CN107340778B - Balance control method and vehicle - Google Patents
Balance control method and vehicle Download PDFInfo
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- CN107340778B CN107340778B CN201710485509.3A CN201710485509A CN107340778B CN 107340778 B CN107340778 B CN 107340778B CN 201710485509 A CN201710485509 A CN 201710485509A CN 107340778 B CN107340778 B CN 107340778B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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Abstract
The invention discloses a balance control method and a vehicle, wherein the vehicle is provided with a vehicle body and a bracket, the first end of the bracket is rotationally connected with the vehicle body, and the method comprises the following steps: detecting motion attitude data of the vehicle; determining the unfolding angle of the bracket according to the motion attitude data of the vehicle; and controlling the bracket to be unfolded according to the unfolding angle, wherein the unfolding angle of the bracket is used for maintaining the vehicle in a balanced state.
Description
Technical Field
The invention relates to a balance control technology, in particular to a balance control method and a vehicle.
Background
At present, the two-wheeled balance car is widely applied and mainly applied to the fields of scooter, robot and the like. The two-wheeled balance car has great development space because of its characteristics such as green, turning radius is little, small, control is extremely convenient.
However, the two-wheeled balance vehicle cannot maintain a self-balancing state in case of power failure and power unloading, needs to find a depended object or fall on the ground, and is extremely bad for user experience, and is easy to damage a machine by falling down suddenly. For a two-wheel balancing robot, a balanced state needs to be kept all the time during use, and even if the robot does not need to move and only needs to perform head tablet function interaction, the electric quantity needed by the robot to maintain self balance is consumed.
Disclosure of Invention
In order to solve the technical problem, the embodiment of the invention provides a balance control method and a vehicle.
The balance control method provided by the embodiment of the invention is applied to a vehicle, the vehicle is provided with a vehicle body and a bracket, the first end of the bracket is rotatably connected with the vehicle body, and the method comprises the following steps:
detecting motion attitude data of the vehicle;
determining the unfolding angle of the bracket according to the motion attitude data of the vehicle;
and controlling the bracket to be unfolded according to the unfolding angle, wherein the unfolding angle of the bracket is used for maintaining the vehicle in a balanced state.
In an embodiment of the present invention, the determining the deployment angle of the bracket according to the motion posture data of the vehicle includes:
determining the inclination angle of a bearing surface where the vehicle is located according to the motion attitude data of the vehicle;
and determining the unfolding angle of the support according to the inclination angle of the bearing surface, wherein when the support is unfolded according to the determined unfolding angle, the included angle between the support and the bearing surface is less than or equal to a preset threshold value.
In an embodiment of the invention, the vehicle further has a self-balancing system, wherein,
when the vehicle is in a first working state, closing the self-balancing system, and maintaining the balance state of the vehicle through the bracket;
when the vehicle is in a second working state, the self-balancing system is started, and the balance state of the vehicle is maintained through the self-balancing system and the bracket.
In the embodiment of the invention, if the motion attitude data indicate that the vehicle is in a static state, the vehicle is controlled to be in a first working state, and the self-balancing system is closed;
and if the motion attitude data indicate that the vehicle is in a motion state, controlling the vehicle to be in a second working state, starting the self-balancing system, and maintaining the balance state of the vehicle through the self-balancing system and the bracket.
In an embodiment of the present invention, the maintaining the balance state of the vehicle by the self-balancing system and the bracket includes:
maintaining a balance state of the vehicle in a first direction by the self-balancing system and maintaining a balance state of the vehicle in a second direction by the bracket, wherein the first direction is perpendicular to the second direction.
In the embodiment of the invention, the vehicle is also provided with a self-balancing system,
when the vehicle is in a third working state, starting the self-balancing system and controlling the support to be in a folding state;
maintaining a state of balance of the vehicle by the self-balancing system.
In an embodiment of the present invention, the vehicle body includes a pedal, a wheel on the pedal, and a lever, wherein,
the control the support is in the state of putting of receiving, includes:
and controlling the bracket to be accommodated in the groove of the control rod.
