CN105966538A - Control method and control device of electric balance car - Google Patents
Control method and control device of electric balance car Download PDFInfo
- Publication number
- CN105966538A CN105966538A CN201610392120.XA CN201610392120A CN105966538A CN 105966538 A CN105966538 A CN 105966538A CN 201610392120 A CN201610392120 A CN 201610392120A CN 105966538 A CN105966538 A CN 105966538A
- Authority
- CN
- China
- Prior art keywords
- barrier
- described barrier
- electrodynamic balance
- balance car
- map
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/36—Cycles; Motorcycles; Scooters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
Abstract
The invention discloses a control method of an electric balance car. The control method comprises the following steps that the height of an object in front of the electric balance car is detected in the traveling process of the electric balance car; if the height of the object exceeds a preset value, the object is recognized as a barrier, and the electric balance car is controlled to slow down; and the width of the barrier is detected, the end, close to the barrier, of the electric balance car is determined, and a traveling path is generated. In this way, the electric balance car can pass by the barrier according to the generated traveling path, the electric balance car drives towards the end, close to the electric balance car, of the barrier in the traveling process, and a user can pass by the barrier more conveniently and rapidly.
Description
Technical field
The present invention relates to automation field, in particular, relate to a kind of electrodynamic balance car controlling party
Method and control device.
Background technology
Electrodynamic balance car, is again body-sensing car, thinking car, and its operation principles is mainly built upon a kind of quilt
It is referred to as in the ultimate principle of " dynamic stability ", utilizes gyroscope and the acceleration transducer of vehicle body,
Detect the change of vehicle body attitude, and utilize servo-control system, accurately drive motor to carry out accordingly
Adjustment, to keep the balance of system.
Existing electrodynamic balance car typically has two kinds, and one is to have an action bars on car body；Use
Person stands in and on the foot platform of electrodynamic balance car operates action bars, thus advances, retreats and stop
Only, such control is also referred to as " manual ".Another kind is that car body is made up of two parts, left half and right part
/ realize mutually rotating by rotating mechanism, thus realize " foot control ".
In advance or fallback procedures, user can control balance car by action bars or rotating mechanism
Turn.If the front of the wheel of balance car has barrier, this wheel stopped or blocks, giving
Driver brings harm.
Summary of the invention
The technical problem to be solved be to provide a kind of be easy to that electrodynamic balance garage enters electronic flat
The control method of weighing apparatus car and control device.
It is an object of the invention to be achieved through the following technical solutions:
According to an aspect of the present invention: the present invention discloses the control method of a kind of electrodynamic balance car, its
In, said method comprising the steps of:
Detect described electrodynamic balance garage and enter the height of middle front article；
If the height of described article exceeds preset value, described article are identified as barrier and control institute
State electrodynamic balance car to slow down；
Detect the width of described barrier, determine that barrier described in described electrodynamic balance spacing is nearer
One end, generates course；
Gathering the image of described barrier, networking identifies described barrier characteristic, according to described barrier
Characteristic determines described course；
Pointing out described course according to predetermined manner, described predetermined manner includes: flash described electronic
Balance car closer to described barrier side of detouring signal lights, shake described electrodynamic balance car closer to detouring
At least one in the parts of described barrier side；
Described course marks described barrier roadblock coordinate, forms barrier map, and will
Described barrier map is shared to the communication electrodynamic balance car communicated with；
Described barrier map is combined with road-map, it is judged that whether described barrier is positioned on road,
If described barrier is positioned on road, described barrier is marked on described barrier map；If institute
State barrier to be positioned at outside road, described barrier is not marked on described barrier map；
Judge whether described barrier is kept in motion, if described barrier is kept in motion, no
Described barrier is marked on barrier map；If described barrier remains static, by described
Barrier marks on barrier map.
According to another aspect of the present invention, the invention discloses the control method of a kind of electrodynamic balance car,
Wherein, said method comprising the steps of:
Detect described electrodynamic balance garage and enter the height of middle front article；
If the height of described article exceeds preset value, described article are identified as barrier and control institute
State electrodynamic balance car to slow down；
Detect the width of described barrier, determine that barrier described in described electrodynamic balance spacing is nearer
One end, generates course.
Preferably, described method also includes: after generating described course, carry according to predetermined manner
Show described course.
Preferably, described predetermined manner includes: flash described electrodynamic balance car closer to the described obstacle that detours
The signal lights of thing side, shake in the described electrodynamic balance car parts closer to described barrier side of detouring
At least one.
Preferably, described method also includes: after generating described course, in described course
Upper mark described barrier roadblock coordinate, forms barrier map, and is shared by described barrier map
To the communication electrodynamic balance car communicated with.
Preferably, described method also includes: gather the image of described barrier, and networking identifies described barrier
Hinder thing characteristic, determine described course according to described barrier characteristic.
