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Identifying method for lifting and putting down electric self-balancing monocycle

An identification method and unicycle technology, applied in motor vehicles, bicycles, motorcycles, etc., can solve problems such as low user experience and potential safety hazards, and achieve the effects of low computational complexity, improved user comfort, and guaranteed reliability.

Active Publication Date: 2016-01-20
NANJING KUAILUN INTELLIGENT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Of course, the current technology will make the car stop after a few seconds of delay when the speed exceeds a set value (usually the maximum speed value), which has a low user experience and poses a safety hazard.

Method used

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  • Identifying method for lifting and putting down electric self-balancing monocycle
  • Identifying method for lifting and putting down electric self-balancing monocycle
  • Identifying method for lifting and putting down electric self-balancing monocycle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] Embodiment 1: as figure 1 — image 3 , the electric self-balancing unicycle 1 mainly achieves balance through the control processor, attitude sensor and synchronous servo motor (PMSM). Attitude (the actual angle information of the car body), and output the actual angle information to the control processor to compare with the preset given angle to obtain the angle error, and the control processor continuously adjusts the PMSM motor according to the obtained angle error value Direction of rotation and speed; In addition, the control system of the electric self-balancing unicycle 1 also includes a Hall sensor, an acceleration sensor and a touch sensor 3. The Hall sensor is built in the PMSM motor and is used to measure the speed information of the PMSM motor driving the wheels. , the acceleration sensor is used to measure the overall acceleration information generated by the gravitational effect of the earth or the movement of the vehicle for a period of time as a supplem...

Embodiment 2

[0042] Embodiment 2: as image 3 , as an improvement of the present invention, the touch sensor 3 is selected from any one of a capacitive touch sensor, a pressure sensor and a light sensor, and the touch sensor 3 is installed at the lifting handle 2 of the electric self-balancing unicycle 1, It is used to detect whether the user's hand touches the lifting handle 2 and the contact time between the hand and the lifting handle 2 . The rest of the structures and advantages are exactly the same as in Embodiment 1.

Embodiment 3

[0043] Embodiment 3: as figure 1 — image 3 , as an improvement of the present invention, the order of the velocity filtering is the first median filtering and then the moving average filtering. The median filtering can be used to remove the burrs in the velocity data first, so as to ensure the smoothness of the velocity value, and then A moving average filter is used to further improve the smoothness of velocity values. The rest of the structures and advantages are exactly the same as in Embodiment 1.

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Abstract

The invention relates to an identifying method for lifting and putting down an electric self-balancing monocycle and the method has low calculation complexity and high sensitivity. When the monocycle is not driven but lifted up, monocycle speed can be acquired in real time via a Hall sensor; speed difference is achieved when the speed data is processed by filtration wave; a comparison is made between the speed difference and a speed difference defined amount; contact time when a user contacts and lifts the handle is detected via a touch sensor; a comparison is made between the contact time and the contact time defined amount; the previous adjacent speed difference is acquired; a comparison is made between the speed difference and the speed difference defined amount; the moment when the speed is zero and time difference of the current moment are acquired and a comparison is made with the time difference defined amount; actions when the user touches and lifts up the handle can be detected by the touch sensor, and then monocycle is determined to be lifted up; the wheels are stopped during the lifting; when the touch operation of the sensor is not detected, the processor is controlled to execute gesture balance calculation in a delayed way; and a putting down identification effect is achieved.

Description

technical field [0001] The invention relates to the technical field of an electric self-balancing unicycle, in particular to a method for identifying picking up and putting down an electric self-balancing unicycle. Background technique [0002] At present, in China, the electric self-balancing unicycle has quietly become popular as a means of transportation that relies on electric drive and self-balancing ability control. It mainly controls the front and rear balance of the car body through the principle of the inverted pendulum system. Left and right balance. After the user places their feet on the pedals on both sides of the wheel, they can lean forward to move forward, backward to slow down, and left or right to turn. The electric self-balancing unicycle is small in size and easy to carry. It can be carried to the bus, subway, home or office when not in use. [0003] Due to the user's usage habits, the electric self-balancing unicycle is often picked up during use, and ...

Claims

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Application Information

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IPC IPC(8): B62K11/00
Inventor 刘峰张涛薛祖播
Owner NANJING KUAILUN INTELLIGENT TECH CO LTD
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