In the embodiment of the invention, the second end of the bracket is provided with a rotating wheel which is used for being supported on the bearing surface and can rotate on the bearing surface.
The embodiment of the invention provides a vehicle which is provided with a vehicle body and a bracket, wherein the first end of the bracket is rotationally connected with the vehicle body, and the vehicle comprises:
a sensor for detecting motion attitude data of the vehicle;
the controller is used for determining the unfolding angle of the bracket according to the motion posture data of the vehicle; and controlling the bracket to be unfolded according to the unfolding angle, wherein the unfolding angle of the bracket is used for maintaining the vehicle in a balanced state.
In the embodiment of the invention, the controller is further configured to determine an inclination angle of the bearing surface where the vehicle is located according to the motion attitude data of the vehicle; and determining the unfolding angle of the support according to the inclination angle of the bearing surface, wherein when the support is unfolded according to the determined unfolding angle, the included angle between the support and the bearing surface is less than or equal to a preset threshold value.
In an embodiment of the present invention, the vehicle further has a self-balancing system, wherein the controller is further configured to:
when the vehicle is in a first working state, closing the self-balancing system, and maintaining the balance state of the vehicle through the bracket;
when the vehicle is in a second working state, the self-balancing system is started, and the balance state of the vehicle is maintained through the self-balancing system and the bracket.
In an embodiment of the present invention, the vehicle further has a self-balancing system, wherein the controller is further configured to:
and when the vehicle is in a third working state, the self-balancing system is started, the support is controlled to be in a retracted state, and the balance state of the vehicle is maintained through the self-balancing system.
In an embodiment of the present invention, the vehicle body includes a pedal, a wheel on the pedal, and a control lever, wherein the controller is further configured to: and controlling the bracket to be accommodated in the groove of the control rod.
According to the technical scheme of the embodiment of the invention, the vehicle is provided with a vehicle body and a bracket, wherein the first end of the bracket is rotatably connected with the vehicle body; detecting motion attitude data of the vehicle; determining the unfolding angle of the bracket according to the motion attitude data of the vehicle; and controlling the bracket to be unfolded according to the unfolding angle, wherein the unfolding angle of the bracket is used for maintaining the vehicle in a balanced state. By adopting the technical scheme of the embodiment of the invention, the problem of power failure, power unloading and parking of the vehicle can be effectively solved through the automatic support, and meanwhile, the electric energy consumed by the vehicle for maintaining self balance is saved under the condition of not moving the vehicle and the like.
Drawings
FIG. 1 is a first flowchart of a balance control method according to an embodiment of the present invention;
FIG. 2 is a second flowchart of a balance control method according to an embodiment of the present invention;
FIG. 3 is a first schematic view of a vehicle according to an embodiment of the present invention;
FIG. 4 is a second schematic illustration of a vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic view of a riding mode of the vehicle according to an embodiment of the present invention;
FIG. 6 is a first schematic view of an application scenario of a vehicle according to an embodiment of the present invention;
FIG. 7 is a schematic view of a second application scenario of the vehicle according to the embodiment of the present invention;
fig. 8 is a schematic structural composition diagram of a vehicle according to an embodiment of the present invention.
Detailed Description
So that the manner in which the features and aspects of the embodiments of the present invention can be understood in detail, a more particular description of the embodiments of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings.
Fig. 1 is a schematic flowchart of a balance control method according to an embodiment of the present invention, in which the balance control method of this example is applied to a vehicle having a vehicle body and a cradle, a first end of the cradle being rotatably connected to the vehicle body, as shown in fig. 1, and the balance control method includes the steps of:
step 101: motion pose data of the vehicle is detected.