Preferably, described method also includes: be combined with road-map by described barrier map, it is judged that
Whether described barrier is positioned on road, if described barrier is positioned on road, by described barrier mark
Note on described barrier map；If described barrier is positioned at outside road, described barrier is not marked
On described barrier map.
Preferably, described method also includes: judge whether described barrier is kept in motion, if institute
State barrier to be kept in motion, described barrier is not marked on barrier map；If described barrier
Hinder thing to remain static, described barrier is marked on barrier map.
According to a further aspect of the invention, the invention discloses the control device of a kind of electrodynamic balance car,
Wherein, described control device includes:
Height detecting device, enters the height of middle front article for detecting described electrodynamic balance garage；
Identify device, be used for identifying described article: if the height of described article is beyond preset value, by institute
State article and be identified as barrier；
Deceleration device, controls the device that described electrodynamic balance car carries out slowing down；
Width detecting, for detecting the width of described barrier；
Determine device, for determining one end that barrier described in described electrodynamic balance spacing is nearer；
Generating means, is used for generating course.
Preferably, described control device also includes:
Harvester, for gathering the image of described barrier, networking identifies described barrier characteristic,
Described course is determined according to described barrier characteristic；
Suggestion device, for pointing out described course according to predetermined manner, described predetermined manner includes:
Flash described electrodynamic balance car closer to described barrier side of detouring signal lights, shake described electronic flat
Weighing apparatus car is closer at least one in the parts of described barrier side of detouring；
Annotation equipment, for marking described barrier roadblock coordinate in described course, forms barrier
Hinder thing map, and described barrier map shared to the communication electrodynamic balance car communicated with,
Coupling apparatus, is combined described barrier map with road-map, it is judged that whether described barrier
It is positioned on road, if described barrier is positioned on road, described barrier is marked described barrier
On map；If described barrier is positioned at outside road, described barrier is not marked described barrier ground
On figure；
Judgment means, is used for judging whether described barrier is kept in motion, if at described barrier
In kinestate, described barrier is not marked on barrier map；If described barrier is in quiet
Only state, marks described barrier on barrier map.
If existing balance car runs into barrier during advancing, the most inconvenient user continues on,
Compared with prior art, the solution have the advantages that: the electrodynamic balance car of the present invention is at traveling process
In first detect article height when running into article, determine whether article belong to barrier；When article height is high
When preset value, identification article are barrier, then electrodynamic balance car is just difficult to from barrier directly
Pass through, thus control electrodynamic balance car and carry out Reduced Speed Now and prevent from making because of collision user injured.And then
The width of detection barrier, and detect the distance between electrodynamic balance car and barrier two ends, then,
Determine one end that electrodynamic balance spacing barrier is nearer, generate course, such electrodynamic balance car
Just can break the barriers according to the course generated, during advancing, electrodynamic balance car is to barrier
The one end hindering thing closer electrodynamic balance car travels, and convenient and quick user breaks the barriers.
It addition, the present invention gathers the image of barrier, the characteristic of further cognitive disorders thing, then,
Characteristic according to barrier further determines that the course of electrodynamic balance car, thus gives user multiple
Selection.
The present invention points out course also by predetermined manner, it is ensured that user can pass through accurately.
Barrier is also marked into roadblock coordinate by the present invention, forms barrier map, is shared with and leads to it
The communication electrodynamic balance car of letter, thus the most convenient communication electrodynamic balance car is according to course and barrier
Map recognizes up-to-date road information, and then convenient traveling.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the control method of the embodiment of the present invention one electrodynamic balance car；
Fig. 2 is the schematic flow sheet of the control method of the embodiment of the present invention two electrodynamic balance car；
Fig. 3 is the schematic diagram controlling device of the embodiment of the present invention three electrodynamic balance car.
Wherein: 101, height detecting device；102, device is identified；103, deceleration device；104、
Width detecting；105, device is determined；106, generating means.
Detailed description of the invention
The invention will be further described with preferred embodiment below in conjunction with the accompanying drawings.
In describing the invention, it is to be understood that term " " center ", " laterally ", " on ",
D score, "left", "right", " vertically ", " level ", " top ", " end ", " interior ",
Orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, are only
Must for the ease of describing the present invention and simplification description rather than instruction or the device of hint indication or element
Must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the present invention
Restriction.Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that
Indicate or imply relative importance or the implicit quantity indicating indicated technical characteristic.Thus, limit
Surely have " first ", the feature of " second " can express or implicitly include one or more
This feature.In describing the invention, except as otherwise noted, " multiple " are meant that two or two
More than individual.It addition, term " includes " and any deformation, it is intended that cover non-exclusive comprising.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, art
Language " is installed ", " being connected ", " connection " should be interpreted broadly, and connects for example, it may be fixing,
Can also be to removably connect, or be integrally connected；Can be to be mechanically connected, it is also possible to be electrical connection；
Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two element internals
Connection.For the ordinary skill in the art, can understand that above-mentioned term is at this with concrete condition
Concrete meaning in invention.
