and the slave user controls the steering.
  • the steering is no longer performed according to the instruction of the host bracelet
  • the stop follow button is set on the wristband, and when the stop follow button detects the operation, it is determined that the slave detects the stop following command.
  • a stop follow button can be set on each bracelet, so that there is a misalignment or a long distance between the master and the slave, and it is not suitable for steering together, and the slave can be prevented from blindly following the host for steering control. .
  • the greater the angle of rotation of the bracelet the greater the steering range corresponding to the balance car.
  • the rotation angle can be 30 degrees - 90 degrees; and the steering range can be 10 degrees - 360 degrees; can be smooth corresponding, or can be the correspondence of multiple gears.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • FIG. 2 is a schematic diagram of a control system of a balance car according to the present invention, the control system uses the control method disclosed in the present invention, the control system 100 includes a balance car body 1, and a wristband 2 wirelessly connected to the balance car body;
  • the balance body 1 performs steering steering in accordance with the direction of rotation of the handrail 2.
  • the invention has the beneficial effects that the invention is equipped with a wristband that can be worn on the wrist of the user.
  • the balance car is used for steering control, thus giving full play to the flexibility of the wrist and the good maneuverability, making the steering control of the balance car more convenient and efficient, and removing the support bar by using the bracelet, avoiding the weight of the balance car.
  • the wristband must be within a preset height range to trigger the steering control because the person is at a certain time, such as when raising the arm, due to the balance Poor performance is easy to cause misoperation.
  • the present invention sets a preset height range, which can better reduce the occurrence of misoperation and better utilize the operability of the wrist.