In the embodiment of the present invention, the vehicle may be a two-wheel balance vehicle, a two-wheel balance robot, or the like, and such a vehicle may have a self-balancing system, and the vehicle may be maintained in a balanced state by the self-balancing system, where the balanced state refers to that the vehicle maintains a posture relative to the ground, for example, the vehicle does not fall down relative to the ground. Besides, the technical scheme of the embodiment of the invention can be applied to other vehicles in any forms.
In the embodiment of the invention, the vehicle is provided with a body and a support, wherein the first end of the support is rotatably connected with the vehicle body, the second end of the support is provided with a rotating wheel, and when the support is in an unfolded state, the rotating wheel is used for being supported on a bearing surface and can rotate on the bearing surface. In one example, the rotating wheels are universal wheels, and thus can move in any direction with the vehicle.
In an embodiment of the present invention, the vehicle further has a sensor and a controller, wherein the sensor may be a gyroscope or other device capable of detecting a motion gesture of the vehicle, and the motion gesture data of the vehicle is detected by using the sensor, where the motion gesture data of the vehicle includes, but is not limited to, the following: velocity, acceleration, angular velocity, rotational acceleration. Here, the motion attitude of the vehicle can be determined from the motion attitude data.
Step 102: and determining the unfolding angle of the bracket according to the motion posture data of the vehicle.
Here, the stand functions to maintain the vehicle in a balanced state, and it is possible to determine whether the vehicle is in a balanced state according to the moving posture data of the vehicle, thereby maintaining the vehicle in a balanced state by unfolding a certain angle when the vehicle is not in a balanced state.
In the embodiment of the invention, the unfolding angle of the bracket is determined by the following method:
determining the inclination angle of a bearing surface where the vehicle is located according to the motion attitude data of the vehicle;
and determining the unfolding angle of the support according to the inclination angle of the bearing surface, wherein when the support is unfolded according to the determined unfolding angle, the included angle between the support and the bearing surface is less than or equal to a preset threshold value.
Here, the preset threshold may be flexibly set, and ideally, the threshold may be zero degrees.
For example: according to the motion attitude data of the vehicle, determining that the inclination angle of the bearing surface where the vehicle is located is alpha, and in order to keep the vehicle not to fall on such bearing surface, the bracket needs to be unfolded by a corresponding angle, namely 90-alpha, so that the included angle between the bracket and the bearing surface is zero degree, namely the bracket and the bearing surface are kept parallel, and thus the vehicle is maintained in a balanced state.
For another example: according to the motion attitude data of the vehicle, the inclination angle of the bearing surface where the vehicle is located is determined to be zero, and in order to keep the vehicle not to fall on such bearing surface, the bracket needs to be unfolded by a corresponding angle, namely 90 degrees, so that the included angle between the bracket and the bearing surface is zero, namely the bracket and the bearing surface are kept parallel, and thus the vehicle is maintained in a balanced state.
Step 103: and controlling the bracket to be unfolded according to the unfolding angle, wherein the unfolding angle of the bracket is used for maintaining the vehicle in a balanced state.
In the embodiment of the invention, after the controller determines the unfolding angle of the bracket, the controller sends a control instruction to the bracket, and the control instruction is used for controlling the bracket to be unfolded according to the unfolding angle. And after the support is unfolded according to the unfolding angle indicated by the control command, maintaining the vehicle in a balanced state.
In the embodiment of the invention, the self-balancing system is in a closed state under the condition of power failure of the vehicle, and the vehicle cannot be maintained in a balanced state through the self-balancing system, so that the vehicle can be maintained in the balanced state through controlling the bracket to be unfolded by a specific angle. In addition, for the robot with the human-computer interaction function, under the condition that the robot is in a static state, a user only needs to interact with a flat plate of the head of the robot, and at the moment, a self-balancing system of the robot can be closed, and the balance state of the robot is maintained through a support, so that the power consumption of the robot is saved.
Fig. 2 is a flowchart of a balance control method according to an embodiment of the present invention, and is a second flowchart, where the balance control method of this example is applied to a vehicle, the vehicle has a vehicle body, a bracket, a first end of the bracket is rotationally connected with the vehicle body, the vehicle further has a self-balancing system, and as shown in fig. 2, the balance control method includes the following steps:
step 201: motion pose data of the vehicle is detected.