Embodiment one:
The control method of the embodiment of the present invention one electrodynamic balance car is described below with reference to Fig. 1.
It is illustrated in figure 1 the schematic flow sheet of the control method of the embodiment of the present invention one electrodynamic balance car,
The control method of described electrodynamic balance car comprises the following steps:
S101: detect described electrodynamic balance garage and enter the height of middle front article；
S102: if the height of described article beyond preset value, described article are identified as barrier and
Control described electrodynamic balance car to slow down；
S103: detect the width of described barrier, determines barrier described in described electrodynamic balance spacing
Nearer one end, generates course.
In step S101, the electrodynamic balance car of the present embodiment is first examined when running into article during advancing
Survey article height, determine whether article belong to barrier.
In step s 102, when article height is higher than preset value, identification article are barrier, that
Electrodynamic balance car is just difficult to directly pass through from barrier, thus controls electrodynamic balance car and slow down
Traveling prevents from making user injured because of collision.Certainly, if the height of article is less than preset value, thing is identified
Product are not barriers, then electrodynamic balance car can directly pass through from article, the most permissible
Controlling electrodynamic balance car to accelerate to pass through, it is also possible to slow down and pass through, certainly, speed is constant by can also.
In step s 103, the width of detection barrier, and detect electrodynamic balance car and barrier two
Distance between end, then, it is determined that one end that electrodynamic balance spacing barrier is nearer, generates and advances
Route, such electrodynamic balance car just can break the barriers according to the course generated, travel across
Cheng Zhong, electrodynamic balance car travels to one end of barrier closer electrodynamic balance car, convenient and fast
The user of speed breaks the barriers.In the present embodiment, the course of generation can be shown to a display
On screen, if not possessing display screen on electrodynamic balance car, an electronic product can be used to be wirelessly connected to electricity
On dynamic balancing car, course is shown on electronic product by electrodynamic balance car, and then facilitates user to see
See.
If existing balance car runs into barrier during advancing, the most inconvenient user continues on,
Compared with prior art, the electrodynamic balance car of the present embodiment first detects when running into article during advancing
Article height, determines whether article belong to barrier；When article height is higher than preset value, identify thing
Product are barrier, then electrodynamic balance car is just difficult to directly pass through from barrier, thus controls electronic
Balance car carries out Reduced Speed Now to be prevented from making user injured because of collision.And then the width of detection barrier,
And detect the distance between electrodynamic balance car and barrier two ends, then, it is determined that electrodynamic balance spacing
One end that barrier is nearer, generates course, and such electrodynamic balance car just can be according to the row generated
Route line breaks the barriers, and during advancing, electrodynamic balance car is to the closer electrodynamic balance of barrier
One end of car travels, and convenient and quick user breaks the barriers.
Embodiment two:
It is illustrated in figure 2 the schematic flow sheet of the control method of the embodiment of the present invention two electrodynamic balance car,
The control method of described electrodynamic balance car comprises the following steps:
S201: detect described electrodynamic balance garage and enter the height of middle front article；
S202: if the height of described article beyond preset value, described article are identified as barrier and
Control described electrodynamic balance car to slow down；
S203: detect the width of described barrier, determines barrier described in described electrodynamic balance spacing
Nearer one end, generates course；
S204: gathering the image of described barrier, networking identifies described barrier characteristic, according to described
Barrier characteristic determines described course；
S205: pointing out described course according to predetermined manner, described predetermined manner includes: flicker institute
State electrodynamic balance car closer to described barrier side of detouring signal lights, shake described electrodynamic balance car more
Closely detour at least one in the parts of described barrier side；
S206: mark described barrier roadblock coordinate in described course, forms barrier map,
And described barrier map is shared to the communication electrodynamic balance car communicated with；
Wherein, described barrier map is combined with road-map, it is judged that whether described barrier is positioned at
On road, if described barrier is positioned on road, described barrier is marked described barrier map
On；If described barrier is positioned at outside road, described barrier is not marked on described barrier map；
Wherein, it is judged that whether described barrier is kept in motion, if described barrier is in motion shape
State, does not marks described barrier on barrier map；If described barrier remains static,
Described barrier is marked on barrier map.
In step s 201, the electrodynamic balance car of the present embodiment is first examined when running into article during advancing
Survey article height, determine whether article belong to barrier.
In step S202, when article height is higher than preset value, identification article are barrier, that
Electrodynamic balance car is just difficult to directly pass through from barrier, thus controls electrodynamic balance car and slow down
Traveling prevents from making user injured because of collision.Certainly, if the height of article is less than preset value, thing is identified
Product are not barriers, then electrodynamic balance car can directly pass through from article, the most permissible
Controlling electrodynamic balance car to accelerate to pass through, it is also possible to slow down and pass through, certainly, speed is constant by can also.
