CN105539657A - Method and system for controlling balance car and balance car - Google Patents
Method and system for controlling balance car and balance car Download PDFInfo
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- CN105539657A CN105539657A CN201510967566.6A CN201510967566A CN105539657A CN 105539657 A CN105539657 A CN 105539657A CN 201510967566 A CN201510967566 A CN 201510967566A CN 105539657 A CN105539657 A CN 105539657A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000001143 conditioned effect Effects 0.000 claims description 39
- 238000001514 detection method Methods 0.000 claims description 17
- 230000006698 induction Effects 0.000 claims description 15
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 7
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- 238000005516 engineering process Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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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 openly provides a method and system for controlling a balance car and the balance car. The method comprises the following steps of detecting and outputting pressure born by two pedals of the balance car; judging whether the bearing pressure of the two pedals conforms to a preset condition or not, if yes, entering a driving state of the balance car, wherein under the preset condition, the sum of the bearing pressure of the two pedals is greater than a first preset threshold value, and difference of the bearing pressure of the two pedals is less than a second preset threshold value. The system of the balance car disclosed by the invention detects the generated pressure of the two pedals of the balance car before the balance car enters the driving state, and judges whether the sum and the difference of the generated pressure of the two pedals conform to the preset condition or not, only when the sum and the difference conform to the preset condition, the balance car can be started to enter the driving state; when users get on the balance car, sudden start of the balance car is avoided under the condition that the users are not ready, and the safety of the balance car is improved.
Description
Technical field
The disclosure relates in general to multimedia technology field, in particular to a kind of method of intelligent recommendation music, system and balance truck.
Background technology
Balance truck is a kind of device relying on the sense of equilibrium should control gait of march and direction, and user can not with the hands just can realize controlling completely.Balance truck does not generally have special brake equipment, when sensing user's forward lean, needs balance truck to accelerate to keep balance; And when responding to the hypsokinesis of user's health, realize slowing down by the reverse reinforcing of motor.
Concerning beginner, balance truck has certain introduction difficulty, needs through the skilled use of some exercise ability safety.During as got on the bus, a pin is got on the bus, a pin on the ground, now, driver only has little strength to put onboard, and most weight is all also on that pin on the ground, in such cases, after new hand gets on the bus, easily will shake and move up, cause discomfort or safety issue.During the upper balance truck of user, be all first step on a pin, upper another, and balance truck is moved forward and backward by angle of inclination, just in case just create angle when stepping on a pin, just there will be balance runs forward, produces danger.
Therefore, a kind of method and system of control balance truck is newly needed.
Disclosed in described background technology part, above-mentioned information is only for strengthening the understanding to background of the present disclosure, and therefore it can comprise the information do not formed prior art known to persons of ordinary skill in the art.
Summary of the invention
The disclosure provides a kind of method, system and the balance truck that control balance truck, whether whether the pressure that can bear according to balance truck two pedals meets pre-conditioned decision balance truck can enter driving states, prevent balance truck from starting suddenly in the unripe situation of user, improve the safety of balance truck.
Other characteristics of the present disclosure and advantage become obvious by by detailed description below, or the acquistion partially by practice of the present disclosure.
According to one side of the present disclosure, the disclosure provides a kind of method controlling balance truck, comprising:
Detect and export the pressure that balance truck two pedals bear;
According to judging whether the pressure that described two pedals bear meets pre-conditioned, when meet described pre-conditioned time, described balance truck enters driving states;
Wherein, described pre-conditioned pressure sum of bearing for described two pedals is greater than the first predetermined threshold value, and the difference of pressure that described two pedals bear is less than the second predetermined threshold value.
According to an embodiment of the present disclosure, described first predetermined threshold value is scope 30 ~ 50 kilograms, described second preset threshold range 5 ~ 15 kilograms.
According to an embodiment of the present disclosure, detect by the weight induction device under described two pedals the pressure that described two pedals bear.
