CN104443140A - Balance car obstacle detecting device - Google Patents
Balance car obstacle detecting device Download PDFInfo
- Publication number
- CN104443140A CN104443140A CN201410755852.1A CN201410755852A CN104443140A CN 104443140 A CN104443140 A CN 104443140A CN 201410755852 A CN201410755852 A CN 201410755852A CN 104443140 A CN104443140 A CN 104443140A
- Authority
- CN
- China
- Prior art keywords
- module
- detecting device
- obstacle detecting
- central control
- balance truck
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J3/00—Acoustic signal devices; Arrangement of such devices on cycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a balance car obstacle detecting device, and relates to a safe auxiliary device of a car. The balance car obstacle detecting device comprises a central control module, an obstacle detecting module, a sound-light alarming module and a communication module, wherein an inputting and outputting end of the obstacle detecting module is connected with an outputting and inputting end of the central control module; an outputting end of the central control module is connected with an inputting end of the sound-light alarming module; and an outputting and inputting end of the central control module is connected with an inputting and outputting end of a balance car control system through a communication module. When the obstacle detecting module detects an obstacle, the central control module is communicated with the balance car control system through the communication module, so that a reasonable collision prevention measure is taken so that the speed of a balance car is reduced and finally the balance car stops moving forwards; and moreover, the central control module controls the sound-light alarming module to give the sound-light alarm, and pedestrians can be warned. The balance car obstacle detecting device can automatically recognize a forward obstacle; the distance between the balance car and the obstacle can be measured; and the balance car obstacle detecting device is safe and reliable, and is low in cost, reliable in operation and suitable to be popularized and used.
Description
Technical field
The present invention relates to a kind of safety aid of vehicle, particularly a kind of balance truck obstacle detecting device.
Background technology
There is the automatic balance car that a kind of short distance is ridden instead of walk at present, in order to keep central balance of advancing, the vehicle of this single type is equipped with the control system keeping balance.When user is operated by remote controller, the instruction that balance truck can send according to remote controller, advances to user at one's side automatically, easy to use.In the traveling process of balance truck auto-returned, owing to there is no the operation in person of user, or due to user's operation not in time, the pedestrian being necessary to allow balance truck independently run into front, obstacle are dodged.First, when running into pedestrian, obstacle, balance truck should slow down and finally stop, collision free; Secondly, run into obstacle when stopping advancing, should audible and visible alarm be sent; Next, the distance of obstacle should be measured when running into obstacle, so that the control system of balance truck inside is made dodge action.But current product does not consider the situation needing to keep away barrier in distance, balance truck cannot detect, identify whether front of advancing has obstacle, thus cannot automatically dodge.
Summary of the invention
The technical problem to be solved in the present invention is: provide a kind of balance truck obstacle detecting device, balance truck can be made in automatic traveling process to identify preceding object thing, measure obstacle distance simultaneously.
The technical scheme solved the problems of the technologies described above is: a kind of balance truck obstacle detecting device, comprise Central Control Module (CCM), obstacle detection module, sound and light alarm module, communication module, the described input/output terminal of obstacle detection module is connected with the I/O of Central Control Module (CCM), the mouth of Central Control Module (CCM) is connected with the input end of sound and light alarm module, and the I/O of Central Control Module (CCM) is also connected with the input/output terminal of control system of balance car by communication module.
Further technical scheme of the present invention is: described Central Control Module (CCM) comprises micro controller system, and this micro controller system possesses at least 2 timers, at least 1 serial communication peripheral hardware, at least 1 external interrupt.
Further technical scheme of the present invention is: described micro controller system adopts C8051F series monolithic.
Further technical scheme of the present invention is: described obstacle detection module comprises ultrasonic ranging circuit, and this ultrasonic ranging circuit includes sensor probe.
Further technical scheme more of the present invention is: the sensor probe of described ultrasonic ranging circuit is arranged on the position of balance truck front distance ground 15cm ~ 20cm height.