In step S203, the width of detection barrier, and detect electrodynamic balance car and barrier two
Distance between end, then, it is determined that one end that electrodynamic balance spacing barrier is nearer, generates and advances
Route, such electrodynamic balance car just can break the barriers according to the course generated, travel across
Cheng Zhong, electrodynamic balance car travels to one end of barrier closer electrodynamic balance car, convenient and fast
The user of speed breaks the barriers.In the present embodiment, the course of generation can be shown to a display
On screen, if not possessing display screen on electrodynamic balance car, an electronic product can be used to be wirelessly connected to electricity
On dynamic balancing car, course is shown on electronic product by electrodynamic balance car, and then facilitates user to see
See.
In step S204, gathering the image of described barrier, networking identifies described barrier characteristic,
Described course is determined according to described barrier characteristic.In this step, further cognitive disorders thing
Characteristic, then, further determine that the course of electrodynamic balance car according to the characteristic of barrier, this
Sample is just to the selection that user is multiple.
Wherein, the characteristic of barrier can be the shape of barrier, material, compound mode etc..
Such as: if described barrier is hard material, control described electrodynamic balance car and slow down, around
Cross described barrier to continue on；If described barrier is soft material, then it is directly over described obstacle
Pass through on thing.
The most such as: if the soil block that described barrier is a molding or mudstone block, control described electrodynamic balance
Car slows down, and walks around described barrier and continues on；If described barrier is the sand that a rickle is loose
Soil, then be directly on described barrier passing through.Other barrier characteristic is illustrated the most one by one at this
Bright.
In step S205, point out described course, described predetermined manner bag according to predetermined manner
Include: flash described electrodynamic balance car closer to described barrier side of detouring signal lights, shake described electricity
Dynamic balancing car is closer at least one in the parts of described barrier side of detouring.The present embodiment is preferably adopted
Prompting mode be flicker electrodynamic balance car side signal lights, the signal lights of this side is at electrodynamic balance
Car do not detour barrier time, be positioned at electrodynamic balance spacing barrier the same side closer to side, the most just
It is that the signal lights of flicker is positioned at outside when electronic electricity weighing apparatus car detours barrier.So that it is guaranteed that user's energy
Enough pass through accurately.
In step S206, described course marks described barrier roadblock coordinate, formed
Barrier map, and described barrier map is shared to the communication electrodynamic balance car communicated with；From
And the most conveniently communication electrodynamic balance car recognizes up-to-date road letter according to course and barrier map
Breath, and then convenient traveling.
Wherein, described barrier map is combined with road-map, it is judged that whether described barrier is positioned at
On road, if described barrier is positioned on road, described barrier is marked described barrier map
On；If described barrier is positioned at outside road, described barrier is not marked on described barrier map.
In the present embodiment, road-map can be Baidu's map, high moral map or other road-maps.
It should be noted that under the qualifications of road planning travelling line.Traditional road-map
The border having been presented for the border of road, i.e. road is equal to barrier, but road-map is impossible
Obstruction marking present in road out, therefore both combine, and traffic route just can be made to have more
Operability, safe coefficient is higher.
Wherein, it is judged that whether described barrier is kept in motion, if described barrier is in motion shape
State, does not marks described barrier on barrier map；If described barrier remains static,
Described barrier is marked on barrier map.
This is only the mode of several mark map, it is also possible to have other mode.
In the present embodiment two, wherein, step S201 to S203 can participate in the step that embodiment is a kind of
S101 to S103.Wherein, the step S204 to S206 of the present embodiment two can individually combine
It is combined into new embodiment to embodiment is a kind of, and it is the most sequentially.
Embodiment three:
It is illustrated in figure 3 the schematic diagram controlling device of the embodiment of the present invention three electrodynamic balance car, described
Control device to include:
Height detecting device 101, enters the height of middle front article for detecting described electrodynamic balance garage；
Identify device 102, be used for identifying described article: if the height of described article is beyond preset value,
Described article are identified as barrier；
Deceleration device 103, controls the device that described electrodynamic balance car carries out slowing down；
Width detecting 104, for detecting the width of described barrier；
Determine device 105, for determining one end that barrier described in described electrodynamic balance spacing is nearer；
Generating means 106, is used for generating course.
The electrodynamic balance car of the present embodiment first detects article height when running into article during advancing, logical
Cross height detecting device article are detected, and then determine whether article belong to barrier.
When height detecting device detection article height is higher than preset value, identify that device identification article are for barrier
Hinder thing, then electrodynamic balance car is just difficult to directly pass through from barrier, thus by deceleration device control
Electrodynamic balance car processed carries out Reduced Speed Now to be prevented from making user injured because of collision.Certainly, if the height of article
Degree less than preset value, identifies that device identification article are not barriers, then electrodynamic balance car can directly from
Pass through on article, electrodynamic balance car can be controlled in the process of moving and accelerate to pass through, it is also possible to slow down logical
Crossing, certainly, speed is constant by can also.