In the embodiment of the present invention, the vehicle may be a two-wheel balance vehicle, a two-wheel balance robot, or the like, and such a vehicle may have a self-balancing system, and the vehicle may be maintained in a balanced state by the self-balancing system, where the balanced state refers to that the vehicle maintains a posture relative to the ground, for example, the vehicle does not fall down relative to the ground. Besides, the technical scheme of the embodiment of the invention can be applied to other vehicles in any forms.
In the embodiment of the invention, the vehicle is provided with a body and a support, wherein the first end of the support is rotatably connected with the vehicle body, the second end of the support is provided with a rotating wheel, and when the support is in an unfolded state, the rotating wheel is used for being supported on a bearing surface and can rotate on the bearing surface. In one example, the rotating wheels are universal wheels, and thus can move in any direction with the vehicle.
In an embodiment of the present invention, the vehicle further has a sensor and a controller, wherein the sensor may be a gyroscope or other device capable of detecting a motion gesture of the vehicle, and the motion gesture data of the vehicle is detected by using the sensor, where the motion gesture data of the vehicle includes, but is not limited to, the following: velocity, acceleration, angular velocity, rotational acceleration. Here, the motion attitude of the vehicle can be determined from the motion attitude data.
Step 202: if the motion attitude data indicate that the vehicle is in a static state, controlling the vehicle to be in a first working state, and closing the self-balancing system; and if the motion attitude data indicate that the vehicle is in a motion state, controlling the vehicle to be in a second working state, starting the self-balancing system, and maintaining the balance state of the vehicle through the self-balancing system and the bracket.
Here, when the vehicle is in a first working state, the self-balancing system is closed, and the balance state of the vehicle is maintained through the bracket; when the vehicle is in a second working state, the self-balancing system is started, and the balance state of the vehicle is maintained through the self-balancing system and the bracket.
Here, closing the self-balancing system, and maintaining the balanced state of the vehicle through the bracket specifically includes the following steps:
step 2021: and determining the unfolding angle of the bracket according to the motion posture data of the vehicle.
Here, the stand functions to maintain the vehicle in a balanced state, and it is possible to determine whether the vehicle is in a balanced state according to the moving posture data of the vehicle, thereby maintaining the vehicle in a balanced state by unfolding a certain angle when the vehicle is not in a balanced state.
In the embodiment of the invention, the unfolding angle of the bracket is determined by the following method:
determining the inclination angle of a bearing surface where the vehicle is located according to the motion attitude data of the vehicle;
and determining the unfolding angle of the support according to the inclination angle of the bearing surface, wherein when the support is unfolded according to the determined unfolding angle, the included angle between the support and the bearing surface is less than or equal to a preset threshold value.
Here, the preset threshold may be flexibly set, and ideally, the threshold may be zero degrees.
For example: according to the motion attitude data of the vehicle, determining that the inclination angle of the bearing surface where the vehicle is located is alpha, and in order to keep the vehicle not to fall on such bearing surface, the bracket needs to be unfolded by a corresponding angle, namely 90-alpha, so that the included angle between the bracket and the bearing surface is zero degree, namely the bracket and the bearing surface are kept parallel, and thus the vehicle is maintained in a balanced state.
For another example: according to the motion attitude data of the vehicle, the inclination angle of the bearing surface where the vehicle is located is determined to be zero, and in order to keep the vehicle not to fall on such bearing surface, the bracket needs to be unfolded by a corresponding angle, namely 90 degrees, so that the included angle between the bracket and the bearing surface is zero, namely the bracket and the bearing surface are kept parallel, and thus the vehicle is maintained in a balanced state.
Step 2022: and controlling the bracket to be unfolded according to the unfolding angle, wherein the unfolding angle of the bracket is used for maintaining the vehicle in a balanced state.
