A folding vehicle control method, device, equipment and storage medium

Abstract

This invention provides a folding bicycle control method, device, equipment, and storage medium, relating to the field of folding bicycle technology. The folding bicycle control method includes: upon receiving an action signal from the folding bicycle, controlling the wheels to rotate around a vertical axis perpendicular to the ground; after the wheels rotate to a first angular position, controlling the wheels to move linearly along the ground to move the suspension structure to a preset suspension position; wherein, at the first angular position, the wheels and the bicycle body form a set angle in the longitudinal direction. This invention's folding bicycle control method, through signal control, rotates the wheels of the folding bicycle around a vertical axis perpendicular to the ground by a certain angle, then controls the wheels to move linearly, driving the suspension structure to move to a preset suspension position, thereby realizing the automatic unfolding or folding of the folding bicycle without external force or professional operation, improving the working efficiency of the folding bicycle, lowering the usage threshold, and enhancing the convenience and safety of use.

Description

Technical Field

[0001] This invention relates to the field of folding bicycle technology, and more specifically, to a folding bicycle control method, device, equipment, and storage medium. Background Technology

[0002] Various equipment can be mounted on transport chassis, or goods can be directly carried, making them applicable in multiple fields, including logistics, outdoor applications, and machinery manufacturing. To increase the load capacity of transport chassis, they need to be enlarged; however, enlarged transport chassis occupy a large area, making transportation and storage inconvenient.

[0003] To address the issues of load capacity and footprint of transport chassis, a transport chassis that can be unfolded or folded as needed is required, namely a folding vehicle.

[0004] Existing folding bikes require external force to fold or unfold, which is cumbersome, requires professional personnel, and is very inconvenient to use. Summary of the Invention

[0005] The main technical problem solved by this invention is that folding vehicles require external force to unfold or fold.

[0006] To address the above problems, this invention provides a folding bicycle control method. The folding bicycle includes a suspension structure, wheels, and a body. The suspension structure is connected to the wheels and the body. The wheels can drive the suspension structure to move. The folding bicycle control method includes:

[0007] When the folding vehicle receives an action signal, it controls the wheels to rotate around the vertical axis between the wheels and the ground.

[0008] After the wheel rotates to the first angle position, the wheel is controlled to move in a straight line along the ground to drive the suspension structure to move to the preset suspension position; wherein, at the first angle position, the wheel and the vehicle body form a set angle in the front-rear direction.

[0009] Optionally, before controlling the wheels to rotate about the vertical axis between the wheels and the ground upon receiving the motion signal of the folding vehicle, the folding vehicle control method further includes:

[0010] Obtain the current attitude angle of the folding vehicle, wherein the current attitude angle is the angle between the plane on which the chassis of the folding vehicle is located and the horizontal plane;

[0011] When the current attitude angle of the folding vehicle is less than or equal to a preset attitude angle threshold, the action signal of the folding vehicle is generated.

[0012] Optionally, controlling the wheel to move linearly along the ground to move the suspension structure to a preset suspension position includes:

[0013] The wheel rotates around the axle corresponding to the wheel, causing the wheel to move in a straight line along the ground;

[0014] If the change value of the current attitude angle within a preset time period is less than the attitude angle change threshold, and the change value of the current acceleration of the wheel within the preset time period is less than the acceleration change threshold, the current position of the suspension structure is taken as the preset deployment position.

[0015] When the suspension structure reaches the preset deployment position, the wheel rotation stops.

[0016] Optionally, after stopping the wheel rotation when the suspension structure reaches the preset unfolded position, the folding vehicle control method further includes:

[0017] Control the wheel to rotate about the vertical axis between the wheel and the ground;

[0018] When the wheel rotates to the second angle position, the wheel is controlled to stop rotating.

[0019] Optionally, the action signal includes an unfolding signal and a folding signal, the preset suspension position includes a preset unfolding position and a preset folding position, and controlling the wheel to move linearly along the ground to drive the suspension structure to the preset suspension position includes:

[0020] When the action signal is the deployment signal, the suspension structure is controlled to move to the preset deployment position by the wheels moving in a straight line along the ground in a direction away from the vehicle body;

[0021] When the action signal is the folding signal, the suspension structure is controlled to move to the preset folding position by the wheels moving in a straight line along the ground towards the vehicle body.