By the width of width detecting detection barrier, and detect electrodynamic balance car and barrier two
Distance between end, then, be determined by that device determines that electrodynamic balance spacing barrier is nearer one
End, and generate course by generating means, such electrodynamic balance car just can be according to the row generated
Route line breaks the barriers, and during advancing, electrodynamic balance car is to the closer electrodynamic balance of barrier
One end of car travels, and convenient and quick user breaks the barriers.In the present embodiment, generate
Course can be shown on a display screen, if not possessing display screen on electrodynamic balance car, permissible
Using an electronic product to be wirelessly connected on electrodynamic balance car, course is shown to by electrodynamic balance car
On electronic product, and then user is facilitated to watch.
Described control device also includes:
Harvester, for gathering the image of described barrier, networking identifies described barrier characteristic,
Described course is determined according to described barrier characteristic；The characteristic of cognitive disorders thing further, then,
Characteristic according to barrier further determines that the course of electrodynamic balance car, thus gives user multiple
Selection.
Wherein, the characteristic of barrier can be the shape of barrier, material, compound mode etc..
Such as: if described barrier is hard material, control described electrodynamic balance car and slow down, around
Cross described barrier to continue on；If described barrier is soft material, then it is directly over described obstacle
Pass through on thing.
The most such as: if the soil block that described barrier is a molding or mudstone block, control described electrodynamic balance
Car slows down, and walks around described barrier and continues on；If described barrier is the sand that a rickle is loose
Soil, then be directly on described barrier passing through.Other barrier characteristic is illustrated the most one by one at this
Bright.
Suggestion device, for pointing out described course according to predetermined manner, described predetermined manner includes:
Flash described electrodynamic balance car closer to described barrier side of detouring signal lights, shake described electronic flat
Weighing apparatus car is closer at least one in the parts of described barrier side of detouring；The present embodiment preferably employs
Prompting mode is the signal lights of flicker electrodynamic balance car side, and the signal lights of this side is at electrodynamic balance car not
Detour barrier time, be positioned at electrodynamic balance spacing barrier the same side closer to side, namely when
Electronic electricity weighing apparatus car detour barrier time, the signal lights of flicker be positioned at outside.So that it is guaranteed that user can be accurate
True is current.
Annotation equipment, for marking described barrier roadblock coordinate in described course, forms barrier
Hinder thing map, and described barrier map is shared to the communication electrodynamic balance car communicated with, thus
The most convenient communication electrodynamic balance car recognizes up-to-date road information according to course and barrier map,
And then conveniently travel.
Coupling apparatus, is combined described barrier map with road-map, it is judged that whether described barrier
It is positioned on road, if described barrier is positioned on road, described barrier is marked described barrier
On map；If described barrier is positioned at outside road, described barrier is not marked described barrier ground
On figure；In the present embodiment, road-map can be Baidu's map, high moral map or other roads ground
Figure.
It should be noted that under the qualifications of road planning travelling line.Traditional road-map
The border having been presented for the border of road, i.e. road is equal to barrier, but road-map is impossible
Obstruction marking present in road out, therefore both combine, and traffic route just can be made to have more
Operability, safe coefficient is higher.
Judgment means, is used for judging whether described barrier is kept in motion, if at described barrier
In kinestate, described barrier is not marked on barrier map；If described barrier is in quiet
Only state, marks described barrier on barrier map.
The process whether disturbance in judgement thing moves, can be according to herein below: according to described barrier
Picture judges the state of described barrier；If the state of described barrier is static, measure electrodynamic balance
Distance between car and described barrier；If the state of described barrier is motion；According to default
The distance between electrodynamic balance car and described barrier is measured in one time interval circulation.
Wherein, the distance between described measurement electrodynamic balance car and described barrier, specifically include:
Launch ultrasound wave, and start timing；
When receiving the ultrasound wave of return, stop timing；
Duration according to timing and the aerial spread speed of ultrasound wave, calculate electrodynamic balance car and institute
State the distance between barrier.
It should be noted that launch ultrasound wave from electrodynamic balance car position, ultrasound wave is in atmosphere
Propagate, way is encountered barrier and returns the most immediately, then receive return from electrodynamic balance car position
Ultrasound wave.The aerial spread speed of ultrasound wave is 340m/s, according to the duration t of timing, just
Distance s between electrodynamic balance car and barrier, s=340t/2 can be calculated.
Further, the picture of the barrier of described acquisition electrodynamic balance front side, and according to described barrier
The picture hindering thing judges the state of described barrier, specifically includes:
It is continuously shot the picture of two described barriers, and the position of the barrier in two pictures is entered
Row contrast；
If the position of the barrier in described two pictures does not changes, then judge described barrier
State is static；
If the position of the barrier in described two pictures changes, then judge the shape of described barrier
State is motion.