In the embodiment of the invention, after the controller determines the unfolding angle of the bracket, the controller sends a control instruction to the bracket, and the control instruction is used for controlling the bracket to be unfolded according to the unfolding angle. And after the support is unfolded according to the unfolding angle indicated by the control command, maintaining the vehicle in a balanced state.
In the embodiment of the invention, the self-balancing system is in a closed state under the condition of power failure of the vehicle, and the vehicle cannot be maintained in a balanced state through the self-balancing system, so that the vehicle can be maintained in the balanced state through controlling the bracket to be unfolded by a specific angle. In addition, for the robot with the human-computer interaction function, under the condition that the robot is in a static state, a user only needs to interact with a flat plate of the head of the robot, and at the moment, a self-balancing system of the robot can be closed, and the balance state of the robot is maintained through a support, so that the power consumption of the robot is saved.
In the embodiment of the present invention, the self-balancing system is turned on, and the balance state of the vehicle is maintained by the self-balancing system and the bracket, which specifically includes the following steps:
step 2023: maintaining a balance state of the vehicle in a first direction by the self-balancing system and maintaining a balance state of the vehicle in a second direction by the bracket, wherein the first direction is perpendicular to the second direction.
In the embodiment of the invention, the vehicle is also provided with a third working state, when the vehicle is in the third working state, the self-balancing system is started, and the support is controlled to be in a folding state; maintaining a state of balance of the vehicle by the self-balancing system. In an embodiment, the vehicle body includes a pedal, a wheel on the pedal, and a control lever, wherein the control of the bracket in the stowed state means: and controlling the bracket to be accommodated in the groove of the control rod.
According to the technical scheme of the embodiment of the invention, the intelligent wheel type support can effectively solve the problem of power failure, force unloading and parking of the two-wheel balance vehicle, and meanwhile, the power consumption is saved under the conditions of no need of movement and the like. In addition, when a beginner needs to ride the bicycle in an auxiliary mode through the support, the support can be unfolded through an auxiliary learning instruction, and when a sensor in the balance bicycle detects the inclination within a reasonable range, the unfolding angle of the support can be adjusted to follow the inclination angle of the balance bicycle to adjust; when the beginner excessively leans back in the riding process, the sensor learns the event of excessively inclining or exceeding the reasonable inclining range, and the balance car is forcibly assisted to be kept from falling down by adjusting the unfolding angle of the support. Therefore, for a beginner, the support can be used as an auxiliary wheel to help the beginner to better master a riding method, and can also achieve an auxiliary function on a rugged road.
Fig. 3 is a first schematic view of a vehicle according to an embodiment of the present invention, as shown in fig. 3, the vehicle is a two-wheeled balance vehicle, and a body of the two-wheeled balance vehicle includes: the bicycle comprises pedals, wheels positioned on two sides of the pedals and a direction control rod positioned above the pedals. The direction control rod is connected to the pedal through a rotating part of the direction control rod, a user can stand on the pedal, the left-right swing of the direction control rod is controlled through the left-right inclination of the leg, and the left-right swing of the direction control rod can control the left turn and the right turn of the balance car.
On the basis of the balance car, a support is added, and the support is provided with two rotating parts which are respectively: the first rotating component and the second rotating component. Wherein the first end of the bracket is connected to the pedal through a first rotating member, wherein the first rotating member can rotate in a front-rear direction, and the bracket can be unfolded by a specific angle through the rotation of the first rotating member. Here, the second rotating member is disposed on the bracket, and divides the bracket into two parts, wherein a part between the first end and the second rotating member is referred to as a first part, and a part between the second end and the second rotating member is referred to as a second part, and in practical applications, the length of the second part is much greater than that of the first part, for example: the first portion has a length of 3cm and the second portion has a length of 60 cm. In the above aspect, the second rotating member can rotate in the left-right direction.