Further technical scheme more of the present invention is: described ultrasonic ranging circuit comprises 2 ~ 4 ultrasonic ranging circuit modules, is arranged on respectively on the vehicle body of balance truck.
Further technical scheme of the present invention is: described sound and light alarm module comprises LED, LED lamp drive circuit, loudspeaker, drive circuit of loudspeaker.
Further technical scheme more of the present invention is: described communication module comprises serial communication interface circuit.
Further technical scheme of the present invention is: described serial communication interface circuit comprises MAX232 or MAX3232 chip.
Owing to adopting said structure, the balance truck obstacle detecting device of the present invention is used for compared with prior art, has following beneficial effect:
1. can automatically identify preceding object thing, measure obstacle distance simultaneously:
Owing to the present invention includes Central Control Module (CCM), obstacle detection module, sound and light alarm module, communication module, wherein obstacle detection module comprises ultrasonic ranging circuit, can cognitive disorders thing easily and fast, simultaneously can the obstacle distance in measuring vehicle front.Therefore, the present invention, in balance truck user adopt the mode of remote control to control process that balance truck advances, can detect that detection balance truck is advanced within the 2m of front and had not higher than the obstacle of 10cm, and can detect the distance between obstacle and balance truck simultaneously.
2. can ensure that balance truck is driven a vehicle safe and reliable:
Because obstacle detection module input/output terminal of the present invention is connected with the I/O of Central Control Module (CCM), the mouth of Central Control Module (CCM) is connected with the input end of sound and light alarm module, and the I/O of Central Control Module (CCM) is also connected with the input/output terminal of control system of balance car by communication module.When the detection of obstacle detection module runs into obstacle, Central Control Module (CCM) is communicated with control system of balance car by communication module, to take rational measures to keep clear to make balance truck slow down and finally to stop advancing; Central Control Module (CCM) controls sound and light alarm module and sends audible and visible alarm, to warn pedestrian simultaneously.Therefore, can to ensure that balance truck is driven a vehicle safe and reliable in the present invention.
3. cost is low, reliable operation, is applicable to promoting the use of:
Cost of the present invention is low, reliable operation, can measure the obstacle within 2m, superior performance, is applicable to the popularization in market.
Below, in conjunction with the accompanying drawings and embodiments the technical characteristic of the balance truck obstacle detecting device of the present invention is further described.
Accompanying drawing explanation
Fig. 1: the structured flowchart of the balance truck obstacle detecting device of the present invention described in embodiment one.
Detailed description of the invention
Embodiment one:
A kind of balance truck obstacle detecting device, comprise Central Control Module (CCM), obstacle detection module, sound and light alarm module, communication module, the described input/output terminal of obstacle detection module is connected with the I/O of Central Control Module (CCM), the mouth of Central Control Module (CCM) is connected with the input end of sound and light alarm module, and the I/O of Central Control Module (CCM) is also connected with the input/output terminal of control system of balance car by communication module.
Described Central Control Module (CCM) comprises micro controller system, and this micro controller system possesses at least 2 timers, at least 1 serial communication peripheral hardware, at least 1 external interrupt, and this micro controller system adopts C8051F series monolithic.
Described obstacle detection module comprises ultrasonic ranging circuit, and this ultrasonic ranging circuit includes sensor probe, and sensor probe is arranged on the position of balance truck front distance ground 15cm ~ 20cm height.Ultrasonic ranging circuit adopts 4 ultrasonic ranging circuit modules, is arranged on the left front place of balance truck vehicle body, place to the left, middle part, place to the right, middle part and right front place respectively, identifies more accurately and find range to the obstacle of front of advancing, side.
This obstacle detection module is connected with Central Control Module (CCM), can inform micro controller system when running into obstacle, and reaches the object of ultrasonic measurement obstacle distance by Single-chip Controlling.Like this while detecting obstacles, also can measure the distance of obstacle.