Wherein, when the state of disturbance in judgement thing, the picture of two barriers can be continuously shot, wherein,
It is continuously shot and there is certain time interval.Contrast two pictures, if the barrier in two pictures with
In picture, the distance between other objects of reference does not change, then illustrate that the state of this barrier is quiet
Only；If the distance between other objects of reference there occurs change in the barrier in two pictures and picture,
Then illustrate that the state of this barrier is for moving.
Further, launch ultrasound wave according to the second default time interval circulation, and start timing；
Described second time interval was spaced more than the described very first time；
When the duration of timing reaches default time threshold, detect whether to receive the ultrasound wave of return；
If receiving the ultrasound wave of return, then judge that electrodynamic balance front side has barrier.
It should be noted that often cross one section of default time interval, will sentence by launching ultrasound wave
Whether power-off dynamic balancing front side has barrier.Running into barrier in atmosphere due to ultrasound wave will
Returning, therefore, in default time threshold, if receiving the ultrasound wave of return, then illustrating electronic
Balance car front has barrier, if not receiving barrier, then explanation electrodynamic balance front side does not has
Barrier, or preceding object thing is distant, does not constitutes a threat to electrodynamic balance car.
Prior art is passive detection barrier, real-time detection, calculating, and operand is big, algorithm
Complicated.The present invention first passes through judgment object height, first gets rid of a part of electrodynamic balance car and can directly get over
The object crossed, and the barrier cannot crossed for electrodynamic balance car, technical solution of the present invention is the most only counted
Calculating the width of article, it is not necessary to the shape and size of component barrier, algorithm is simple, and operand is the least.
Furthermore, the present invention can be by newfound barrier real-time update to barrier map, for oneself and its
His electrodynamic balance car reference, along with the accumulation of data, it is judged that barrier and planning travelling line can more come
The most accurate, possess from the ability grown up, intelligence degree is higher, and avoids and unnecessary repeat meter
Calculate.
Above content is that to combine concrete preferred implementation made for the present invention the most specifically
Bright, it is impossible to assert the present invention be embodied as be confined to these explanations.For technology belonging to the present invention
For the those of ordinary skill in field, without departing from the inventive concept of the premise, it is also possible to if making
Dry simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. the control method of an electrodynamic balance car, it is characterised in that said method comprising the steps of:
Detect described electrodynamic balance garage and enter the height of middle front article；
If the height of described article exceeds preset value, described article are identified as barrier and control institute
State electrodynamic balance car to slow down；
Detect the width of described barrier, determine that barrier described in described electrodynamic balance spacing is nearer
One end, generates course；
Gathering the image of described barrier, networking identifies described barrier characteristic, according to described barrier
Characteristic determines described course；
Pointing out described course according to predetermined manner, described predetermined manner includes: flash described electronic
Balance car closer to described barrier side of detouring signal lights, shake described electrodynamic balance car closer to detouring
At least one in the parts of described barrier side；
Described course marks described barrier roadblock coordinate, forms barrier map, and will
Described barrier map is shared to the communication electrodynamic balance car communicated with；
Described barrier map is combined with road-map, it is judged that whether described barrier is positioned on road,
If described barrier is positioned on road, described barrier is marked on described barrier map；If institute
State barrier to be positioned at outside road, described barrier is not marked on described barrier map；
Judge whether described barrier is kept in motion, if described barrier is kept in motion, no
Described barrier is marked on barrier map；If described barrier remains static, by described
Barrier marks on barrier map.
2. the control method of an electrodynamic balance car, it is characterised in that said method comprising the steps of:
Detect described electrodynamic balance garage and enter the height of middle front article；
If the height of described article exceeds preset value, described article are identified as barrier and control institute
State electrodynamic balance car to slow down；
Detect the width of described barrier, determine that barrier described in described electrodynamic balance spacing is nearer
One end, generates course.
3. the control method of electrodynamic balance car as claimed in claim 2, it is characterised in that described side
Method also includes:
After generating described course, point out described course according to predetermined manner.
4. the control method of electrodynamic balance car as claimed in claim 3, it is characterised in that described pre-
If mode includes:
Flash described electrodynamic balance car closer to described barrier side of detouring signal lights, shake described electricity
Dynamic balancing car is closer at least one in the parts of described barrier side of detouring.
5. the control method of the electrodynamic balance car as described in any one of claim 2 to 4, its feature exists
In, described method also includes:
After generating described course, described course marks described barrier roadblock coordinate,
Form barrier map, and described barrier map is shared to the communication electrodynamic balance car communicated with.
6. the control method of the electrodynamic balance car as described in any one of claim 2 to 4, its feature exists
In, described method also includes:
Gathering the image of described barrier, networking identifies described barrier characteristic, according to described barrier
Characteristic determines described course.
