CN105539657B - Control method, system and the balance car of balance car - Google Patents
Control method, system and the balance car of balance car Download PDFInfo
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- CN105539657B CN105539657B CN201510967566.6A CN201510967566A CN105539657B CN 105539657 B CN105539657 B CN 105539657B CN 201510967566 A CN201510967566 A CN 201510967566A CN 105539657 B CN105539657 B CN 105539657B
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000001514 detection method Methods 0.000 claims description 15
- 230000006698 induction Effects 0.000 claims description 14
- 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 2
- 230000009194 climbing Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000005303 weighing Methods 0.000 description 3
- 230000003014 reinforcing effect Effects 0.000 description 2
- 230000001133 acceleration 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
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000007726 management method 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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- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The disclosure provides a kind of method, system and the balance car of control balance car, the method includes：Detect and export the pressure that two pedals of balance car are born；According to judging whether the pressure that described two pedals are born meets preset condition, when meeting the preset condition, the balance car enters driving states；Wherein, the sum of pressure that the preset condition is born by described two pedals is more than the first predetermined threshold value, and the difference of pressure that described two pedals are born is less than the second predetermined threshold value.The disclosure detects pressure caused by two pedals of balance car before balance car enters driving states, and whether meet preset condition according to the sum of pressure caused by two pedals is poor therewith, just start balance car when only meeting condition and enters driving states, when climbing up balance car, it prevents balance car from starting suddenly in the case where user is unripe, improves the safety of balance car.
Description
Technical field
The present disclosure generally relates to multimedia technology fields, in particular to a kind of method, the system of intelligent recommendation music
And balance car.
Background technology
Balance car be it is a kind of should control the device of gait of march and direction by the sense of equilibrium, user can not be with the hands
It can realize complete control.The typically no special brake apparatus of balance car, when sensing user's forward lean, in order to
Keep balance that balance car is needed to accelerate；And when incuding user's body hypsokinesis, slowed down to realize by the reversed reinforcing of motor.
For beginner, balance car has certain introduction difficulty, needs skilled safely to make by some practices
With.When such as getting on the bus, a foot is got on the bus, and a foot is on the ground, most of at this point, driver only has seldom strength to put onboard
Weight that foot all also on the ground on, in such cases, after new hand gets on the bus, it will easy rolling moves up, cause it is uncomfortable or
Person's safety issue.All it is first to step on a foot when the upper balance car of user, then upper another, and balance car is to pass through inclination
Angle is moved forward and backward, as soon as just producing angle when just in case stepping on foot, be will appear balance and is forward run, generate dangerous.
Therefore, it is necessary to a kind of methods and system of new control balance car.
Above- mentioned information is only used for reinforcing the understanding to the background of the disclosure, therefore it disclosed in the background technology part
May include the information not constituted to the prior art known to persons of ordinary skill in the art.
Invention content
The disclosure provides a kind of method, system and the balance car of control balance car, can be according to two pedal institutes of balance car
Whether the pressure born, which meets preset condition, determines whether balance car can enter driving states, prevents balance car inaccurate in user
Start suddenly in the case of getting ready, improves the safety of balance car.
Other characteristics and advantages of the disclosure will be apparent from by the following detailed description, or partially by the disclosure
Practice and acquistion.
According to the one side of the disclosure, the disclosure provides a kind of method of control balance car, including：
Detect and export the pressure that two pedals of balance car are born；
According to judging whether the pressure that described two pedals are born meets preset condition, when meeting the preset condition
When, the balance car enters driving states；
Wherein, the sum of pressure that the preset condition is born by described two pedals is more than the first predetermined threshold value, and institute
The difference for stating the pressure that two pedals are born is less than the second predetermined threshold value.
According to an embodiment of the disclosure, first predetermined threshold value is 30~50 kilograms of range, and described second is default
5~15 kilograms of threshold range.
According to an embodiment of the disclosure, described two step on is detected by the weight induction device under described two pedals
The pressure that plate is born.
According to an embodiment of the disclosure, the driving states are：
Incude the heeling condition of the balance car, and controls the operation of the balance car according to the heeling condition.