[0022] Optionally, the folding vehicle further includes a steering motor connected to the wheel, and controlling the wheel to rotate about a vertical axis between the wheel and the ground includes:

[0023] Based on the current angular position of the wheel, the steering angle of the wheel is obtained, wherein the steering angle is the angle between the current angular position and the first angular position;

[0024] Based on the steering angle, the steering motor controls the wheel to rotate around the vertical axis between the wheel and the ground.

[0025] Optionally, the folding vehicle further includes a hub motor connected to the wheel and the suspension structure. Controlling the wheel to move linearly along the ground to move the suspension structure to a preset suspension position includes:

[0026] The hub motor operates to control the rotation of the wheel around its axle.

[0027] When the current position of the suspension structure reaches the preset suspension position, the hub motor is controlled to stop running.

[0028] The folding bicycle control method of the present invention uses signal control to rotate the wheels of the folding bicycle around the vertical axis of the ground by a certain angle, and then controls the wheels to move in a straight line. This enables the wheels to act as active components, driving the suspension structure to move to a preset suspension position, thereby realizing the automatic unfolding or folding of the folding bicycle without the need for external force or professional operation. This improves the working efficiency of the folding bicycle, lowers the threshold for use, and enhances the convenience and safety of use.

[0029] The present invention also provides a folding bicycle control device, the folding bicycle including a suspension structure, wheels, and a body, the suspension structure being connected to the wheels and the body, the wheels being capable of driving the suspension structure to move, and the folding bicycle control device including:

[0030] The wheel control unit is used to control the wheel to rotate around the vertical axis between the wheel and the ground when it receives the action signal of the folding vehicle; after the wheel rotates to a first angle position, it controls the wheel to move in a straight line along the ground to drive the suspension structure to move to a preset suspension position; wherein, at the first angle position, the wheel and the front-rear direction of the vehicle body form a set angle.

[0031] The folding bicycle control device of the present invention, through signal control, rotates the wheels of the folding bicycle around the vertical axis of the ground by a certain angle, and then controls the wheels to move in a straight line. This enables the wheels to act as the active component, driving the suspension structure to move to a preset suspension position, thereby realizing the automatic unfolding or folding of the folding bicycle without the need for external force or professional operation. This improves the working efficiency of the folding bicycle, lowers the threshold for use, and enhances the convenience and safety of use.

[0032] The present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the above-described folding vehicle control methods.

[0033] The computer device of the present invention, through signal control, rotates the wheels of the folding vehicle around the vertical axis of the ground by a certain angle, and then controls the wheels to move in a straight line. This enables the wheels to act as the active component, driving the suspension structure to move to a preset suspension position, thereby realizing the automatic unfolding or folding of the folding vehicle without the need for external force or professional operation. This improves the working efficiency of the folding vehicle, lowers the threshold for use, and enhances the convenience and safety of use.

[0034] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements any of the above-described folding vehicle control methods.

[0035] The computer-readable storage medium of the present invention, through signal control, rotates the wheels of a folding vehicle around a vertical axis of the ground by a certain angle, and then controls the wheels to move in a straight line. This enables the wheels to act as active components, driving the suspension structure to move to a preset suspension position, thereby realizing the automatic unfolding or folding of the folding vehicle without the need for external force or professional operation. This improves the working efficiency of the folding vehicle, lowers the threshold for use, and enhances the convenience and safety of use. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the folding vehicle structure in an embodiment of the present invention;

[0037] Figure 2 This is a flowchart of the folding vehicle control method in an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the wheel state of the folding vehicle in an embodiment of the present invention;

[0039] Figure 4 This is a flowchart of the folding vehicle control method in an embodiment of the present invention;

[0040] Figure 5 This is a flowchart of the folding vehicle control method in an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the wheel state of the folding vehicle in an embodiment of the present invention;

[0042] Figure 7 This is a schematic diagram of the folding vehicle control device in an embodiment of the present invention;

[0043] Figure 8 This is a schematic diagram of a computer device in an embodiment of the present invention.