According to an embodiment of the present disclosure, described driving states is:
Respond to the heeling condition of described balance truck, and control the operation of described balance truck according to described heeling condition.
According to an embodiment of the present disclosure, after described balance truck enters described driving states, described method also comprises:
Forbid exporting the pressure that on described balance truck, described two pedals bear.
According to another aspect of the present disclosure, a kind of system controlling balance truck is also provided, comprises:
Detection module, is configured to detect and exports the pressure that balance truck two pedals bear;
Judge module, is configured to according to judging whether the pressure that described two pedals bear meets pre-conditioned, when meet described pre-conditioned time, described balance truck enters driving states;
Wherein, described pre-conditioned pressure sum of bearing for described two pedals is greater than the first predetermined threshold value, and the difference of pressure that described two pedals bear is less than the second predetermined threshold value.
According to an embodiment of the present disclosure, described system also comprises:
Computing module, be configured to carry out read group total to the pressure that described two pedals that described detection module exports bear calculate with asking difference, obtain the difference of pressure sum that described two pedals bear and the pressure that described two pedals bear respectively, and export to described judge module.
According to an embodiment of the present disclosure, described detection module detects by the weight induction device under described two pedals the pressure that described two pedals bear.
According to an embodiment of the present disclosure, described system also comprises:
Run module, be configured to after balance truck enters described driving states, respond to the heeling condition of described balance truck, and control the operation of described balance truck according to described heeling condition.
According to an embodiment of the present disclosure, described system also comprises:
Forbidden energy control module, is configured to after described balance truck enters described driving states, forbid that described detection module exports the pressure that on described balance truck, described two pedals bear.
According to another aspect of the present disclosure, a kind of balance truck is also provided, comprises:
Treater; And
For storing the memory device of described processor executable;
Wherein said treater is configured to:
Detect and export the pressure that balance truck two pedals bear;
According to judging whether the pressure that described two pedals bear meets pre-conditioned, when meet described pre-conditioned time, described balance truck enters driving states;
Wherein, described pre-conditioned pressure sum of bearing for described two pedals is greater than the first predetermined threshold value, and the difference of pressure that described two pedals bear is less than the second predetermined threshold value.
According to an embodiment of the present disclosure, described treater comprises:
Weight induction device, is arranged on the below of described two pedals, is configured to the pressure that described two pedals of detection bear.
According to the method for control balance truck of the present disclosure, system and balance truck, the pressure that balance truck two pedals produce was detected before balance truck enters driving states, and the pressure sum produced according to two pedals with it poor whether meet pre-conditioned, just start balance truck when only satisfying condition and enter driving states, when climbing up balance truck, prevent balance truck from starting suddenly in the unripe situation of user, improve the safety of balance truck.
Should be understood that, it is only exemplary that above general description and details hereinafter describe, and can not limit the disclosure.
Accompanying drawing explanation
Describe its example embodiment in detail by referring to accompanying drawing, above-mentioned and other target, feature and advantage of the present disclosure will become more apparent.
Fig. 1 illustrates a kind of diagram of circuit controlling the method for balance truck according to disclosure example one embodiment.
Fig. 2 illustrates a kind of diagram of circuit controlling the method for balance truck according to another embodiment of disclosure example.
Fig. 3 illustrates a kind of diagram of circuit controlling the method for balance truck according to the another embodiment of disclosure example.
Fig. 4 illustrates a kind of schematic diagram controlling the system of balance truck according to disclosure example embodiment.
Fig. 5 illustrates the schematic diagram of a kind of balance truck according to disclosure example embodiment.
Fig. 6 illustrates the schematic diagram of a kind of device for controlling balance truck according to disclosure example embodiment.
Detailed description of the invention
More fully example embodiment is described referring now to accompanying drawing.But example embodiment can be implemented in a variety of forms, and should not be understood to be limited to example set forth herein; On the contrary, these embodiments are provided to make the disclosure more comprehensively with complete, and the design of example embodiment will be conveyed to those skilled in the art all sidedly.Accompanying drawing is only schematic illustrations of the present disclosure, and not necessarily is drawn in proportion.Reference numeral identical in figure represents same or similar part, thus will omit the repeated description to them.