Described sound and light alarm module comprises LED, LED lamp drive circuit, loudspeaker, drive circuit of loudspeaker.Control this sound and light alarm module by micro controller system, carry out sound and light alarm.
Described communication module comprises serial communication interface circuit, and this serial communication interface circuit comprises MAX232 or MAX3232 chip.Micro controller system carries out serial communication by the control system of this communication module and balance truck, after discovery obstacle, can inform the distance of control system of balance car obstacle distance, so that balance truck initiatively takes corresponding measures to keep clear.
The principle of work of the balance truck obstacle detecting device of the present invention:
When balance truck carries user, notify this device by control system of balance car, this timer only carries out the detection of obstacle, does not carry out sound and light of alarm; When balance truck is advanced automatically, this device opens obstacle detection, sound and light of alarm, and communicates with control system of balance car.When the detection of obstacle detection module runs into obstacle, Central Control Module (CCM) is communicated with control system of balance car by communication module, to take rational measures to keep clear to make balance truck slow down and finally to stop advancing; Central Control Module (CCM) controls sound and light alarm module and sends audible and visible alarm, to warn pedestrian simultaneously.
Claims (9)
1. a balance truck obstacle detecting device, it is characterized in that: comprise Central Control Module (CCM), obstacle detection module, sound and light alarm module, communication module, the described input/output terminal of obstacle detection module is connected with the I/O of Central Control Module (CCM), the mouth of Central Control Module (CCM) is connected with the input end of sound and light alarm module, and the I/O of Central Control Module (CCM) is also connected with the input/output terminal of control system of balance car by communication module.
2. balance truck obstacle detecting device according to claim 1, is characterized in that: described Central Control Module (CCM) comprises micro controller system, and this micro controller system possesses at least 2 timers, at least 1 serial communication peripheral hardware, at least 1 external interrupt.
3. balance truck obstacle detecting device according to claim 1, is characterized in that: described micro controller system adopts C8051F series monolithic.
4. balance truck obstacle detecting device according to claim 1, is characterized in that: described obstacle detection module comprises ultrasonic ranging circuit, and this ultrasonic ranging circuit includes sensor probe.
5. balance truck obstacle detecting device according to claim 4, is characterized in that: the sensor probe of described ultrasonic ranging circuit is arranged on the position of balance truck front distance ground 15cm ~ 20cm height.
6. balance truck obstacle detecting device according to claim 5, is characterized in that: described ultrasonic ranging circuit comprises 2 ~ 4 ultrasonic ranging circuit modules, is arranged on respectively on the vehicle body of balance truck.
7. balance truck obstacle detecting device according to claim 1, is characterized in that: described sound and light alarm module comprises LED, LED lamp drive circuit, loudspeaker, drive circuit of loudspeaker.
8. the balance truck obstacle detecting device according to the arbitrary claim of claim 1 to 7, is characterized in that: described communication module comprises serial communication interface circuit.
