CN105974918B - Balance car control method, device and balance car - Google Patents
Balance car control method, device and balance car Download PDFInfo
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- CN105974918B CN105974918B CN201610384303.7A CN201610384303A CN105974918B CN 105974918 B CN105974918 B CN 105974918B CN 201610384303 A CN201610384303 A CN 201610384303A CN 105974918 B CN105974918 B CN 105974918B
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- 230000009286 beneficial effect Effects 0.000 description 3
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The disclosure is directed to a kind of balance car control method, device and balance cars, which comprises in the driving process of balance car, acquire the running condition information of the balance car；The running condition information includes the angle of the number that balance car shakes and each shaking；Judge whether the running condition information meets preset decision plan, when the running condition information meets the decision plan, then the travel speed for limiting the balance car is no more than speed limit threshold value.
Description
Technical field
This disclosure relates to smart machine field more particularly to a kind of balance car control method, device and balance car.
Background technique
With the development of science and technology, more and more trip tools enter in people's lives, e.g., Electric Scooter and balance
Vehicle etc..Balance car in the market includes two-wheeled balance car and single-wheel balance car.Balance car has the characteristics that light and handy flexible.Relative to
Compare for traditional bicycle or electrically-powered vehicle, balance car can adapt to more complicated tortuous road conditions, and travel
Speed is also more satisfactory, provides many conveniences for user.
Summary of the invention
To overcome the problems in correlation technique, the disclosure provides a kind of balance car control method, device and balance car,
Balance car can be made by automatically judging driving status, limit travel speed to guarantee safety.
According to the first aspect of the embodiments of the present disclosure, a kind of balance car control method is provided, comprising:
In the driving process of balance car, the running condition information of the balance car is acquired；The running condition information packet
Include the number of balance car shaking and the angle of each shaking；
Judge whether the running condition information meets preset decision plan, when the running condition information meet it is described
Decision plan, the then travel speed for limiting the balance car are no more than speed limit threshold value.
Optionally, the decision plan includes that time threshold shakes frequency threshold value and shakes angle threshold；It is then described to sentence
Whether the running condition information that breaks meets preset decision plan
It obtains within the time threshold, angle is shaken in the running condition information and reaches the shaking angle threshold
Shaking number；
Judge whether the shaking number reaches the shaking frequency threshold value；Reach the shaking time in the shaking number
When number threshold value, determine that the running condition information meets the decision plan.
Optionally, the method also includes:
Speed limit table is obtained, includes the corresponding relationship for shaking angle and speed limit threshold value in the speed limit table；
Corresponding speed limit threshold value is obtained by the shaking angle in the running condition information according to the speed limit table.
Optionally, the method also includes:
When the running condition information does not meet the decision plan, the limit to the travel speed of the balance car is released
System.
According to the second aspect of an embodiment of the present disclosure, a kind of balance truck control device is provided, described device includes:
Acquisition module is configured as in the driving process of balance car, acquires the running condition information of the balance car；Institute
State the angle that running condition information includes the number that balance car shakes and each shaking；
Determination module is configured as judging whether the running condition information meets preset decision plan；
Configuration module is configured as limiting the balance car when the running condition information meets the decision plan
Travel speed be no more than speed limit threshold value.
Optionally, the decision plan includes that time threshold shakes frequency threshold value and shakes angle threshold；It is then described to sentence
Cover half block includes:
Submodule is handled, is configured as obtaining within the time threshold, shakes angle in the running condition information
Reach the shaking number for shaking angle threshold；
Judging submodule is configured as judging whether the shaking number reaches the shaking frequency threshold value；In the rolling
When dynamic number reaches the shaking frequency threshold value, determine that the running condition information meets the decision plan.
Optionally, described device further include:
Module is limited, is configured as obtaining speed limit table, includes that shaking angle is corresponding with speed limit threshold value in the speed limit table
Relationship；Corresponding speed limit threshold value is obtained by the shaking angle in the running condition information according to the speed limit table.