In addition, described feature, structure or characteristic can be combined in one or more embodiment in any suitable manner.In the following description, provide many details thus provide fully understanding embodiment of the present disclosure.But, one of skill in the art will appreciate that and can put into practice technical scheme of the present disclosure and to omit in described specific detail one or more, or other method, constituent element, device, step etc. can be adopted.In other cases, not being shown specifically or describing known features, method, device, realization, material or operation makes each side of the present disclosure thicken to avoid that a presumptuous guest usurps the role of the host.
Some block schemes shown in accompanying drawing are functional entitys, not necessarily must with physics or independently entity is corresponding in logic.Software form can be adopted to realize these functional entitys, or realize these functional entitys in one or more hardware module or integrated circuit, or realize these functional entitys in heterogeneous networks and/or processor device and/or microcontroller device.
Fig. 1 illustrates a kind of diagram of circuit controlling the method for balance truck according to disclosure example embodiment.
As shown in Figure 1, in step slo, detect and export the pressure that balance truck two pedals bear.
In the present embodiment, detect by the weight induction device under two pedals the pressure that two pedals bear, therefore can also be provided with weight induction device in the below of two pedals of balance truck, to obtain the pressure that two pedals bear.
As shown in Figure 1, in step s 30, according to judging whether the pressure that two pedals bear meets pre-conditioned, and when meeting pre-conditioned, balance truck enters driving states.
In the present embodiment, this pre-conditioned pressure sum can born for two pedals is greater than the first predetermined threshold value, and the difference of pressure that two pedals bear is less than the second predetermined threshold value.Suppose that the pressure that two pedals bear represents with A and B respectively, be then pre-conditionedly:
A+B >=D1; And | A-B| < D2, wherein D1 and D2 is respectively the first predetermined threshold value and the second predetermined threshold value.
It should be noted that the scope of the first predetermined threshold value D1 can be 30 ~ 50 kilograms, the scope of the second predetermined threshold value D2 can be 5 ~ 15 kilograms.First predetermined threshold value D1 can be 40 kilograms in the present embodiment, and the second predetermined threshold value D2 can be 10 kilograms, other numerical value can also be selected as predetermined threshold value in other embodiments of the present disclosure.The present embodiment is only example, not limits the numerical values recited of predetermined threshold value with this.Such as, if balance truck is divided into child form, lady type and man's type according to the difference of user, then selected predetermined threshold value is just different, the first predetermined threshold value is selected to be 30 kilograms for child form, second predetermined threshold value is 5 kilograms, and select the first predetermined threshold value to be 40 kilograms for lady type, the second predetermined threshold value is 10 kilograms, select the first predetermined threshold value to be 50 kilograms for man's type, the second predetermined threshold value is 15 kilograms.
In the present embodiment, only having and meet above-mentioned pre-conditioned, just showing that, for standing firm, balance truck can enter driving states.Balance truck enters driving states, just refers to the heeling condition starting inductance balance car, and controls the operation of balance truck according to heeling condition, and namely balance truck starts the mode of operation controlling balance truck according to the heeling condition of user.The attitude sensor (gyroscope, accelerometer) installed according to balance truck itself during the heeling condition of balance truck monitors pitch attitude residing for vehicle body and status variation rate, after calculating proper data and instruction by High Speed Microcontroller, driving motor produces the effect that the acceleration/accel advanced or retreat reaches car body anterior-posterior balance.
Fig. 2 also illustrates a kind of diagram of circuit controlling the method for balance truck according to disclosure example embodiment.
As shown in Figure 2, in step slo, detect and export the pressure that balance truck two pedals bear.
In the present embodiment, detect by the weight induction device under two pedals the pressure that two pedals bear, therefore need can also arrange weight induction device below each pedal of balance truck, to obtain the pressure that two pedals bear.