9. balance truck obstacle detecting device according to claim 8, is characterized in that: described serial communication interface circuit comprises MAX232 or MAX3232 chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410755852.1A CN104443140A (en) | 2014-12-10 | 2014-12-10 | Balance car obstacle detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410755852.1A CN104443140A (en) | 2014-12-10 | 2014-12-10 | Balance car obstacle detecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104443140A true CN104443140A (en) | 2015-03-25 |
Family
ID=52890078
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410755852.1A Pending CN104443140A (en) | 2014-12-10 | 2014-12-10 | Balance car obstacle detecting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104443140A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104914868A (en) * | 2015-06-24 | 2015-09-16 | 深圳乐行天下科技有限公司 | Method and device for controlling driving of balance car and servo control system |
| CN105129004A (en) * | 2015-07-29 | 2015-12-09 | 小米科技有限责任公司 | Balance car parking method and apparatus |
| CN105223952A (en) * | 2015-09-28 | 2016-01-06 | 小米科技有限责任公司 | The control method of balance car and device |
| 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 |
| CN106371437A (en) * | 2016-08-30 | 2017-02-01 | 尚艳燕 | Automatic parking method and device of balance bike in narrow space |
| CN106712789A (en) * | 2016-12-12 | 2017-05-24 | 北京小米移动软件有限公司 | Method of controlling scooter and apparatus thereof |
| CN106933228A (en) * | 2017-03-31 | 2017-07-07 | 成都信息工程大学 | A kind of Self-Balancing vehicle barrier-avoiding method |
| WO2018006302A1 (en) * | 2016-07-06 | 2018-01-11 | 尚艳燕 | Balancing vehicle obstacle avoidance method and device |
| CN108121352A (en) * | 2017-10-31 | 2018-06-05 | 深圳市博鑫创科科技有限公司 | The method and system that a kind of balance car is stopped automatically |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011063240A (en) * | 2009-09-18 | 2011-03-31 | Honda Motor Co Ltd | Control device of inverted-pendulum control type mobile body |
| CN201984157U (en) * | 2010-10-29 | 2011-09-21 | 大连海事大学 | Intelligent detection dolly |
| CN202163543U (en) * | 2011-07-22 | 2012-03-14 | 路海燕 | Intelligent tracking type electric remote-control monocycle |
| CN103170962A (en) * | 2013-03-08 | 2013-06-26 | 北京工业大学 | Desktop type double-wheel self-balancing robot |
| CN204432843U (en) * | 2014-12-10 | 2015-07-01 | 柳州铁道职业技术学院 | Balance truck obstacle detecting device |
-
2014
- 2014-12-10 CN CN201410755852.1A patent/CN104443140A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011063240A (en) * | 2009-09-18 | 2011-03-31 | Honda Motor Co Ltd | Control device of inverted-pendulum control type mobile body |
| CN201984157U (en) * | 2010-10-29 | 2011-09-21 | 大连海事大学 | Intelligent detection dolly |
| CN202163543U (en) * | 2011-07-22 | 2012-03-14 | 路海燕 | Intelligent tracking type electric remote-control monocycle |
| CN103170962A (en) * | 2013-03-08 | 2013-06-26 | 北京工业大学 | Desktop type double-wheel self-balancing robot |
| CN204432843U (en) * | 2014-12-10 | 2015-07-01 | 柳州铁道职业技术学院 | Balance truck obstacle detecting device |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104914868A (en) * | 2015-06-24 | 2015-09-16 | 深圳乐行天下科技有限公司 | Method and device for controlling driving of balance car and servo control system |
| CN104914868B (en) * | 2015-06-24 | 2017-11-10 | 深圳乐行天下科技有限公司 | Control method, device and the servo-control system of balance car traveling |
| JP2017524850A (en) * | 2015-07-29 | 2017-08-31 | シャオミ・インコーポレイテッド | Balancing vehicle parking method and apparatus |
| CN105129004A (en) * | 2015-07-29 | 2015-12-09 | 小米科技有限责任公司 | Balance car parking method and apparatus |
| CN105270525B (en) * | 2015-09-28 | 2018-02-02 | 小米科技有限责任公司 | The control method and device of two-wheeled balance car |
| RU2651945C2 (en) * | 2015-09-28 | 2018-04-24 | Сяоми Инк. | Balanced vehicle, method and device for controlling balanced vehicle |
| US20170088134A1 (en) * | 2015-09-28 | 2017-03-30 | Xiaomi Inc. | Control method and control apparatus for a balance car and storage medium |