Optionally, the configuration module includes:
Speed limit submodule is configured as limiting the balance when the running condition information meets the decision plan
The travel speed of vehicle is no more than speed limit threshold value；
Submodule is released, is configured as when the running condition information does not meet the decision plan, is released to described
The limitation of the travel speed of balance car.
According to the third aspect of an embodiment of the present disclosure, a kind of balance car is provided, the balance car includes what the disclosure provided
Balance truck control device.
The technical scheme provided by this disclosed embodiment can include the following benefits: information is automatic according to transport condition
It identifies new hand driver, and speed limit is carried out to balance car in the driving procedure of new hand driver, avoid new hand driver
It runs at high speed, ensuring safety property；By the identification of automation and speed limit measure is taken, improves the intelligent journey of balance car
Degree, provides more good user experience；The quantization judgement for new hand's driver's driving technology is realized, and is driven for new hand
The driving technology dynamic for the person of sailing controls the size of speed limit threshold value, thus carries out reasonable speed limit to balance car, further to improve
User experience；And in the case where being not required to speed limit, speed limit is automatically terminated, further improves the degree of intelligence of balance car.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
Fig. 1 is embodiment of the present disclosure the method flow chart；
Fig. 2 is another embodiment the method flow chart of the disclosure；
Fig. 3 is embodiment of the present disclosure described device structural schematic diagram；
Fig. 4 is embodiment of the present disclosure described device structural schematic diagram；
Fig. 5 A~Fig. 5 D is balance car structural schematic diagram described in the embodiment of the present disclosure.
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
The driving of balance car is similar to bicycle.Although being not difficult, driver is still required with basic driving
Technology.After the sense of equilibrium and proficiency reach certain level, traveling just can safely, be smoothly driven.However the row of balance car
It is relatively higher to sail speed, then for " new hand driver " insufficient for driving technology, it is clear that there is higher safety winds
Danger.How in this case, intelligent to identify so-called " new hand driver ", and control it and drive risk, ensure safety
Property, it is insurmountable problem in related art scheme.
The disclosure will provide a kind of balance car control method, to solve the technical problem in above-mentioned scene.Referring to Fig. 1 institute
Show, is one embodiment of the method.Method described in the present embodiment the following steps are included:
Step 101, in the driving process of balance car, acquire the running condition information of the balance car.
In the present embodiment, balance car automatically judges driver for " new hand for according to the driving status in driving procedure
Driver " or " experienced driver ".Specifically, can be made according to the case where in driving process, balance car is shaken
For the foundation of judgement.
It is understood that then the driving process of usual balance car can be relatively more steady if it is experienced driver, shake
It is also smaller to move angle that is less and shaking., whereas if be new hand driver, then in driving process balance car shaking meeting
More frequently, shaking amplitude is also bigger.So in the present embodiment, the important rolling described in driving process of the running condition information
Emotionally condition includes the angle of the number that balance car shakes and each shaking.
It learns the shaking situation of the balance car, can also be led to by gravity sensitive device assembly built-in on balance car
Cross any other component that can be realized similar functions.
Step 102 judges whether the running condition information meets preset decision plan.
Identify that driver is new hand driver or experienced driver, it is necessary to judge the driving status letter
Breath, if the characteristics of meeting based on new hand driver and the decision plan that sets.If the running condition information is sentenced with described
Determine strategy to be consistent, just demonstrating current driver is the new hand driver being directed in the present embodiment.
The decision plan may include time threshold, shake frequency threshold value and shake angle threshold.Then described in the judgement
It includes: to obtain within the time threshold that whether running condition information, which meets preset decision plan, the driving status letter
Angle is shaken in breath reaches the shaking number for shaking angle threshold；Judge whether the shaking number reaches the shaking time
Number threshold value；When the shaking number reaches the shaking frequency threshold value, determine that the running condition information meets the judgement
Strategy.
Between three threshold values in the obvious determination strategy, there is direct logical communication links.As an example it is assumed that institute
Stating time threshold is 30 seconds, and the shaking frequency threshold value is 8 times, and the shaking angle threshold is 30 °.Just it is meant that if
In the running condition information, within continuous 30 seconds, the shaking more than 30 ° reaches at least 8 times, then illustrates the driving status letter
Breath is consistent with the decision plan, i.e., current driver is judged as new hand driver.