As shown in Figure 2, in step S20, the pressure that bears of two pedals exported detection module carries out read group total and calculates with asking difference, obtains the difference of pressure sum that two pedals bear and the pressure that two pedals bear respectively.
As shown in Figure 2, in step s 30, the difference of the pressure that the pressure sum of bearing according to two pedals and two pedals bear judges whether to meet pre-conditioned, and when meeting pre-conditioned, balance truck enters driving states.How pre-conditioned and judged result is determined, with above-mentioned, repeats no more.
Fig. 3 also illustrates a kind of diagram of circuit controlling the method for balance truck according to disclosure example embodiment.
See Fig. 3, except above-mentioned steps S10 to S30, in step s 40, after balance truck enters driving states, forbid exporting the pressure that on balance truck, two pedals bear.
What namely the present embodiment set is pre-conditioned only just effective before balance truck enters driving states, after balance truck enters driving states, the above-mentioned pre-conditioned operation no longer affecting balance truck, such as can set after entering driving states, the pressure that balance truck no longer allows weight induction device output pedal to bear, or carry out forbidden energy to pre-conditioned judgement after entering driving states, namely no matter why judged result does not all affect the current running state of balance truck.Like this after balance truck enters driving states, even if the single pin of user is driven, also can continue to run under driving states.After the operation of this forbidden energy, the sum of the pressure that two pedals can be avoided under driving states to bear or the operation of variable effect balance truck of difference.
It should be noted that Fig. 1, Fig. 2 and Fig. 3 are only schematically illustrating of process included by the method for disclosure example embodiment, instead of restriction object.Easy to understand, the process shown in Fig. 1, Fig. 2 and Fig. 3 does not show or limits the time sequence of these process.In addition, also easy to understand, these process can be such as synchronous in multiple module or asynchronous executions.
To sum up, the method of the control balance truck that the disclosure provides, determine whether balance truck can enter driving states by the pressure that bears according to the pedal of balance truck and default determination strategy, can prevent when user climbs up balance truck balance truck from starting suddenly in the unripe situation of user, improve the safety of balance truck.Also by after entering driving states at balance truck, forbid exporting the pressure that bears of pedal or forbidden energy judged result to the impact of balance truck driving states, the sum of the pressure avoiding under driving states two pedals to bear or the operation of variable effect balance truck of difference.
Fig. 4 illustrates according to the system controlling balance truck a kind of in disclosure example embodiment.As shown in Figure 4, this system comprises: detection module 41, computing module 42, judge module 43, operation module 44 and forbidden energy control module 45.
This detection module 41 is configured to detect and exports the pressure that balance truck two pedals bear, and detection module 41 detects by the weight induction device under two pedals the pressure that two pedals bear.This computing module 42 is configured to carry out read group total to the pressure that bears of two pedals that detection module exports and calculates with asking difference, obtains the difference of pressure sum that two pedals bear and the pressure that two pedals bear respectively, and exports to judge module.This judge module 43 is configured to according to judging whether the pressure that two pedals bear meets pre-conditioned, and when meeting pre-conditioned, balance truck enters driving states.Wherein the pre-conditioned pressure sum of bearing for two pedals of judge module 43 foundations is greater than the first predetermined threshold value, and the difference of pressure that two pedals bear is less than the second predetermined threshold value.
Suppose that the pressure that two pedals bear represents with A and B respectively, be then pre-conditionedly:
A+B >=D1; And | A-B| < D2, wherein D1 and D2 is respectively the first predetermined threshold value and the second predetermined threshold value.
This operation module 44 is configured to after balance truck enters driving states, the heeling condition of inductance balance car, and the operation controlling balance truck according to heeling condition.Balance truck enters driving states, just refers to the heeling condition starting inductance balance car, and controls the operation of balance truck according to heeling condition, and namely balance truck starts the mode of operation controlling balance truck according to the heeling condition of user.