According to an embodiment of the disclosure, the balance car enters after the driving states, and the method further includes：
Forbid exporting the pressure that described two pedals are born on the balance car.
According to another aspect of the present disclosure, a kind of system of control balance car is also provided, including：
Detection module is configured as detecting and exporting the pressure that two pedals of balance car are born；
Judgment module, is configured as according to judging whether the pressure that described two pedals are born meets preset condition, when
When meeting the preset condition, the balance car enters driving states；
Wherein, the sum of pressure that the preset condition is born by described two pedals is more than the first predetermined threshold value, and institute
The difference for stating the pressure that two pedals are born is less than the second predetermined threshold value.
According to an embodiment of the disclosure, the system also includes：
Computing module, the pressure for being configured as bearing described two pedals that the detection module exports are summed
Poor calculating is calculated and asked, respectively obtains the sum of pressure that described two pedals are born and pressure that described two pedals are born
The difference of power, and export to the judgment module.
According to an embodiment of the disclosure, the detection module is examined by the weight induction device under described two pedals
Survey the pressure that described two pedals are born.
According to an embodiment of the disclosure, the system also includes：
Module is run, balance car is configured as and enters after the driving states, incude the heeling condition of the balance car,
And the operation of the balance car is controlled according to the heeling condition.
According to an embodiment of the disclosure, the system also includes：
Forbidden energy control module is configured as the balance car and enters after the driving states, forbids the detection module
Export the pressure that described two pedals are born on the balance car.
According to another aspect of the present disclosure, a kind of balance car is also provided, including：
Processor；And
Memory for storing the processor-executable instruction；
The wherein described processor is configured as：
Detect and export the pressure that two pedals of balance car are born；
According to judging whether the pressure that described two pedals are born meets preset condition, when meeting the preset condition
When, the balance car enters driving states；
Wherein, the sum of pressure that the preset condition is born by described two pedals is more than the first predetermined threshold value, and institute
The difference for stating the pressure that two pedals are born is less than the second predetermined threshold value.
According to an embodiment of the disclosure, the processor includes：
Weight induction device is arranged in the lower section of described two pedals, is configured as detecting what described two pedals were born
Pressure.
According to method, system and the balance car of the control balance car of the disclosure, examined before balance car enters driving states
Survey two pedals of balance car caused by pressure, and according to the sum of pressure caused by two pedals therewith it is poor whether meet it is default
Condition, when only meeting condition just start balance car enter driving states, when climbing up balance car, prevent balance car user not
Start suddenly in the case of ready, improves the safety of balance car.
It should be understood that above general description and following detailed description is merely exemplary, this can not be limited
It is open.
Description of the drawings
Its example embodiment is described in detail by referring to accompanying drawing, above and other target, feature and the advantage of the disclosure will
It becomes more fully apparent.
Fig. 1 shows a kind of flow chart of the method for control balance car according to one embodiment of disclosure example.
Fig. 2 shows the flow charts according to the method for control balance car of another embodiment of disclosure example a kind of.
Fig. 3 shows a kind of flow chart of the method for control balance car according to the another embodiment of disclosure example.
Fig. 4 shows a kind of schematic diagram of the system of control balance car according to disclosure example embodiment.
Fig. 5 shows a kind of schematic diagram of balance car according to disclosure example embodiment.
Fig. 6 shows a kind of schematic diagram for controlling the device of balance car according to disclosure example embodiment.
Specific implementation mode
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Attached drawing is only the disclosure
Schematic illustrations, be not necessarily drawn to scale.Identical reference numeral indicates same or similar part in figure, thus
Repetition thereof will be omitted.
In addition, described feature, structure or characteristic can be incorporated in one or more implementations in any suitable manner
In mode.In the following description, many details are provided to fully understand embodiment of the present disclosure to provide.So
And it will be appreciated by persons skilled in the art that one in the specific detail can be omitted with technical solution of the disclosure
Or more, or other methods, constituent element, device, step may be used etc..In other cases, it is not shown in detail or describes
Known features, method, apparatus, realization, material or operation are to avoid a presumptuous guest usurps the role of the host and all aspects of this disclosure is made to become mould
Paste.