  • the legs can focus on Balance the balance control of the car, while the wrist is used to balance the steering control of the car. Reducing the control method of the prior art may cause excessive tension and fatigue of the leg, and improve the safety of use of the balance car.

Abstract

一种平衡车的控制方法及控制系统（100），该控制方法包括步骤：判断手环（2）的高度（S1）；若手环（2）的高度在预设的高度范围内，则检测手环（2）的转动方向（S2）；平衡车根据手环（2）的转动方向进行控制转向（S3）。该方法可以让用户更方便而有效的控制平衡车进行转向。

Description

一种平衡车的控制方法及控制系统 【技术领域】
本发明涉及平衡车领域，特别是涉及一种平衡车的控制方法及控制系统。
【背景技术】
传统的两轮载人平衡车主要是通过一个可以左右摆动的扶杆来转弯的，这样虽然操作简单，但扶杆及转向轴结构复杂，而且增加了平衡车的重量和占用空间。
继而出现的平衡车大多通过腿控的扶杆进行方向的控制，虽说解放了双手，但此类操作方式双腿需要保持加紧腿控扶杆的状态，容易引起腿部的高度紧张和疲劳，会对长时间使用平衡车的用户带来危险。
也因此，如何让用户更方便而安全的使用平衡车成为了本领域技术人员亟待解决的问题。
应该注意，上面对技术背景的介绍只是为了方便对本申请的技术方案进行清楚、完整的说明，并方便本领域技术人员的理解而阐述的。不能仅仅因为这些方案在本申请的背景技术部分进行了阐述而认为上述技术方案为本领域技术人员所公知。
【发明内容】
有鉴于现有技术的上述缺陷，本发明所要解决的技术问题是提供了一种可以让用户更方便而有效的控制平衡车进行转向的平衡车的控制方法及控制系统。
为实现上述目的，本发明提供了一种平衡车的控制方法，包括步骤：
判断手环的高度；
若手环的高度在预设的高度范围内，则检测手环的转动方向；
平衡车根据手环的转动方向进行控制转向。
进一步的，当手环的转动方向为顺时针时，控制平衡车右转；当手环的转动方向为逆时针时，控制平衡车左转。顺时针对应右转，逆时针对应左转，对于正常人来说，更利于操作；当然，设置逆时针对应左转，而逆时针对应右转也是可以的，对应关系通过预先的设置完成，可以满足更多人的使用习惯。
进一步的，手环的转动方向的判定存在阈值，当手环向顺时针方向转动的幅度超过阈值时，方才判定手环的转动方向为顺时针；当手环向逆时针方向转动的幅度超过阈值时，方才判定手环的转动方向为逆时针。用户在使用平衡车时，不可避免的身体会有所晃动，本方案中，设定了手环的转动方向阈值，只有转动的幅度超过阈值时，平衡车才会认定该转动控制为有效控制，减少了误操作的情况发生。
进一步的，所述的预设的高度范围：手环相对平衡车的高度为80CM至130CM；
所述手环内设置有高度检测传感器。高度设定范围默认为80CM至130CM，主要是因为正常人在使用平衡车时，手腕下垂有利于平衡车的稳定，而以正常人的身高来判断，手环的高度范围设定在这一范围较为合理；当然，如果有需要，该高度范围可以进行更改，以便适应更多的人。
进一步的，若平衡车检测到使用者的重心降低或高度检测腰带的高度降低时，平衡车加速；若使用者的重心提高或高度检测腰带的高度提高时，平衡车减速。在使用平衡车时，若平衡车速度较快，则可以弯腰和略微下蹲来进行平衡控制，相应的，本方案中，当用户重心降低或者佩戴在腰部的高度检测腰带高度降低时，平衡车则进行加速，有利于平衡车的控制。
进一步的，重心或高度是否改变由第二阈值决定，当平衡车检测到使用者的重心或者高度检测腰带的高度降低的幅度超过第二阈值时，判定重心或者高度降低，平衡车加速；当平衡车检测到使用者的重心或者高度检测腰带的高度提高的幅度超过第二阈值时，判定重心或者高度提高，平衡车减速。用户在使用平衡车时，姿势不可能一成不变，设定第二阈值可以减少误加速和误减速的 情况发生。
进一步的，建立一个群组，群组内设定一个手环为主机，其他手环为从机；
主机的转向信息会群发给群内的每个从机，群组内的所有从机对应的平衡车根据主机手环的指令进行转向。如今，各种骑行活动逐渐增多，平衡车的骑行活动也偶有出现，若只靠喊话等方式进行车队的指挥是不现实的，本方案中，通过建立群组，设定主机和从机，可以通过主机来一定程度上控制从机的转向问题，对于解决骑行指挥不便的问题有很大的帮助；当然，该从机也可以不根据主机的控制进行转向，而只是接受主机的转向信息，而由从机的用户自行控制转向。
进一步的，当从机检测到停止跟随指令时，则不再根据主机手环的指令进行转向；
所述手环上设置有停止跟随按钮，当所述停止跟随按钮检测到操作时，则判定从机检测到停止跟随指令。在每个手环上可以设置一种停止跟随按钮，如此，在主机和从机之间存在转向不一致或者距离较远，不适合一起转向时，可以避免从机盲目跟随主机进行转向控制的情况发生。
进一步的，手环的转动角度越大，则平衡车对应的转向幅度越大。本方案使得用户可以对转向进行更为精细的控制，提高用户的操作体验。具体的，转动角度可以取30度-90度；而转向幅度可以取10度-360度；可以平滑对应，也可以是多个档位的对应。