[0044] Explanation of reference numerals in the attached figures:

[0045] 1-Wheel; 2-Suspension structure; 21-Suspension frame; 22-First suspension link; 23-Second suspension link; 24-Third suspension link; 25-First connecting rod; 26-Second connecting rod; 3-Vehicle body. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] Combination Figure 1 As shown, the folding bicycle includes wheels 1, a suspension structure 2, and a body 3. The suspension structure 2 is connected to the wheels 1 and the body 3. The suspension structure connects the wheels 1 and the body 3, allowing the wheels to drive the body of the folding bicycle to move. The wheels 1 can drive the suspension structure 2 to move. The suspension structure 2 includes a suspension frame 21, a first suspension link 22, a second suspension link 23, a third suspension link 24, a first connecting rod 25, and a second connecting rod 26. The end of the suspension frame 21 near the wheel 1 is connected to the axle of the wheel 1 through a connecting component. The ends of the first suspension link 22 and the third suspension link 24 near the wheel 1 are both movably connected to the suspension frame 21 through connecting components. The other ends of rod 22 and the third suspension link 24 are movably connected to the vehicle body 3; the end of the second suspension link 23 near the wheel 1 is connected to the end of the first suspension link 22 near the vehicle body 3 via the first connecting rod 25, and is also connected to the end of the first suspension link 22 near the wheel 1 via the second connecting rod 26, and the other end of the second suspension link 23 is movably connected to the vehicle body 3; the suspension frame 21 drives the first suspension link 22 and the third suspension link 24 to move through the connecting component, and the first suspension link 22 drives the second suspension link 23 to move through the connecting component. By moving the first suspension link 22, the second suspension link 23 and the third suspension link 24 to a fixed position, the suspension structure can be unfolded or folded.

[0048] Combination Figure 2 As shown, the folding vehicle control method includes:

[0049] S3: When the action signal of the folding vehicle is received, control the wheels to rotate around the vertical axis between the wheels and the ground;

[0050] Specifically, when the control module of the folding bike receives the action signal of the folding bike, it means that the folding bike meets certain conditions and can be folded or unfolded. At this time, by controlling the wheels to rotate around the vertical axis between the wheels and the ground, the wheels can be rotated at a certain angle in a turning posture.

[0051] S4: When the wheel rotates to the first angle position, control the wheel to move in a straight line along the ground to drive the suspension structure to move to the preset suspension position; wherein, at the first angle position, the wheel and the front-rear direction of the vehicle body form a set angle;

[0052] Specifically, when each wheel of the folding bike rotates to the first angle position, the angle between the bike body and the front-rear direction of the wheel allows each wheel to move in a straight line away from the folding bike at the same time, or each wheel to move in a straight line towards the folding bike at the same time. This drives the suspension structure connected to the wheel to move, and the suspension structure controls the folding or unfolding of the folding bike.

[0053] Combination Figure 3 As shown, in a preferred embodiment of the present invention, the included angle can be set to 45°. After the wheel is rotated to 45°, the rotation is stopped. When the wheel is at 45°, it is convenient for the wheel to drive the suspension structure to move.

[0054] The folding bicycle control method of the present invention, through signal control, rotates the wheels of the folding bicycle around the vertical axis of the ground by a certain angle, and then controls the wheels to move in a straight line. This enables the wheels to act as active components, driving the suspension structure to move to a preset suspension position, thereby realizing the automatic unfolding or folding of the folding bicycle without the need for external force or professional operation. This improves the working efficiency of the folding bicycle, lowers the threshold for use, and enhances the convenience and safety of use.

[0055] Combination Figure 4 As shown in this embodiment of the invention, before controlling the wheels to rotate around the vertical axis between the wheels and the ground when the motion signal of the folding vehicle is received, the folding vehicle control method further includes:

[0056] S1: Obtain the current attitude angle of the folding vehicle, wherein the current attitude angle is the angle between the plane on which the chassis of the folding vehicle is located and the horizontal plane;

[0057] S2: When the current attitude angle of the folding vehicle is less than or equal to a preset attitude angle threshold, the action signal of the folding vehicle is generated.