Step 103, when the running condition information meets the decision plan, then limit the travel speed of the balance car
No more than speed limit threshold value.
In the present embodiment, if current driver is judged as new hand driver, speed limit will be carried out for balance car,
So that the maximum travel speed of balance car is no more than speed limit threshold value.The speed of limiting balance vehicle, can be by limiting power output
Mode realize, can also be realized by way of control brake.Alternatively, other any means that can be realized similar effect,
It can be in conjunction under the overall technical architecture of the disclosure.
In the present embodiment, the speed limit threshold value can be preset fixed value.New hand driver is thus avoided not yet done
It runs at high speed in the case where knowing balance car driving technology, has ensured the safety of driver.
As seen through the above technical solutions, beneficial effect existing for the present embodiment is: information is known automatically according to transport condition
Not Chu new hand driver, and speed limit is carried out to balance car in the driving procedure of new hand driver, it is high to avoid new hand driver
Speed traveling, ensuring safety property；By the identification of automation and speed limit measure is taken, improves the intelligence degree of balance car,
Provide more good user experience.
It is shown in Figure 1, it is the basic embodiment of the method.On the basis of disclosure embodiment shown in Fig. 1, may be used also
Further to combine relevant optimal technical scheme, to realize additional technical effect.It is shown in Figure 2, for disclosure institute
State another embodiment of method.Method described in the present embodiment the following steps are included:
Step 201, in the driving process of balance car, acquire the running condition information of the balance car.
Step 202 obtains speed limit table, is obtained according to the speed limit table by the shaking angle in the running condition information
Corresponding speed limit threshold value.
In previous embodiment, the speed limit threshold value is limited to preset fixed value.But in a practical situation, new hand drives
The driving technology for the person of sailing also different from.So the speed limit threshold value, completely can for new hand driver real standard into
Row is targetedly set.New hand driver i.e. preferable for driving technology, the speed limit threshold value can set relatively high；It is on the contrary
It then sets relatively low.
In the present embodiment, the driving technology of new hand driver is measured, is again based on the running condition information, or
It says referring to the shaking angle in the running condition information.Preferably, multiple shaking angles for including in running condition information
For degree, data of the mean value of angle as reference are shaken using each time in the present embodiment；Or it also can use and shake angle
Data of the maximum value of degree as reference.
It include the corresponding relationship for shaking angle and speed limit threshold value in the speed limit table.Assuming that being shaken in running condition information
The mean value of angle is 36 °, then can get corresponding speed limit threshold value by speed limit table is 10km/h.
The dynamic setting of speed limit threshold value is realized in the present embodiment as a result,.
Step 203 judges whether the running condition information meets preset decision plan.
Step 204, when the running condition information meets the decision plan, then limit the travel speed of the balance car
No more than speed limit threshold value.
Step 205, when the running condition information does not meet the decision plan, release to the traveling of the balance car
The limitation of speed.
Under other application scenarios, if new hand driver has gradually grasped driving technology or driver's transformation
For experienced driver, then running condition information will no longer conform to the decision plan, and speed limit be not also required, so this
Speed limit will be automatically terminated in embodiment in this case, balance car is made to be restored to conventional working condition.
As seen through the above technical solutions, beneficial effect existing for the present embodiment is: realizing and new hand driver is driven
The quantization judgement of technology is sailed, and controls the size of speed limit threshold value for the driving technology of new hand driver dynamic, thus to balance
Vehicle carries out reasonable speed limit, further improves user experience；And in the case where being not required to speed limit, speed limit is automatically terminated, into one
Step improves the degree of intelligence of balance car.
It is shown in Figure 3, it is one embodiment that truck control device is balanced described in the disclosure.Described device is for realizing figure
Method described in 1~2 illustrated embodiment, so the corresponding description in the illustrated embodiment of Fig. 1~2, is equally applicable to this implementation
In example.The present embodiment described device includes:
Acquisition module 301 is configured as in the driving process of balance car, acquires the driving status letter of the balance car
Breath；The running condition information includes the angle of the number that balance car shakes and each shaking.