Fig. 4 is a second schematic view of a vehicle according to an embodiment of the present invention, fig. 4 is a side view of fig. 3, and fig. 4 and 3 are both views in a state where a bracket is received in a direction control lever, as shown in fig. 4, the direction control lever is connected to a pedal through a third rotating member, and the bracket is connected to the pedal through a first rotating member. The left-right rotation of the directional control lever does not bring the first rotation member of the bracket. Specifically, as shown in fig. 5, when the direction lever swings left and right, the bracket (specifically, the second portion of the bracket) housed inside the direction lever also swings left and right, and the bracket (specifically, the first portion of the bracket) outside the direction lever maintains a position, which is achieved by the rotation of the second rotating member between the first portion and the second portion in the left and right direction.
Fig. 6 is a first application scenario of the vehicle according to the embodiment of the present invention, as shown in fig. 6, the balance car is located on a horizontal bearing surface, at this time, the unfolding angle of the bracket is determined to be 90 degrees, and the controller controls the bracket to unfold by 90 degrees to maintain the balance state of the balance car. Here, the deployment of the stent is achieved by the rotation of the first rotating member of the stent, and the second rotating member is not rotatable in the front-rear direction but rotatable only in the left-right direction, and therefore, the second rotating member is in a locked state in the front-rear direction.
Fig. 7 is a schematic view of a second application scenario of the vehicle according to the embodiment of the invention, as shown in fig. 7, the balance car is located on the inclined bearing surface, at this time, the unfolding angle of the bracket is determined as α degrees, and the controller controls the bracket to unfold by α degrees to maintain the balance state of the balance car. Here, the deployment of the stent is achieved by the rotation of the first rotating member of the stent, and the second rotating member is not rotatable in the front-rear direction but rotatable only in the left-right direction, and therefore, the second rotating member is in a locked state in the front-rear direction.
Fig. 8 is a schematic structural component diagram of a vehicle according to an embodiment of the present invention, where the vehicle includes a vehicle body 801 and a bracket 802, a first end of the bracket 802 is rotatably connected to the vehicle body 801, and the vehicle includes:
a sensor 803 for detecting motion attitude data of the vehicle;
a controller 804, configured to determine an unfolding angle of the bracket 802 according to the motion posture data of the vehicle; and controlling the bracket 802 to be unfolded according to the unfolding angle, wherein the unfolding angle of the bracket 802 is used for maintaining the vehicle in a balanced state.
In the embodiment of the present invention, the controller 804 is further configured to determine an inclination angle of the bearing surface where the vehicle is located according to the motion posture data of the vehicle; determining an unfolding angle of the bracket 802 according to the inclination angle of the bearing surface, wherein when the bracket 802 is unfolded according to the determined unfolding angle, an included angle between the bracket 802 and the bearing surface is less than or equal to a preset threshold value.
In this embodiment of the present invention, the vehicle further has a self-balancing system 805, wherein the controller 804 is further configured to:
when the vehicle is in the first working state, the self-balancing system 805 is closed, and the balance state of the vehicle is maintained through the bracket 802;
when the vehicle is in the second working state, the self-balancing system 805 is turned on, and the balancing state of the vehicle is maintained through the self-balancing system 805 and the bracket 802.
In this embodiment of the present invention, the vehicle further has a self-balancing system 805, wherein the controller 804 is further configured to:
when the vehicle is in the third working state, the self-balancing system 805 is turned on, the bracket 802 is controlled to be in the retracted state, and the balancing state of the vehicle is maintained through the self-balancing system 805.
In an embodiment of the present invention, the vehicle body 801 includes a pedal, a wheel on the pedal, and a control lever, wherein the controller 804 is further configured to: the bracket 802 is controlled to be received in the groove of the control rod.
Those skilled in the art will appreciate that the functionality of the various components of the vehicle shown in FIG. 8 may be understood with reference to the associated description of the balancing control method described above.
The technical schemes described in the embodiments of the present invention can be combined arbitrarily without conflict.