[0058] In this embodiment, before the folding vehicle receives a folding or unfolding signal, it is necessary to determine the vehicle's attitude. Therefore, it is necessary to obtain the current attitude angle of the folding vehicle, which is the angle between the parallel line of the folding vehicle chassis and the horizontal plane. This reflects the position of the folding vehicle and whether it can be folded or unfolded. The attitude angle can be obtained by attitude detection devices such as gyroscopes. If the current attitude angle is less than or equal to a preset attitude angle threshold, it is determined that the folding vehicle is on a relatively flat surface, and thus, an action signal for the folding vehicle is generated. If the current attitude angle is greater than the preset angle threshold, it is determined that the folding vehicle is on a slope and cannot be unfolded or folded. The preset angle threshold can be set to 20°.

[0059] The folding vehicle control method of the present invention determines the terrain of the folding vehicle by detecting the vehicle's posture, and decides whether to control the folding vehicle to unfold or fold based on the terrain factors, thereby avoiding the failure of unfolding or folding due to the terrain being too steep, which would cause damage to the components.

[0060] Combination Figure 5 As shown, in this embodiment of the invention, step S4: controlling the wheel to move linearly along the ground to drive the suspension structure to a preset suspension position includes:

[0061] S41: The wheel moves in a straight line along the ground by rotating around the axle corresponding to the wheel;

[0062] S42: If the change value of the current attitude angle within a preset time period is less than the attitude angle change threshold, and the change value of the current acceleration of the wheel within the preset time period is less than the acceleration change threshold, the current position of the suspension structure is taken as the preset deployment position.

[0063] S43: When the suspension structure reaches the preset deployment position, the wheel rotation is stopped.

[0064] In this embodiment, after the wheel rotates to a certain angle around its vertical axis relative to the ground, it can be controlled to rotate, that is, the wheel rotates around its corresponding axle, achieving linear motion. This wheel movement causes a change in the suspension structure. Since the suspension structure's pivot point is inside two stress points, the suspension structure can fold or unfold. Using the wheel as the active component, when the folding vehicle unfolds, the wheel rotates, causing the suspension frame to move with the wheel. The suspension frame drives the third and first suspension links to move away from the vehicle body at the wheel-side end. When the first suspension link moves away from the vehicle body at the wheel-side end, it drives the second suspension link to move away from the vehicle body at the wheel-side end via a connecting component. When the first, second, and third suspension links reach a preset unfolded position, meaning they can no longer move away from the vehicle body, the wheel stops rotating. When the folding vehicle is folded, the control method described above causes the first, second, and third suspension links to move closer to the vehicle body at the wheel-side end, thus achieving the folding action of the folding vehicle.

[0065] At this point, the current attitude angle and the current acceleration of the wheel are used to determine whether the wheel has brought the suspension structure to its limit. For example, if the fluctuation of the current attitude angle and the current acceleration of the wheel within 3 seconds is less than the attitude angle change threshold and the acceleration change threshold, respectively, it means that the wheel has brought the suspension structure to its limit, causing the wheel to be unable to generate acceleration and the folding car to be unable to change angle. At this point, the wheel rotation can be stopped.

[0066] The folding vehicle control method of the present invention determines whether to move the suspension structure to a preset suspension position by judging the vehicle's body posture and wheel acceleration, thereby achieving automatic stopping of the folding vehicle when folding or unfolding and reducing additional working steps.

[0067] In this embodiment of the invention, after stopping the wheel rotation when the suspension structure reaches the preset unfolding position, the folding vehicle control method further includes:

[0068] Control the wheel to rotate about the vertical axis between the wheel and the ground;

[0069] When the wheel rotates to the second angle position, the wheel is controlled to stop rotating.

[0070] In this embodiment, once the wheel stops rotating around the corresponding axle, it indicates that the suspension structure has reached its limit position and is fully extended or folded. At this point, it is necessary to control the wheel to continue rotating around its vertical axis relative to the ground, and to rotate it to the second angular position. Figure 6As shown, after the folding bike wheels are rotated to the inward position, the rotation of the wheels is stopped, and the folding bike operation is completed.