Some block diagrams shown in attached drawing are functional entitys, not necessarily must be with physically or logically independent entity phase
It is corresponding.Software form may be used to realize these functional entitys, or in one or more hardware modules or integrated circuit in fact
These existing functional entitys, or these functions reality is realized in heterogeneous networks and/or processor device and/or microcontroller device
Body.
Fig. 1 shows a kind of flow chart of the method for control balance car according to disclosure example embodiment.
As shown in Figure 1, in step slo, detecting and exporting the pressure that two pedals of balance car are born.
In the present embodiment, the pressure that two pedals are born is detected by the weight induction device under two pedals, because
This is also provided with weight induction device below two pedals of balance car, to obtain the pressure that two pedals are born.
As shown in Figure 1, in step s 30, according to judging whether the pressure that two pedals are born meets preset condition, when
When meeting preset condition, balance car enters driving states.
In the present embodiment, the sum of pressure which can be born by two pedals is more than the first default threshold
Value, and the difference of pressure that two pedals are born is less than the second predetermined threshold value.Assuming that the pressure that two pedals are born uses A respectively
Indicate that then preset condition is with B：
A+B≥D1；And | A-B | ＜ D2, wherein D1 and D2 are respectively the first predetermined threshold value and the second predetermined threshold value.
It should be noted that the range of the first predetermined threshold value D1 can be 30~50 kilograms, the range of the second predetermined threshold value D2
It can be 5~15 kilograms.The first predetermined threshold value D1 can be 40 kilograms in the present embodiment, and the second predetermined threshold value D2 can be 10 public
Jin, it is also an option that other numerical value are as predetermined threshold value in the other embodiment of the disclosure.The present embodiment is merely illustrative, and
The non-numerical values recited that predetermined threshold value is limited with this.For example, if balance car according to the difference of user be divided into child form, lady type and
Man's type, then selected predetermined threshold value is just different, and it is 30 kilograms to select the first predetermined threshold value for child form, the second default threshold
Value is 5 kilograms, and it is 40 kilograms to select the first predetermined threshold value for lady type, and the second predetermined threshold value is 10 kilograms, for man's type
It is 50 kilograms to select the first predetermined threshold value, and the second predetermined threshold value is 15 kilograms.
In the present embodiment, only meet above-mentioned preset condition, just show for having stood firm, balance car can be into entering a profession
Car state.Balance car enters driving states, refers to just starting the heeling condition of inductance balance vehicle, and control and put down according to heeling condition
The operation of weighing apparatus vehicle, that is, balance car start to control the working condition of balance car according to the heeling condition of user.Balance car inclines
The attitude transducer (gyroscope, accelerometer) installed according to balance car itself when ramp-like state monitors the pitching residing for vehicle body
State and status variation rate, by High Speed Microcontroller calculate proper data and instruction after, drive motor generate advance or
The acceleration of retrogressing achievees the effect that car body anterior-posterior balance.
Fig. 2 also shows that a kind of flow chart of the method for control balance car according to disclosure example embodiment.
As shown in Fig. 2, in step slo, detecting and exporting the pressure that two pedals of balance car are born.
In the present embodiment, the pressure that two pedals are born is detected by the weight induction device under two pedals, because
Weight induction device can also be arranged below each pedal of balance car in this needs, to obtain the pressure that two pedals are born.
As shown in Fig. 2, in step S20, the pressure born to two pedals of detection module output carries out summation meter
Poor calculating is calculated and asked, respectively obtains the sum of pressure that two pedals are born and the difference of pressure that two pedals are born.
As shown in Fig. 2, in step s 30, the sum of pressure born according to two pedals and two pedals are born
The difference of pressure judge whether to meet preset condition, when meeting preset condition, balance car enters driving states.Preset condition with
And how judging result determines with above-mentioned, repeats no more.
Fig. 3 also shows that a kind of flow chart of the method for control balance car according to disclosure example embodiment.