This forbidden energy control module 45 is configured to after balance truck enters driving states, forbid that detection module exports the pressure that on balance truck, two pedals bear.Pre-conditioned only just effective before balance truck enters driving states, after balance truck enters driving states, the above-mentioned pre-conditioned operation no longer affecting balance truck, such as can set after entering driving states, the pressure that balance truck no longer allows weight induction device output pedal to bear, or carry out forbidden energy to pre-conditioned judgement after entering driving states, namely no matter why judged result does not all affect the current running state of balance truck.Like this after balance truck enters driving states, even if the single pin of user is driven, also can continue to run under driving states.The sum of the pressure two pedals can being avoided under driving states to bear by forbidden energy control module 45 or the operation of variable effect balance truck of difference.
About the system in above-described embodiment, wherein the concrete mode of modules executable operations has been described in detail in about the embodiment of the method, will not elaborate explanation herein.
For system embodiment, because it corresponds essentially to embodiment of the method, so relevant part illustrates see the part of embodiment of the method.System embodiment described above is only schematic, the unit wherein illustrated as separating component or can may not be and physically separates, parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed on multiple network element.Some or all of module wherein can be selected according to the actual needs to realize the object of disclosure scheme.Those of ordinary skill in the art, when not paying creative work, are namely appreciated that and implement.
Fig. 5 also illustrates the schematic diagram according to balance truck 500 a kind of in disclosure example embodiment.As shown in Figure 5, comprising: treater 501, for the memory device 502 of storage of processor executable instruction and weight induction device 503, in addition, balance truck also comprises the parts such as pedal, motor, wheel, not shown.
This treater 501 is configured to: detect and export the pressure that balance truck two pedals bear; According to judging whether the pressure that two pedals bear meets pre-conditioned, and when meeting pre-conditioned, balance truck enters driving states.Pre-conditioned pressure sum of bearing for two pedals is greater than the first predetermined threshold value, and the difference of pressure that two pedals bear is less than the second predetermined threshold value.
Comprise weight induction device 503 at this treater, be arranged on the below of two pedals, be configured to the pressure that detection pedal bears.Treater 501 also does the process further calculating and judge to this pressure data.
Accordingly, the disclosure also provides a kind of non-transitory computer-readable recording medium, when the instruction in storage medium is performed by the treater of terminal, make terminal can perform a kind of method of intelligent recommendation music, method comprises: detect and export the pressure that balance truck two pedals bear;
According to judging whether the pressure that two pedals bear meets pre-conditioned, and when meeting pre-conditioned, balance truck enters driving states.
In the exemplary embodiment, additionally provide a kind of non-transitory computer-readable recording medium comprising instruction, such as comprise the memory device of instruction, above-mentioned instruction can perform said method by treater.Such as, non-transitory computer-readable recording medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and optical data storage devices etc.
Fig. 6 also illustrates the schematic diagram according to the device 600 for controlling balance truck a kind of in disclosure example embodiment.Such as, device 600 may be provided in a server.With reference to Fig. 6, device 600 comprises processing components 622, and it comprises one or more treater further, and the memory resource representated by memory device 632, can such as, by the instruction of the execution of processing components 622, application program for storing.The application program stored in memory device 632 can comprise each module corresponding to one group of instruction one or more.In addition, processing components 622 is configured to perform instruction, to perform the above method.
Device 600 can also comprise the power management that a power supply module 626 is configured to executive device 600, and a wired or wireless network interface 650 is configured to device 600 to be connected to network, and input and output (I/O) interface 658.Device 600 can operate the operating system based on being stored in memory device 632, such as WindowsServerTM, MacOSXTM, UnixTM, LinuxTM, FreeBSDTM or similar.