[0071] The folding bicycle control method of the present invention makes the bicycle's structure more stable by causing the bicycle's wheels to retract inward to a certain angle, forming an inward-pointing toe-out mode. This prevents the bicycle from slipping or becoming unstable after unfolding or folding, thus avoiding damage to the bicycle.

[0072] In this embodiment of the invention, the action signal includes an unfolding signal and a folding signal, the preset suspension position includes a preset unfolding position and a preset folding position, and controlling the wheel to move linearly along the ground to drive the suspension structure to the preset suspension position includes:

[0073] When the action signal is the deployment signal, the suspension structure is controlled to move to the preset deployment position by the wheels moving in a straight line along the ground in a direction away from the vehicle body;

[0074] When the action signal is the folding signal, the suspension structure is controlled to move to the preset folding position by the wheels moving in a straight line along the ground towards the vehicle body.

[0075] In this embodiment, the action signals are divided into two types: unfolding signals and folding signals. When the control module of the folding vehicle receives an unfolding signal, it means that the folding vehicle needs to be unfolded. Therefore, when the wheel rotates around the corresponding axle, it is necessary to control the wheel to move in a straight line away from the folding vehicle. At this time, the suspension structure is subjected to the pulling force of the wheel and performs the unfolding movement. When the control module of the folding vehicle receives a folding signal, it means that the folding vehicle needs to be folded. When the wheel rotates around the corresponding axle, it is necessary to control the wheel to move in a straight line towards the folding vehicle. At this time, the suspension structure is subjected to the pushing force and performs the folding movement.

[0076] The folding vehicle control method of the present invention automatically pulls the suspension through the wheels during the folding and unfolding of the folding vehicle, so that the folding vehicle can automatically fold or unfold without the need for external force, thereby reducing additional working steps and optimizing the workflow of the folding vehicle.

[0077] In this embodiment of the invention, the folding vehicle further includes a steering motor connected to the wheel, and controlling the wheel to rotate about the vertical axis between the wheel and the ground includes:

[0078] Based on the current angular position of the wheel, the steering angle of the wheel is obtained, wherein the steering angle is the angle between the current angular position and the first angular position;

[0079] Based on the steering angle, the steering motor controls the wheel to rotate around the vertical axis between the wheel and the ground.

[0080] In this embodiment, the folding vehicle uses a steering motor to control the rotation of the wheels around the vertical axis between the wheels and the ground, and calculates the required rotation angle based on the current position, that is, the angle between the current angle position and the first angle position, and drives the wheels to rotate through the steering motor.

[0081] The folding bicycle control method of the present invention realizes part of the automatic folding of the folding bicycle through a steering motor, that is, the wheels rotate to a certain angle to realize the automatic folding and unfolding of the folding bicycle. Folding and unfolding can be realized without any operation, thus improving the practicality of the folding bicycle.

[0082] In this embodiment of the invention, the folding vehicle further includes a hub motor, which is connected to the wheel and the suspension structure. Controlling the wheel to move linearly along the ground to move the suspension structure to a preset suspension position includes:

[0083] The hub motor operates to control the rotation of the wheel around its axle.

[0084] When the current position of the suspension structure reaches the preset suspension position, the hub motor is controlled to stop running.

[0085] In this embodiment, a hub motor is used to control the wheel to rotate around the corresponding axle, and the wheel drives the suspension structure to move. When the suspension structure reaches the preset suspension position, the hub motor is stopped, thereby stopping the wheel from rotating.

[0086] The folding bicycle control method of the present invention realizes part of the automatic folding of the folding bicycle through the hub motor, that is, the wheel drives the suspension structure to move, realizing the automatic folding and unfolding of the folding bicycle without any operation, thus improving the practicality of the folding bicycle.

[0087] Combination Figure 7 As shown, the present invention also provides a folding bicycle control device 100. The folding bicycle includes a suspension structure, wheels, and a body. The suspension structure is connected to the wheels and the body. The wheels can drive the suspension structure to move. The folding bicycle control device 100 includes:

[0088] The wheel control unit 110 is used to control the wheel to rotate around the vertical axis between the wheel and the ground when it receives the action signal of the folding vehicle; after the wheel rotates to a first angle position, it controls the wheel to move in a straight line along the ground to drive the suspension structure to move to a preset suspension position; wherein, at the first angle position, the wheel and the front-rear direction of the vehicle body form a set angle.