7. the control method of electrodynamic balance car as claimed in claim 5, it is characterised in that described side
Method also includes:
Described barrier map is combined with road-map, it is judged that whether described barrier is positioned on road,
If described barrier is positioned on road, described barrier is marked on described barrier map；If institute
State barrier to be positioned at outside road, described barrier is not marked on described barrier map.
8. the control method of electrodynamic balance car as claimed in claim 5, it is characterised in that described side
Method also includes:
Judge whether described barrier is kept in motion, if described barrier is kept in motion, no
Described barrier is marked on barrier map；
If described barrier remains static, described barrier is marked on barrier map.
9. the control device of an electrodynamic balance car, it is characterised in that described control device includes:
Height detecting device, enters the height of middle front article for detecting described electrodynamic balance garage；
Identify device, be used for identifying described article: if the height of described article is beyond preset value, by institute
State article and be identified as barrier；
Deceleration device, controls the device that described electrodynamic balance car carries out slowing down；
Width detecting, for detecting the width of described barrier；
Determine device, for determining one end that barrier described in described electrodynamic balance spacing is nearer；
Generating means, is used for generating course.
10. the control device of electrodynamic balance car as claimed in claim 9, it is characterised in that described
Control device also to include:
Harvester, for gathering the image of described barrier, networking identifies described barrier characteristic,
Described course is determined according to described barrier characteristic；
Suggestion device, for pointing out described course according to predetermined manner, described predetermined manner includes:
Flash described electrodynamic balance car closer to described barrier side of detouring signal lights, shake described electronic flat
Weighing apparatus car is closer at least one in the parts of described barrier side of detouring；
Annotation equipment, for marking described barrier roadblock coordinate in described course, forms barrier
Hinder thing map, and described barrier map shared to the communication electrodynamic balance car communicated with,
Coupling apparatus, is combined described barrier map with road-map, it is judged that whether described barrier
It is positioned on road, if described barrier is positioned on road, described barrier is marked described barrier
On map；If described barrier is positioned at outside road, described barrier is not marked described barrier ground
On figure；
Judgment means, is used for judging whether described barrier is kept in motion, if at described barrier
In kinestate, described barrier is not marked on barrier map；If described barrier is in quiet
Only state, marks described barrier on barrier map.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610392120.XA CN105966538B (en) | 2016-06-03 | 2016-06-03 | A kind of control method and control device of electrodynamic balance vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610392120.XA CN105966538B (en) | 2016-06-03 | 2016-06-03 | A kind of control method and control device of electrodynamic balance vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105966538A true CN105966538A (en) | 2016-09-28 |
| CN105966538B CN105966538B (en) | 2018-12-07 |
Family
ID=57010155
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610392120.XA Active CN105966538B (en) | 2016-06-03 | 2016-06-03 | A kind of control method and control device of electrodynamic balance vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105966538B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647743A (en) * | 2016-10-26 | 2017-05-10 | 纳恩博（北京）科技有限公司 | Control method of electronic device and electronic device |
| CN106741399A (en) * | 2016-11-18 | 2017-05-31 | 惠安灿锐信息技术咨询有限公司 | A kind of intelligent device instead of walk based on Internet of Things |
| CN107053171A (en) * | 2016-12-25 | 2017-08-18 | 湖南晖龙股份有限公司 | Robot temporary space barrier-avoiding method, device and robot |
| WO2017206170A1 (en) * | 2016-06-03 | 2017-12-07 | 尚艳燕 | Control method of electric balance scooter and control device |
| CN108715201A (en) * | 2018-05-24 | 2018-10-30 | 冷承霖 | A kind of bicycle induction brake system and method |
| CN111198566A (en) * | 2020-01-09 | 2020-05-26 | 上海华普汽车有限公司 | Balance car control method and device and balance car |
| CN112197763A (en) * | 2020-09-30 | 2021-01-08 | 灵动科技（北京）有限公司 | Map construction method, map construction device, map construction equipment and storage medium |
| CN114616153A (en) * | 2021-08-12 | 2022-06-10 | 华为技术有限公司 | Anti-collision method and control device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040013295A1 (en) * | 2002-03-15 | 2004-01-22 | Kohtaro Sabe | Obstacle recognition apparatus and method, obstacle recognition program, and mobile robot apparatus |