Through the above description of the embodiments, those skilled in the art's easy to understand, example embodiment described herein can pass through software simulating, also can be realized by the mode of the hardware of software combination necessity.Therefore, technical scheme according to disclosure embodiment can embody with the form of software product, it (can be CD-ROM that this software product can be stored in a non-volatile memory medium, USB flash disk, portable hard drive etc.) in or on network, comprise some instructions and perform according to the method for disclosure embodiment to make a computing equipment (can be Personal Computer, server, mobile terminal or the network equipment etc.).
Below illustrative embodiments of the present disclosure is illustrate and described particularly.Should will be understood that, the disclosure is not limited to detailed construction described herein, set-up mode or implementation method; On the contrary, disclosure intention contains and is included in various amendment in the spirit and scope of claims and equivalence is arranged.
Claims (12)
1. control a method for balance truck, it is characterized in that, comprising:
Detect and export the pressure that balance truck two pedals bear;
According to judging whether the pressure that described two pedals bear meets pre-conditioned, when meet described pre-conditioned time, described balance truck enters driving states;
Wherein, described pre-conditioned pressure sum of bearing for described two pedals is greater than the first predetermined threshold value, and the difference of pressure that described two pedals bear is less than the second predetermined threshold value.
2. method according to claim 1, is characterized in that, described first preset threshold range 30 ~ 50 kilograms, described second preset threshold range is 5 ~ 15 kilograms.
3. method according to claim 1, is characterized in that, detects by the weight induction device under described two pedals the pressure that described two pedals bear.
4. method according to claim 1, is characterized in that, described driving states is:
Respond to the heeling condition of described balance truck, and control the operation of described balance truck according to described heeling condition.
5. method according to claim 1, is characterized in that, after described balance truck enters described driving states, described method also comprises:
Forbid exporting the pressure that on described balance truck, described two pedals bear.
6. control a system for balance truck, it is characterized in that, comprising:
Detection module, is configured to detect and exports the pressure that balance truck two pedals bear;
Judge module, is configured to according to judging whether the pressure that described two pedals bear meets pre-conditioned, when meet described pre-conditioned time, described balance truck enters driving states;
Wherein, described pre-conditioned pressure sum of bearing for described two pedals is greater than the first predetermined threshold value, and the difference of pressure that described two pedals bear is less than the second predetermined threshold value.
7. system according to claim 6, is characterized in that, described system also comprises:
Computing module, be configured to carry out read group total to the pressure that described two pedals that described detection module exports bear calculate with asking difference, obtain the difference of pressure sum that described two pedals bear and the pressure that described two pedals bear respectively, and export to described judge module.
8. system according to claim 6, is characterized in that, described detection module detects by the weight induction device under described two pedals the pressure that described two pedals bear.
9. system according to claim 6, is characterized in that, described system also comprises:
Run module, be configured to after balance truck enters described driving states, respond to the heeling condition of described balance truck, and control the operation of described balance truck according to described heeling condition.
10. system according to claim 7, is characterized in that, described system also comprises:
Forbidden energy control module, is configured to after described balance truck enters described driving states, forbid that described detection module exports the pressure that on described balance truck, described two pedals bear.
11. 1 kinds of balance trucks, is characterized in that, comprising:
Treater; And
For storing the memory device of described processor executable;
Wherein said treater is configured to:
Detect and export the pressure that balance truck two pedals bear;
According to judging whether the pressure that described two pedals bear meets pre-conditioned, when meet described pre-conditioned time, described balance truck enters driving states;
Wherein, described pre-conditioned pressure sum of bearing for described two pedals is greater than the first predetermined threshold value, and the difference of pressure that described two pedals bear is less than the second predetermined threshold value.
12. balance trucks according to claim 11, is characterized in that, described treater comprises:
Weight induction device, is arranged on the below of described two pedals, is configured to the pressure that described two pedals of detection bear.
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| CN201510967566.6A CN105539657B (en) | 2015-12-21 | 2015-12-21 | Control method, system and the balance car of balance car |
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| CN201510967566.6A CN105539657B (en) | 2015-12-21 | 2015-12-21 | Control method, system and the balance car of balance car |
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