[0089] The folding bike control device also includes an attitude acquisition unit 120;

[0090] The attitude acquisition unit 120 is used to acquire the current attitude angle of the folding vehicle, wherein the current attitude angle is the angle between the plane on which the chassis of the folding vehicle is located and the horizontal plane; when the current attitude angle of the folding vehicle is less than or equal to a preset attitude angle threshold, the action signal of the folding vehicle is generated.

[0091] The wheel control unit 110 is also used to rotate the wheel around the axle corresponding to the wheel, so that the wheel moves in a straight line along the ground; if the change value of the current attitude angle within a preset time period is less than the attitude angle change threshold, and the change value of the current acceleration of the folding vehicle within the preset time period is less than the acceleration change threshold, the current position of the suspension structure is taken as the preset unfolding position; when the suspension structure reaches the preset unfolding position, the wheel rotation is stopped.

[0092] Control the wheel to rotate around the vertical axis between the wheel and the ground; when the wheel rotates to the second angular position, control the wheel to stop rotating;

[0093] When the action signal is the unfolding signal, the suspension structure is controlled to move to the preset unfolding position by the wheels moving in a straight line along the ground in a direction away from the vehicle body; when the action signal is the folding signal, the suspension structure is controlled to move to the preset folding position by the wheels moving in a straight line along the ground in a direction close to the vehicle body.

[0094] Based on the current angular position of the wheel, the steering angle of the wheel is obtained, wherein the steering angle is the angle between the current angular position and the first angular position; based on the steering angle, the wheel is controlled to rotate around the vertical axis between the wheel and the ground via the steering motor;

[0095] The hub motor controls the wheel to rotate around its axle; when the current position of the suspension structure reaches the preset suspension position, the hub motor stops operating.

[0096] The folding bicycle control device of the present invention, through signal control, rotates the wheels of the folding bicycle around the vertical axis of the ground by a certain angle, and then controls the wheels to move in a straight line. This enables the wheels to act as the active component, driving the suspension structure to move to a preset suspension position, thereby realizing the automatic unfolding or folding of the folding bicycle without the need for external force or professional operation. This improves the working efficiency of the folding bicycle, lowers the threshold for use, and enhances the convenience and safety of use.

[0097] Combination Figure 8 As shown, the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:

[0098] When the folding vehicle receives an action signal, it controls the wheels to rotate around the vertical axis between the wheels and the ground.

[0099] After the wheel rotates to the first angle position, the wheel is controlled to move in a straight line along the ground to drive the suspension structure to move to the preset suspension position; wherein, at the first angle position, the wheel and the vehicle body form a set angle in the front-rear direction.

[0100] The computer device of the present invention, through signal control, rotates the wheels of the folding vehicle around the vertical axis of the ground by a certain angle, and then controls the wheels to move in a straight line. This enables the wheels to act as the active component, driving the suspension structure to move to a preset suspension position, thereby realizing the automatic unfolding or folding of the folding vehicle without the need for external force or professional operation. This improves the working efficiency of the folding vehicle, lowers the threshold for use, and enhances the convenience and safety of use.

[0101] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the following steps:

[0102] When the folding vehicle receives an action signal, it controls the wheels to rotate around the vertical axis between the wheels and the ground.

[0103] After the wheel rotates to the first angle position, the wheel is controlled to move in a straight line along the ground to drive the suspension structure to move to the preset suspension position; wherein, at the first angle position, the wheel and the vehicle body form a set angle in the front-rear direction.

[0104] The computer-readable storage medium of the present invention, through signal control, rotates the wheels of a folding vehicle around a vertical axis of the ground by a certain angle, and then controls the wheels to move in a straight line. This enables the wheels to act as active components, driving the suspension structure to move to a preset suspension position, thereby realizing the automatic unfolding or folding of the folding vehicle without the need for external force or professional operation. This improves the working efficiency of the folding vehicle, lowers the threshold for use, and enhances the convenience and safety of use.