本发明还提供了一种使用本发明的控制方法的平衡车的控制系统，包括平衡车本体，及与平衡车本体无线连接的手环；
所述平衡车本体根据所述手环的转动方向进行控制转向。
本发明的有益效果是：本发明由于使用的可以佩戴在用户手腕的手环来配合平衡车进行转向控制，因而充分发挥了手腕转动灵活，操控性好的优势，使得平衡车的转向控制更加方便而高效，并且，由于使用手环而去除了扶杆，避免了平衡车的重量过重和占用空间过大的问题；另外，本发明中，手环须在预 设的高度范围内，才会触发转向控制，这是因为人在某些时候，比如在高举手臂时，由于平衡性较差容易引起误操作，本发明设定了预设的高度范围，可以较好的减少误操作的发生，更好地利用了手腕的操作性；另外，由于手脚分离，腿部可以专注于平衡车的平衡控制，而手腕则用于平衡车的转向控制，减少现有技术的控制方式可能引起腿部过度紧张和劳累的问题，提高了平衡车的使用安全性。
参照后文的说明和附图，详细公开了本申请的特定实施方式，指明了本申请的原理可以被采用的方式。应该理解，本申请的实施方式在范围上并不因而受到限制。在所附权利要求的精神和条款的范围内，本申请的实施方式包括许多改变、修改和等同。
针对一种实施方式描述和/或示出的特征可以以相同或类似的方式在一个或更多个其它实施方式中使用，与其它实施方式中的特征相组合，或替代其它实施方式中的特征。
应该强调，术语“包括/包含”在本文使用时指特征、整件、步骤或组件的存在，但并不排除一个或更多个其它特征、整件、步骤或组件的存在或附加。
【附图说明】
所包括的附图用来提供对本申请实施例的进一步的理解，其构成了说明书的一部分，用于例示本申请的实施方式，并与文字描述一起来阐释本申请的原理。显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1是本发明一种平衡车的控制方法的流程图；
图2是本发明一种平衡车的控制系统的示意图。
【具体实施方式】
为了使本技术领域的人员更好地理解本申请中的技术方案，下面将结合本 申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都应当属于本申请保护的范围。
实施例一：
图1是本发明一种平衡车的控制方法的流程图，参见图1，该平衡车的控制方法，包括步骤：
S1:判断手环的高度；
S2:若手环的高度在预设的高度范围内，则检测手环的转动方向；
S3：平衡车根据手环的转动方向进行控制转向。
本发明的有益效果是：本发明由于使用的可以佩戴在用户手腕的手环来配合平衡车进行转向控制，因而充分发挥了手腕转动灵活，操控性好的优势，使得平衡车的转向控制更加方便而高效，并且，由于使用手环而去除了扶杆，避免了平衡车的重量过重和占用空间过大的问题；另外，本发明中，手环须在预设的高度范围内，才会触发转向控制，这是因为人在某些时候，比如在高举手臂时，由于平衡性较差容易引起误操作，本发明设定了预设的高度范围，可以较好的减少误操作的发生，更好地利用了手腕的操作性；另外，由于手脚分离，腿部可以专注于平衡车的平衡控制，而手腕则用于平衡车的转向控制，减少现有技术的控制方式可能引起腿部过度紧张和劳累的问题，提高了平衡车的使用安全性。
本实施例优选的，在步骤S2和S3中，当手环的转动方向为顺时针时，控制平衡车右转；当手环的转动方向为逆时针时，控制平衡车左转。顺时针对应右转，逆时针对应左转，对于正常人来说，更利于操作；当然，设置逆时针对应左转，而逆时针对应右转也是可以的，对应关系通过预先的设置完成，可以满足更多人的使用习惯。
本实施例优选的，手环的转动方向的判定存在阈值，当手环向顺时针方向 转动的幅度超过阈值时，方才判定手环的转动方向为顺时针；当手环向逆时针方向转动的幅度超过阈值时，方才判定手环的转动方向为逆时针。用户在使用平衡车时，不可避免的身体会有所晃动，本方案中，设定了手环的转动方向阈值，只有转动的幅度超过阈值时，平衡车才会认定该转动控制为有效控制，减少了误操作的情况发生。
本实施例优选的，步骤S2中的预设的高度范围：手环相对平衡车的高度为80CM至130CM；
手环内设置有高度检测传感器。高度设定范围默认为80CM至130CM，主要是因为正常人在使用平衡车时，手腕下垂有利于平衡车的稳定，而以正常人的身高来判断，手环的高度范围设定在这一范围较为合理；当然，如果有需要，该高度范围可以进行更改，以便适应更多的人。该高度检测传感器可以是红外线、蓝牙等类型的传感器，用于发射信号，并接收地面或平衡车上表面的反射信号；当然，也可以在平衡车处设置一标识物，以检测手环和标识物之间的高度处来进行高度检测。
本实施例优选的，若平衡车检测到使用者的重心降低或高度检测腰带的高度降低时，平衡车加速；若使用者的重心提高或高度检测腰带的高度提高时，平衡车减速。在使用平衡车时，若平衡车速度较快，则可以弯腰和略微下蹲来进行平衡控制，相应的，本方案中，当用户重心降低或者佩戴在腰部的高度检测腰带高度降低时，平衡车则进行加速，有利于平衡车的控制。该高度检测腰带内设置有用于检测腰带高度的传感器。