Determination module 302 is configured as judging whether the running condition information meets preset decision plan.
The decision plan includes that time threshold shakes frequency threshold value and shakes angle threshold；The then determination module
302 include:
Submodule is handled, is configured as obtaining within the time threshold, shakes angle in the running condition information
Reach the shaking number for shaking angle threshold.
Judging submodule is configured as judging whether the shaking number reaches the shaking frequency threshold value；In the rolling
When dynamic number reaches the shaking frequency threshold value, determine that the running condition information meets the decision plan.
Configuration module 303 is configured as limiting the balance when the running condition information meets the decision plan
The travel speed of vehicle is no more than speed limit threshold value.
The configuration module 303 includes:
Speed limit submodule is configured as limiting the balance when the running condition information meets the decision plan
The travel speed of vehicle is no more than speed limit threshold value.
Submodule is released, is configured as when the running condition information does not meet the decision plan, is released to described
The limitation of the travel speed of balance car.
Described device further include:
Module 304 is limited, is configured as obtaining speed limit table, includes pair for shaking angle and speed limit threshold value in the speed limit table
It should be related to；Corresponding speed limit threshold value is obtained by the shaking angle in the running condition information according to the speed limit table.
As seen through the above technical solutions, beneficial effect existing for the present embodiment is: information is known automatically according to transport condition
Not Chu new hand driver, and speed limit is carried out to balance car in the driving procedure of new hand driver, it is high to avoid new hand driver
Speed traveling, ensuring safety property；By the identification of automation and speed limit measure is taken, improves the intelligence degree of balance car,
Provide more good user experience；The quantization judgement for new hand's driver's driving technology is realized, and is driven for new hand
The driving technology dynamic of person controls the size of speed limit threshold value, thus carries out reasonable speed limit to balance car, and further improve is used
Family experience；And in the case where being not required to speed limit, speed limit is automatically terminated, further improves the degree of intelligence of balance car.
Fig. 4 is a kind of block diagram of balance car speed-limiting device 400 shown according to an exemplary embodiment.For example, device 400
It can be mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, Medical Devices,
Body-building equipment, personal digital assistant etc. have the device of communication connection with balance car, can also be the hardware dress for being built in balance car
It sets.
Referring to Fig. 4, device 400 may include following one or more components: processing component 402, memory 404, electric power
Component 406, multimedia component 408, audio component 410, the interface 412 of input/output (I/O), sensor module 414, and
Communication component 416.
The integrated operation of the usual control device 400 of processing component 402, such as with display, telephone call, data communication, phase
Machine operation and record operate associated operation.Processing component 402 may include that one or more processors 420 refer to execute
It enables, to perform all or part of the steps of the methods described above.In addition, processing component 402 may include one or more modules, just
Interaction between processing component 402 and other assemblies.For example, processing component 402 may include multi-media module, it is more to facilitate
Interaction between media component 408 and processing component 402.
Memory 404 is configured as storing various types of data to support the operation in device 400.These data are shown
Example includes the instruction of any application or method for operating on device 400, contact data, and telephone book data disappears
Breath, picture, video etc..Memory 404 can be by any kind of volatibility or non-volatile memory device or their group
It closes and realizes, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM) is erasable to compile
Journey read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash
Device, disk or CD.
Electric power assembly 406 provides electric power for the various assemblies of device 400.Electric power assembly 406 may include power management system
System, one or more power supplys and other with for device 400 generate, manage, and distribute the associated component of electric power.