[0105] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0106] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0107] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A folding vehicle control method characterized by, The folding vehicle includes a suspension structure, wheels, and a vehicle body. The suspension structure is connected to the wheels and the vehicle body. The wheels can drive the suspension structure to move. The folding vehicle control method includes: When the folding vehicle receives an action signal, it controls the wheels to rotate around the vertical axis between the wheels and the ground. After the wheel rotates to the first angle position, the wheel is controlled to move in a straight line along the ground to drive the suspension structure to move to a preset suspension position; wherein, at the first angle position, the wheel and the vehicle body form a set angle in the front-rear direction; Before controlling the wheels to rotate about the vertical axis between the wheels and the ground when the motion signal of the folding vehicle is received, the folding vehicle control method further includes: Obtain the current attitude angle of the folding vehicle, wherein the current attitude angle is the angle between the plane on which the chassis of the folding vehicle is located and the horizontal plane; When the current attitude angle of the folding vehicle is less than or equal to a preset attitude angle threshold, the action signal of the folding vehicle is generated. The control of the wheel to move linearly along the ground to move the suspension structure to a preset suspension position includes: The wheel rotates around the axle corresponding to the wheel, causing the wheel to move in a straight line along the ground; If the change value of the current attitude angle within a preset time period is less than the attitude angle change threshold, and the change value of the current acceleration of the wheel within the preset time period is less than the acceleration change threshold, the current position of the suspension structure is taken as the preset suspension position. When the suspension structure reaches the preset suspension position, the wheel rotation stops.

2. The folding vehicle control method of claim 1, wherein After the suspension structure reaches the preset suspension position and the wheel rotation stops, the folding vehicle control method further includes: Control the wheel to rotate about the vertical axis between the wheel and the ground; When the wheel rotates to the second angle position, the wheel is controlled to stop rotating.

3. The folding vehicle control method of claim 2, wherein, The action signals include unfolding signals and folding signals; the preset suspension positions include preset unfolding positions and preset folding positions; controlling the wheels to move linearly along the ground to move the suspension structure to the preset suspension positions includes: When the action signal is the deployment signal, the suspension structure is controlled to move to the preset deployment position by the wheels moving in a straight line along the ground in a direction away from the vehicle body; When the action signal is the folding signal, the suspension structure is controlled to move to the preset folding position by the wheels moving in a straight line along the ground towards the vehicle body.

4. The folding vehicle control method of claim 3, wherein, The folding vehicle also includes a steering motor connected to the wheel. Controlling the wheel to rotate about its vertical axis relative to the ground includes: Based on the current angular position of the wheel, the steering angle of the wheel is obtained, wherein the steering angle is the angle between the current angular position and the first angular position; Based on the steering angle, the steering motor controls the wheel to rotate around the vertical axis between the wheel and the ground.

5. The folding vehicle control method of claim 4, wherein, The folding vehicle also includes a hub motor, which is connected to the wheel and the suspension structure. Controlling the wheel to move linearly along the ground to move the suspension structure to a preset suspension position includes: The hub motor operates to control the rotation of the wheel around its axle. When the current position of the suspension structure reaches the preset suspension position, the hub motor is controlled to stop running.

6. A folding vehicle control device characterized by comprising: A method for controlling a folding bicycle according to any one of claims 1 to 5; the folding bicycle includes a suspension structure, wheels, and a body, the suspension structure is connected to the wheels and the body, the wheels can drive the suspension structure to move, and the folding bicycle control device includes: The wheel control unit is used to control the wheel to rotate around the vertical axis between the wheel and the ground when it receives the action signal of the folding vehicle; after the wheel rotates to a first angle position, it controls the wheel to move in a straight line along the ground to drive the suspension structure to move to a preset suspension position; wherein, at the first angle position, the wheel and the front-rear direction of the vehicle body form a set angle.

7. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the folding vehicle control method according to any one of claims 1 to 5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, When the computer program is executed by the processor, it implements the folding vehicle control method according to any one of claims 1 to 5.

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