In the embodiments provided in the present invention, it should be understood that the disclosed method and intelligent device may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one second processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (13)
1. A balance control method for a vehicle having a vehicle body, a bracket having a first end rotatably coupled to the vehicle body, the method comprising:
detecting motion attitude data of the vehicle;
determining the inclination angle of a bearing surface where the vehicle is located according to the motion attitude data of the vehicle;
determining the unfolding angle of the bracket according to the inclination angle of the bearing surface;
and controlling the bracket to be unfolded according to the unfolding angle, wherein the unfolding angle of the bracket is used for maintaining the vehicle in a balanced state.
2. The balance control method according to claim 1, wherein when the support is unfolded according to the determined unfolding angle, an included angle between the support and the bearing surface is smaller than or equal to a preset threshold value.
3. The balance control method according to claim 1, wherein the vehicle further has a self-balancing system, wherein,
when the vehicle is in a first working state, closing the self-balancing system, and maintaining the balance state of the vehicle through the bracket;
when the vehicle is in a second working state, the self-balancing system is started, and the balance state of the vehicle is maintained through the self-balancing system and the bracket.
4. The balance control method according to claim 3,
if the motion attitude data indicate that the vehicle is in a static state, controlling the vehicle to be in a first working state, and closing the self-balancing system;
and if the motion attitude data indicate that the vehicle is in a motion state, controlling the vehicle to be in a second working state, starting the self-balancing system, and maintaining the balance state of the vehicle through the self-balancing system and the bracket.
5. The balance control method of claim 4, wherein said maintaining a balanced state of the vehicle by the self-balancing system and the bracket comprises:
maintaining a balance state of the vehicle in a first direction by the self-balancing system and maintaining a balance state of the vehicle in a second direction by the bracket, wherein the first direction is perpendicular to the second direction.
6. The balance control method according to claim 1, wherein the vehicle further has a self-balancing system,
when the vehicle is in a third working state, starting the self-balancing system and controlling the support to be in a folding state;
maintaining a state of balance of the vehicle by the self-balancing system.
7. The balance control method according to claim 6, wherein the vehicle body includes a pedal, a wheel on the pedal, and a lever, wherein,
the control the support is in the state of putting of receiving, includes:
and controlling the bracket to be accommodated in the groove of the control rod.
8. The balance control method according to any one of claims 1 to 7, wherein the second end of the bracket is provided with a rotating wheel for supporting and rotating on a bearing surface.
9. A vehicle having a vehicle body, a bracket with a first end rotatably connected to the vehicle body, the vehicle comprising:
a sensor for detecting motion attitude data of the vehicle;
the controller is used for determining the inclination angle of the bearing surface where the vehicle is located according to the motion attitude data of the vehicle; determining the unfolding angle of the bracket according to the inclination angle of the bearing surface; and controlling the bracket to be unfolded according to the unfolding angle, wherein the unfolding angle of the bracket is used for maintaining the vehicle in a balanced state.
10. The vehicle of claim 9, characterized in that when the bracket is unfolded according to the determined unfolding angle, the included angle between the bracket and the bearing surface is less than or equal to a preset threshold value.
11. The vehicle of claim 9, further having a self-balancing system, wherein the controller is further configured to:
when the vehicle is in a first working state, closing the self-balancing system, and maintaining the balance state of the vehicle through the bracket;
when the vehicle is in a second working state, the self-balancing system is started, and the balance state of the vehicle is maintained through the self-balancing system and the bracket.
12. The vehicle of claim 9, further having a self-balancing system, wherein the controller is further configured to:
and when the vehicle is in a third working state, the self-balancing system is started, the support is controlled to be in a retracted state, and the balance state of the vehicle is maintained through the self-balancing system.
13. The vehicle of claim 12, wherein the vehicle body comprises a pedal, a wheel on the pedal, and a lever, wherein the controller is further configured to: and controlling the bracket to be accommodated in the groove of the control rod.
Priority Applications (1)
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