Multimedia component 408 includes the screen of one output interface of offer between described device 400 and user.One
In a little embodiments, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen
Curtain may be implemented as touch screen, to receive input signal from the user.Touch panel includes one or more touch sensings
Device is to sense the gesture on touch, slide, and touch panel.The touch sensor can not only sense touch or sliding action
Boundary, but also detect duration and pressure associated with the touch or slide operation.In some embodiments, more matchmakers
Body component 408 includes a front camera and/or rear camera.When device 400 is in operation mode, such as screening-mode or
When video mode, front camera and/or rear camera can receive external multi-medium data.Each front camera and
Rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio component 410 is configured as output and/or input audio signal.For example, audio component 410 includes a Mike
Wind (MIC), when device 400 is in operation mode, when such as call mode, recording mode, and voice recognition mode, microphone is matched
It is set to reception external audio signal.The received audio signal can be further stored in memory 404 or via communication set
Part 416 is sent.In some embodiments, audio component 410 further includes a loudspeaker, is used for output audio signal.
I/O interface 412 provides interface between processing component 402 and peripheral interface module, and above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include, but are not limited to: home button, volume button, start button and lock
Determine button.
Sensor module 414 includes one or more sensors, and the state for providing various aspects for device 400 is commented
Estimate.For example, sensor module 414 can detecte the state that opens/closes of device 400, and the relative positioning of component, for example, it is described
Component is the display and keypad of device 400, and sensor module 414 can be with 400 1 components of detection device 400 or device
Position change, the existence or non-existence that user contacts with device 400,400 orientation of device or acceleration/deceleration and device 400
Temperature change.Sensor module 414 may include proximity sensor, be configured to detect without any physical contact
Presence of nearby objects.Sensor module 414 can also include optical sensor, such as CMOS or ccd image sensor, at
As being used in application.In some embodiments, which can also include acceleration transducer, gyro sensors
Device, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 416 is configured to facilitate the communication of wired or wireless way between device 400 and other equipment.Device
400 can access the wireless network based on communication standard, such as WiFi, 2G or 3G or their combination.In an exemplary implementation
In example, communication component 416 receives broadcast singal or broadcast related information from external broadcasting management system via broadcast channel.
In one exemplary embodiment, the communication component 416 further includes near-field communication (NFC) module, to promote short range communication.Example
Such as, NFC module can be based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) technology,
Bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, device 400 can be believed by one or more application specific integrated circuit (ASIC), number
Number processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing the above method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided
It such as include the memory 404 of instruction, above-metioned instruction can be executed by the processor 420 of device 400 to complete the above method.For example,
The non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk
With optical data storage devices etc..
In addition, the disclosure further includes a kind of balance car.Balance car involved in the balance car, that is, foregoing embodiments.?
In some embodiments, the balance car includes device described in embodiment illustrated in fig. 3；Mean that described device is built in balance car
In or it is external with the balance car in and establish and communicate to connect with the balance car.Referring to shown in Fig. 5 A~Fig. 5 B.Another
In a little embodiments, the balance car includes device described in embodiment illustrated in fig. 4；Mean that described device is built in balance car
In or it is external with the balance car in and establish and communicate to connect with the balance car.Referring to shown in Fig. 5 C~Fig. 5 D.
Those skilled in the art will readily occur to other embodiment party of the disclosure after considering specification and practicing the disclosure
Case.The disclosure is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or adaptability
Variation follows the general principles of this disclosure and including the undocumented common knowledge or usual skill in the art of the disclosure
Art means.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following claim
It points out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (8)
1. a kind of balance car control method characterized by comprising
In the driving process of balance car, the running condition information of the balance car is acquired；The running condition information includes flat
Weigh the number and each angle shaken that vehicle shakes；
Judge whether the running condition information meets preset decision plan, when the running condition information meets the judgement
Strategy, the then travel speed for limiting the balance car are no more than speed limit threshold value；
Wherein, the decision plan includes that time threshold shakes frequency threshold value and shakes angle threshold；Then described in the judgement
Whether running condition information meets preset decision plan
It obtains within the time threshold, angle is shaken in the running condition information and reaches the rolling for shaking angle threshold
Dynamic number；
Judge whether the shaking number reaches the shaking frequency threshold value；
When the shaking number reaches the shaking frequency threshold value, determine that the running condition information meets the judgement plan
Slightly.
2. the method according to claim 1, wherein the method also includes:
Speed limit table is obtained, includes the corresponding relationship for shaking angle and speed limit threshold value in the speed limit table；
Corresponding speed limit threshold value is obtained by the shaking angle in the running condition information according to the speed limit table.