Referring to Fig. 3, in addition to above-mentioned steps S10 to S30, in step s 40, balance car enters after driving states, forbids
The pressure that two pedals are born on output balance car.
The preset condition of namely the present embodiment setting is just effective only before balance car enters driving states, balance car
Into after driving states, above-mentioned preset condition no longer influences the operation of balance car, for example, it can be set into driving states it
Afterwards, balance car no longer allows the pressure that weight induction device output pedal is born, or enters after driving states to presetting item
The judgement of part carries out forbidden energy, that is, no matter why judging result does not influence the current operating status of balance car.In this way flat
Weighing apparatus vehicle enters after driving states, even if user's list foot drives, can continue to run under driving states.Pass through this forbidden energy
After operation, can to avoid the pressure that two pedals are born under car state of being expert at the sum of or difference variation influence balance
The operation of vehicle.
It should be noted that Fig. 1, Fig. 2 and Fig. 3 are only the processing included by method according to disclosure example embodiment
Schematically illustrate, rather than limit purpose.It can be readily appreciated that Fig. 1, Fig. 2 and processing shown in Fig. 3 do not indicate or limit these
The time sequencing of processing.In addition, being also easy to understand, these processing can for example either synchronously or asynchronously be executed in multiple modules
's.
To sum up, the method for the control balance car that the disclosure provides, by the pressure born according to the pedal of balance car with
And preset determination strategy determines whether balance car can enter driving states, can prevent from balancing when user climbs up balance car
Vehicle starts suddenly in the case where user is unripe, improves the safety of balance car.Also by entering driving shape in balance car
After state, forbids the influence of pressure or forbidden energy judging result that output pedal is born to balance car driving states, avoid
The pressure that two pedals are born under driving states the sum of or difference variation influence balance car operation.
Fig. 4 is shown according to a kind of system of control balance car in disclosure example embodiment.As shown in figure 4, the system
Including：Detection module 41, computing module 42, judgment module 43, operation module 44 and forbidden energy control module 45.
The detection module 41 is configured as detecting and exporting the pressure that two pedals of balance car are born, and detection module 41 is logical
The weight induction device crossed under two pedals detects the pressure that two pedals are born.The computing module 42 is configured as to detection
The pressure that two pedals of module output are born carries out read group total and asks poor calculating, respectively obtains what two pedals were born
The difference for the pressure that the sum of pressure and two pedals are born, and export to judgment module.The judgment module 43 is configured as root
It is judged that whether the pressure that two pedals are born meets preset condition, when meeting preset condition, balance car enters driving shape
State.The sum of pressure that wherein preset condition based on judgment module 43 is born by two pedals is more than the first predetermined threshold value,
And the difference of pressure that two pedals are born is less than the second predetermined threshold value.
Assuming that the pressure that two pedals are born indicates that then preset condition is with A and B respectively：
A+B≥D1；And | A-B | ＜ D2, wherein D1 and D2 are respectively the first predetermined threshold value and the second predetermined threshold value.
The operation module 44 is configured as balance car and enters after driving states, the heeling condition of inductance balance vehicle, and presses
The operation of balance car is controlled according to heeling condition.Balance car enters driving states, refers to just the heeling condition for starting inductance balance vehicle,
And the operation of balance car is controlled according to heeling condition, that is, balance car starts to control balance car according to the heeling condition of user
Working condition.
The forbidden energy control module 45 is configured as balance car and enters after driving states, and detection module is forbidden to export balance car
The pressure that upper two pedals are born.Preset condition is just effective only before balance car enters driving states, and balance car enters
After driving states, above-mentioned preset condition no longer influences the operation of balance car, for example, it can be set into after driving states, puts down
Weighing apparatus vehicle no longer allows the pressure that weight induction device output pedal is born, or enters driving states and sentence later to preset condition
It is disconnected to carry out forbidden energy, that is, no matter why judging result does not influence the current operating status of balance car.In this way balance car into
After entering driving states, even if user's list foot drives, it can continue to run under driving states.Pass through forbidden energy control module 45
Can to avoid the pressure that two pedals are born under car state of being expert at the sum of or difference variation influence balance car operation.