| WO2017054346A1 (en) * | 2015-09-28 | 2017-04-06 | 小米科技有限责任公司 | Method and apparatus for controlling balanced vehicle |
| CN105223952B (en) * | 2015-09-28 | 2019-03-29 | 小米科技有限责任公司 | The control method and device of balance car |
| RU2647360C2 (en) * | 2015-09-28 | 2018-03-15 | Сяоми Инк. | Control method and apparatus for two-wheeled balanced vehicle |
| CN105223952A (en) * | 2015-09-28 | 2016-01-06 | 小米科技有限责任公司 | The control method of balance car and device |
| 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 |
| US9827984B2 (en) | 2015-09-28 | 2017-11-28 | Xiaomi Inc. | Methods and apparatuses for controlling a personal transportation vehicle |
| JP2017538610A (en) * | 2015-09-28 | 2017-12-28 | 小米科技有限責任公司Ｘｉａｏｍｉ Ｉｎｃ． | Balanced vehicle control method and control device |
| CN105539655A (en) * | 2015-12-07 | 2016-05-04 | 小米科技有限责任公司 | Prompting method and device |
| CN105539655B (en) * | 2015-12-07 | 2018-06-19 | 小米科技有限责任公司 | Reminding method and device |
| WO2018006302A1 (en) * | 2016-07-06 | 2018-01-11 | 尚艳燕 | Balancing vehicle obstacle avoidance method and device |
| CN106371437A (en) * | 2016-08-30 | 2017-02-01 | 尚艳燕 | Automatic parking method and device of balance bike in narrow space |
| CN106371437B (en) * | 2016-08-30 | 2020-02-11 | 尚艳燕 | Automatic parking method and device for balance car in narrow space |
| CN106712789A (en) * | 2016-12-12 | 2017-05-24 | 北京小米移动软件有限公司 | Method of controlling scooter and apparatus thereof |
| CN106933228A (en) * | 2017-03-31 | 2017-07-07 | 成都信息工程大学 | A kind of Self-Balancing vehicle barrier-avoiding method |
| CN108121352A (en) * | 2017-10-31 | 2018-06-05 | 深圳市博鑫创科科技有限公司 | The method and system that a kind of balance car is stopped automatically |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104443140A (en) | Balance car obstacle detecting device | |
| CN105857315A (en) | Active monitoring system and method for dead zones | |
| KR101412032B1 (en) | Detectioning rear system of bicycle having ultrasonics distant sensor for detectioning rear | |
| CN203126659U (en) | Device for reminding driver that double hands break away from steering wheel | |
| KR102228385B1 (en) | Safety driving control method using the eye-recognition function of the terminal, apparatus and a recording medium | |
| CN204432843U (en) | Balance truck obstacle detecting device | |
| CN207752631U (en) | A kind of safety alarm device for crossing zebra stripes | |
| CN207833700U (en) | A kind of pavement caution system | |
| CN204077505U (en) | A kind of system for car safety distance prompting instrument | |
| CN206589785U (en) | A kind of car door accidentally injures alarming device | |
| CN206374652U (en) | Intelligent bus automatic voice reminding control device | |
| CN103116964B (en) | Mining aerial cableway anti-sleep reminding device and control method thereof | |
| CN202429185U (en) | Reversing radar controller for elderly scooter | |
| CN104527636A (en) | Parking brake safety prompting system and prompting method for car | |
| KR101578665B1 (en) | Unmanned-running monorail vehicle by using collision-prevention system | |
| CN204871325U (en) | From driving safety apart from reminding device | |
| CN103350664A (en) | Automobile chassis obstacle alarming system | |
| CN203063966U (en) | Rail transit collision avoidance early warning system based on monocular vision | |
| CN203005338U (en) | Anti-collision prompt system of electric vehicle | |
| CN104434420A (en) | Electric man carrier with warning function | |
| CN205365845U (en) | Intelligent audible and visual alarm of electric motor car safety traffic | |
| CN203698105U (en) | Vehicle lateral anti-collision warning device | |
| CN202806555U (en) | Automobile with collision warning function | |
| CN105314079A (en) | Swimming ring alarm device | |
| CN204010339U (en) | A kind of L-type road collision avoidance system that turns round |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150325 |
|
| WD01 | Invention patent application deemed withdrawn after publication |