| CN105270525A (en) * | 2015-09-28 | 2016-01-27 | 小米科技有限责任公司 | Control method and device for two-wheel balance car |
| CN105425803A (en) * | 2015-12-16 | 2016-03-23 | 纳恩博（北京）科技有限公司 | Autonomous obstacle avoidance method, device and system |
| CN105539655A (en) * | 2015-12-07 | 2016-05-04 | 小米科技有限责任公司 | Prompting method and device |
-
2016
- 2016-06-03 CN CN201610392120.XA patent/CN105966538B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040013295A1 (en) * | 2002-03-15 | 2004-01-22 | Kohtaro Sabe | Obstacle recognition apparatus and method, obstacle recognition program, and mobile robot apparatus |
| CN105270525A (en) * | 2015-09-28 | 2016-01-27 | 小米科技有限责任公司 | Control method and device for two-wheel balance car |
| CN105539655A (en) * | 2015-12-07 | 2016-05-04 | 小米科技有限责任公司 | Prompting method and device |
| CN105425803A (en) * | 2015-12-16 | 2016-03-23 | 纳恩博（北京）科技有限公司 | Autonomous obstacle avoidance method, device and system |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017206170A1 (en) * | 2016-06-03 | 2017-12-07 | 尚艳燕 | Control method of electric balance scooter and control device |
| CN106647743A (en) * | 2016-10-26 | 2017-05-10 | 纳恩博（北京）科技有限公司 | Control method of electronic device and electronic device |
| WO2018077308A1 (en) * | 2016-10-26 | 2018-05-03 | 纳恩博（北京）科技有限公司 | Electronic device control method, electronic device and computer storage medium |
| CN106741399B (en) * | 2016-11-18 | 2019-06-04 | 速珂智能科技（上海）有限公司 | A kind of intelligent device instead of walk |
| CN106741399A (en) * | 2016-11-18 | 2017-05-31 | 惠安灿锐信息技术咨询有限公司 | A kind of intelligent device instead of walk based on Internet of Things |
| CN107053171A (en) * | 2016-12-25 | 2017-08-18 | 湖南晖龙股份有限公司 | Robot temporary space barrier-avoiding method, device and robot |
| CN108715201A (en) * | 2018-05-24 | 2018-10-30 | 冷承霖 | A kind of bicycle induction brake system and method |
| CN111198566A (en) * | 2020-01-09 | 2020-05-26 | 上海华普汽车有限公司 | Balance car control method and device and balance car |
| CN111198566B (en) * | 2020-01-09 | 2023-05-30 | 浙江吉利控股集团有限公司 | Balance car control method and device and balance car |
| CN112197763A (en) * | 2020-09-30 | 2021-01-08 | 灵动科技（北京）有限公司 | Map construction method, map construction device, map construction equipment and storage medium |
| CN112197763B (en) * | 2020-09-30 | 2024-02-27 | 灵动科技（北京）有限公司 | Map construction method, device, equipment and storage medium |
| CN114616153A (en) * | 2021-08-12 | 2022-06-10 | 华为技术有限公司 | Anti-collision method and control device |
| WO2023015510A1 (en) * | 2021-08-12 | 2023-02-16 | 华为技术有限公司 | Collision avoidance method and control apparatus |
| CN114616153B (en) * | 2021-08-12 | 2023-09-12 | 华为技术有限公司 | Method and control device for preventing collision |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105966538B (en) | 2018-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105966538A (en) | Control method and control device of electric balance car | |
| CN105612403B (en) | Drive guiding device for vehicle and method | |
| CN105984485B (en) | Servomechanism | |
| US9836051B2 (en) | Automated drive assisting device, automated drive assisting method, and program | |
| KR101751298B1 (en) | Method and apparatus for predicting vehicle route | |
| CN104424808B (en) | A kind of navigation hint method and device, navigation system | |
| CN109074737A (en) | Safe driving assistant system, server, vehicle and program | |
| US20090312945A1 (en) | Navigation device and method, navigation program, and storgage medium | |
| US11352034B2 (en) | Trusted vehicle accident avoidance control | |
| CN102032915A (en) | Navigation device and method for vehicle | |
| CN103832434A (en) | Traveling safety control system and method | |
| CN106908069A (en) | Navigation auxiliary based on prediction | |
| CN110136441A (en) | Vehicle limit for height control method, device, storage medium and automobile controlling terminal | |
| US20210107546A1 (en) | Trusted Train Derailment Avoidance Control System and Method | |
| CN107564314A (en) | A kind of early warning system based on traffic congestion | |
| KR20140073709A (en) | System and method of monitoring dead angle area for car | |
| JP6349740B2 (en) | Map data evaluation device | |
| US20230322279A1 (en) | Track condition monitoring device, track condition monitoring system and track condition monitoring method | |
| JP4760274B2 (en) | Map update device | |
| KR20180028471A (en) | Lane display and lane marking method | |
| CN108791063A (en) | A kind of parking stall method for catching based on ADAS | |
| JP2012127845A (en) | On-vehicle electronic device and program | |
| JP2012027548A (en) | Driving support device | |
| JP6169318B2 (en) | Navigation system | |
| EP3550265A1 (en) | Route guidance method and route guidance device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201021 Address after: 518000 Guangdong Shenzhen Baoan District Xixiang street, Po Yuan Road, No. 1065, F518 fashion creative garden F13 101, 102 Patentee after: SHENZHEN AOTU INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 518000 Futian District, Guangdong, Hongling building, building 25B, 1 Patentee before: Shang Yanyan |