About the system in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
For system embodiments, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.System embodiment described above is only schematical, wherein being used as separating component explanation
Unit may or may not be physically separated, the component shown as unit may or may not be
Physical unit, you can be located at a place, or may be distributed over multiple network units.It can be according to the actual needs
Some or all of module therein is selected to realize the purpose of disclosure scheme.Those of ordinary skill in the art are not paying wound
In the case that the property made is worked, you can to understand and implement.
Fig. 5 also shows that the schematic diagram according to a kind of balance car in disclosure example embodiment 500.As shown in figure 5, packet
It includes：In addition to this processor 501, the memory 502 for storing processor-executable instruction and weight induction device 503 are put down
The vehicle that weighs further includes the components such as pedal, motor, wheel, is not shown in figure.
The processor 501 is configured as：Detect and export the pressure that two pedals of balance car are born；According to judging two
Whether the pressure that pedal is born meets preset condition, and when meeting preset condition, balance car enters driving states.Preset condition
The sum of pressure born by two pedals is more than the first predetermined threshold value, and the difference of pressure that two pedals are born is less than second
Predetermined threshold value.
Include weight induction device 503 in the processor, be arranged in the lower section of two pedals, is configured as detection pedal and is held
The pressure received.The processing that processor 501 is also further calculated and judged to the pressure data.
Correspondingly, the disclosure also provides a kind of non-transitorycomputer readable storage medium, when the instruction in storage medium
When being executed by the processor of terminal so that terminal is able to carry out a kind of method of intelligent recommendation music, and method includes：It detects and defeated
Go out the pressure that two pedals of balance car are born；
According to judging whether the pressure that two pedals are born meets preset condition, when meeting preset condition, balance car
Into driving states.
In the exemplary embodiment, it includes the non-transitorycomputer readable storage medium instructed, example to additionally provide a kind of
Such as include the memory of instruction, above-metioned instruction can be executed by processor to complete the above method.For example, non-transitory computer can
It can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and optical data storage devices etc. to read storage medium.
Fig. 6 is also showed that according to a kind of schematic diagram for controlling the device 600 of balance car in disclosure example embodiment.
For example, device 600 may be provided as a server.With reference to Fig. 6, device 600 includes processing component 622, is further comprised
One or more processors, and by the memory resource representated by memory 632, it can be by processing component 622 for storing
The instruction of execution, such as application program.The application program stored in memory 632 may include one or more each
A module for corresponding to one group of instruction.In addition, processing component 622 is configured as executing instruction, to execute the above method.
Device 600 can also include the power management that a power supply module 626 is configured as executive device 600, and one has
Line or radio network interface 650 are configured as device 600 being connected to network and input and output (I/O) interface 658.Dress
Setting 600 can operate based on the operating system for being stored in memory 632, such as Windows ServerTM, Mac OS XTM,
UnixTM, LinuxTM, FreeBSDTM or similar.
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented
Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, according to the disclosure
The technical solution of embodiment can be expressed in the form of software products, the software product can be stored in one it is non-volatile
Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are so that a calculating
Equipment (can be personal computer, server, mobile terminal or network equipment etc.) is executed according to disclosure embodiment
Method.
It is particularly shown and described the illustrative embodiments of the disclosure above.It should be appreciated that the disclosure is unlimited
In detailed construction described herein, set-up mode or implementation method；On the contrary, disclosure intention covers included in appended claims
Spirit and scope in various modifications and equivalence setting.
Claims (12)
1. a kind of method of control balance car, which is characterized in that including：
Detect and export the pressure that two pedals of balance car are born；
According to judging whether the pressure that described two pedals are born meets preset condition, when meeting the preset condition, institute
It states balance car and enters driving states；
Wherein, the sum of pressure that the preset condition is born by described two pedals is more than the first predetermined threshold value, and described two
The difference for the pressure that a pedal is born is less than the second predetermined threshold value.