本实施例优选的，重心或高度是否改变由第二阈值决定，当平衡车检测到使用者的重心或者高度检测腰带的高度降低的幅度超过第二阈值时，判定重心或者高度降低，平衡车加速；当平衡车检测到使用者的重心或者高度检测腰带的高度提高的幅度超过第二阈值时，判定重心或者高度提高，平衡车减速。用户在使用平衡车时，姿势不可能一成不变，设定第二阈值可以减少误加速和误减速的情况发生。
本实施例优选的，建立一个群组，群组内设定一个手环为主机，其他手环为从机；
主机的转向信息会群发给群内的每个从机，群组内的所有从机对应的平衡车根据主机手环的指令进行转向。如今，各种骑行活动逐渐增多，平衡车的骑行活动也偶有出现，若只靠喊话等方式进行车队的指挥是不现实的，本方案中，通过建立群组，设定主机和从机，可以通过主机来一定程度上控制从机的转向问题，对于解决骑行指挥不便的问题有很大的帮助；当然，该从机也可以不根据主机的控制进行转向，而只是接受主机的转向信息，而由从机的用户自行控制转向。
本实施例优选的，当从机检测到停止跟随指令时，则不再根据主机手环的指令进行转向；
手环上设置有停止跟随按钮，当停止跟随按钮检测到操作时，则判定从机检测到停止跟随指令。在每个手环上可以设置一种停止跟随按钮，如此，在主机和从机之间存在转向不一致或者距离较远，不适合一起转向时，可以避免从机盲目跟随主机进行转向控制的情况发生。
本实施例优选的，手环的转动角度越大，则平衡车对应的转向幅度越大。具体的，转动角度可以取30度-90度；而转向幅度可以取10度-360度；可以平滑对应，也可以是多个档位的对应。本方案使得用户可以对转向进行更为精细的控制，提高用户的操作体验。
实施例二：
图2是本发明一种平衡车的控制系统的示意图，该控制系统使用了本发明所公开的控制方法，该控制系统100包括平衡车本体1，及与平衡车本体无线连接的手环2；
平衡车本体1根据手环2的转动方向进行控制转向。
本发明的有益效果是：本发明由于使用的可以佩戴在用户手腕的手环来配 合平衡车进行转向控制，因而充分发挥了手腕转动灵活，操控性好的优势，使得平衡车的转向控制更加方便而高效，并且，由于使用手环而去除了扶杆，避免了平衡车的重量过重和占用空间过大的问题；另外，本发明中，手环须在预设的高度范围内，才会触发转向控制，这是因为人在某些时候，比如在高举手臂时，由于平衡性较差容易引起误操作，本发明设定了预设的高度范围，可以较好的减少误操作的发生，更好地利用了手腕的操作性；另外，由于手脚分离，腿部可以专注于平衡车的平衡控制，而手腕则用于平衡车的转向控制，减少现有技术的控制方式可能引起腿部过度紧张和劳累的问题，提高了平衡车的使用安全性。
以上详细描述了本发明的较佳具体实施例。应当理解，本领域的普通技术人员无需创造性劳动就可以根据本发明的构思作出诸多修改和变化。因此，凡本技术领域中技术人员依本发明的构思在现有技术的基础上通过逻辑分析、推理或者有限的实验可以得到的技术方案，皆应在由权利要求书所确定的保护范围内。

Claims (10)

  1. 一种平衡车的控制方法，其特征是：包括步骤：
    判断手环的高度；
    若手环的高度在预设的高度范围内，则检测手环的转动方向；
    平衡车根据手环的转动方向进行控制转向。
  2. 如权利要求1所述的平衡车的控制方法，其特征是：当手环的转动方向为顺时针时，控制平衡车右转；当手环的转动方向为逆时针时，控制平衡车左转。
  3. 如权利要求1所述的平衡车的控制方法，其特征是：手环的转动方向的判定存在阈值，当手环向顺时针方向转动的幅度超过阈值时，方才判定手环的转动方向为顺时针；当手环向逆时针方向转动的幅度超过阈值时，方才判定手环的转动方向为逆时针。
  4. 如权利要求1所述的平衡车的控制方法，其特征是：所述的预设的高度范围：手环相对平衡车的高度为80CM至130CM；
    所述手环内设置有高度检测传感器。
  5. 如权利要求1所述的平衡车的控制方法，其特征是：若平衡车检测到使用者的重心降低或高度检测腰带的高度降低时，平衡车加速；若使用者的重心提高或高度检测腰带的高度提高时，平衡车减速。
  6. 如权利要求5所述的平衡车的控制方法，其特征是：重心或高度是否改变由第二阈值决定，当平衡车检测到使用者的重心或者高度检测腰带的高度降低的幅度超过第二阈值时，判定重心或者高度降低，平衡车加速；当平衡车检测到使用者的重心或者高度检测腰带的高度提高的幅度超过第二阈值时，判定重心或者高度提高，平衡车减速。
  7. 如权利要求1所述的平衡车的控制方法，其特征是：建立一个群组，群组内设定一个手环为主机，其他手环为从机；
    主机的转向信息会群发给群内的每个从机，群组内的所有从机对应的平衡车根据主机手环的指令进行转向。
  8. 如权利要求7所述的平衡车的控制方法，其特征是：当从机检测到停止跟随指令时，则不再根据主机手环的指令进行转向；
    所述手环上设置有停止跟随按钮，当所述停止跟随按钮检测到操作时，则判定从机检测到停止跟随指令。
  9. 如权利要求1所述的平衡车的控制方法，其特征是：手环的转动角度越大，则平衡车对应的转向幅度越大。
  10. 一种使用如权1-9所述的控制方法的平衡车的控制系统，其特征是：包括平衡车本体，及与平衡车本体无线连接的手环；
    所述平衡车本体根据所述手环的转动方向进行控制转向。
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