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.
Identifying method for lifting and putting down electric self-balancing monocycle
2016-01-20
Patent
Electronic Resource
English
IPC: | B62K Fahrräder , CYCLES |
Self-balancing electric monocycle based on gyroscope stabilizer
European Patent Office | 2016
|