2. according to the method described in claim 1, it is characterized in that, 30~50 kilograms of first preset threshold range, described
Second preset threshold range is 5~15 kilograms.
3. according to the method described in claim 1, it is characterized in that, being detected by the weight induction device under described two pedals
The pressure that described two pedals are born.
4. according to the method described in claim 1, it is characterized in that, the driving states are：
Incude the heeling condition of the balance car, and controls the operation of the balance car according to the heeling condition.
5. according to the method described in claim 1, it is characterized in that, the balance car enter the driving states after, it is described
Method further includes：
Forbid exporting the pressure that described two pedals are born on the balance car.
6. a kind of system of control balance car, which is characterized in that including：
Detection module is configured as detecting and exporting the pressure that two pedals of balance car are born；
Judgment module is configured as, according to judging whether the pressure that described two pedals are born meets preset condition, working as satisfaction
When the preset condition, the balance car enters driving states；
Wherein, the sum of pressure that the preset condition is born by described two pedals is more than the first predetermined threshold value, and described two
The difference for the pressure that a pedal is born is less than the second predetermined threshold value.
7. system according to claim 6, which is characterized in that the system also includes：
Computing module, the pressure for being configured as bearing described two pedals that the detection module exports carry out read group total
With ask poor calculating, respectively obtain the sum of pressure that described two pedals are born and pressure that described two pedals are born it
Difference, and export to the judgment module.
8. system according to claim 6, which is characterized in that the detection module passes through the weight under described two pedals
Inductor detects the pressure that described two pedals are born.
9. system according to claim 6, which is characterized in that the system also includes：
Module is run, balance car is configured as and enters after the driving states, incude the heeling condition of the balance car, and press
The operation of the balance car is controlled according to the heeling condition.
10. system according to claim 7, which is characterized in that the system also includes：
Forbidden energy control module is configured as the balance car and enters after the driving states, the detection module is forbidden to export
The pressure that described two pedals are born on the balance car.
11. a kind of balance car, which is characterized in that including：
Processor；And
Memory for storing the processor-executable instruction；
The wherein described processor is configured as：
Detect and export the pressure that two pedals of balance car are born；
According to judging whether the pressure that described two pedals are born meets preset condition, when meeting the preset condition, institute
It states balance car and enters driving states；
Wherein, the sum of pressure that the preset condition is born by described two pedals is more than the first predetermined threshold value, and described two
The difference for the pressure that a pedal is born is less than the second predetermined threshold value.
12. balance car according to claim 11, which is characterized in that the processor includes：
Weight induction device is arranged and is configured as detecting the pressure that described two pedals are born in the lower section of described two pedals.
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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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| CN105539657B true CN105539657B (en) | 2018-07-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018010120A1 (en) * | 2016-07-13 | 2018-01-18 | 尚艳燕 | Method and apparatus for balancing vehicle safety control |
| CN106240401A (en) * | 2016-07-29 | 2016-12-21 | 北京小米移动软件有限公司 | The control method of balance car and device |
| CN112353627A (en) * | 2020-11-07 | 2021-02-12 | 迈族智能科技(上海)有限公司 | Vertical rhythm body shaping equipment |
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| CN103558778A (en) * | 2013-11-01 | 2014-02-05 | 深圳乐行天下科技有限公司 | Method and system for detecting state of two-wheeled balance vehicle |
| CN204423150U (en) * | 2015-02-05 | 2015-06-24 | 重庆交通大学 | Based on the two-wheeled control system of balance car of image |
| CN104760644A (en) * | 2015-04-14 | 2015-07-08 | 上海理工大学 | Electric monocycle |
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| CN103558778A (en) * | 2013-11-01 | 2014-02-05 | 深圳乐行天下科技有限公司 | Method and system for detecting state of two-wheeled balance vehicle |
| CN204423150U (en) * | 2015-02-05 | 2015-06-24 | 重庆交通大学 | Based on the two-wheeled control system of balance car of image |
| CN104760644A (en) * | 2015-04-14 | 2015-07-08 | 上海理工大学 | Electric monocycle |
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