3. method according to claim 1 or 2, which is characterized in that the method also includes:
When the running condition information does not meet the decision plan, the limitation to the travel speed of the balance car is released.
4. a kind of balance truck control device, which is characterized in that described device includes:
Acquisition module is configured as in the driving process of balance car, acquires the running condition information of the balance car；The row
Sail the angle that status information includes the number that balance car shakes and each shaking；
Determination module is configured as judging whether the running condition information meets preset decision plan；
Configuration module is configured as limiting the row of the balance car when the running condition information meets the decision plan
Speed is sailed no more than speed limit threshold value；
Wherein, the decision plan includes that time threshold shakes frequency threshold value and shakes angle threshold；The then determination module
Include:
Submodule is handled, is configured as obtaining within the time threshold, angle is shaken in the running condition information and is reached
The shaking number for shaking angle threshold；
Judging submodule is configured as judging whether the shaking number reaches the shaking frequency threshold value；In the shaking time
When number reaches the shaking frequency threshold value, determine that the running condition information meets the decision plan.
5. device according to claim 4, which is characterized in that described device further include:
Module is limited, is configured as obtaining speed limit table, includes the corresponding relationship for shaking angle and speed limit threshold value in the speed limit table；
Corresponding speed limit threshold value is obtained by the shaking angle in the running condition information according to the speed limit table.
6. device according to claim 4 or 5, which is characterized in that the configuration module includes:
Speed limit submodule is configured as limiting the balance car when the running condition information meets the decision plan
Travel speed is no more than speed limit threshold value；
Submodule is released, is configured as when the running condition information does not meet the decision plan, is released to the balance
The limitation of the travel speed of vehicle.
7. a kind of balance truck control device, which is characterized in that described device includes:
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to: in the driving process of balance car, acquire the balance car driving status letter
Breath；The running condition information includes the angle of the number that balance car shakes and each shaking；Judge the running condition information
Whether meet preset decision plan, when the running condition information meets the decision plan, then limits the balance car
Travel speed is no more than speed limit threshold value；
Wherein, the decision plan includes that time threshold shakes frequency threshold value and shakes angle threshold；Then described in the judgement
Whether running condition information meets preset decision plan
It obtains within the time threshold, angle is shaken in the running condition information and reaches the rolling for shaking angle threshold
Dynamic number；
Judge whether the shaking number reaches the shaking frequency threshold value；
When the shaking number reaches the shaking frequency threshold value, determine that the running condition information meets the judgement plan
Slightly.
8. a kind of balance car, which is characterized in that the balance car includes dress described in any claim in claim 4~6
It sets.
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| CN201610384303.7A CN105974918B (en) | 2016-06-01 | 2016-06-01 | Balance car control method, device and balance car |
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| CN201610384303.7A CN105974918B (en) | 2016-06-01 | 2016-06-01 | Balance car control method, device and balance car |
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| CN105974918B true CN105974918B (en) | 2019-08-06 |
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|---|---|---|---|---|
| CN107380318A (en) * | 2017-07-11 | 2017-11-24 | 上海与德科技有限公司 | The monitoring method and electronic equipment of a kind of transport condition |
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| CN109018170B (en) * | 2018-07-09 | 2020-04-28 | 深圳乐行天下科技有限公司 | Balance car control method and device, balance car and storage medium |
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| CN109911071A (en) * | 2019-03-27 | 2019-06-21 | 深圳市乐骑智能科技有限公司 | A kind of balance car is driven over the speed limit monitoring system and its working method |
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| JP5447010B2 (en) * | 2010-03-04 | 2014-03-19 | トヨタ自動車株式会社 | Motion sickness suppression control device and control method thereof |
| CN103246288B (en) * | 2013-04-26 | 2015-06-24 | 杭州骑客智能科技有限公司 | Method for detecting and controlling swings of balancing car provided with single shaft and double wheels |
| CN104943786B (en) * | 2015-06-29 | 2018-09-07 | 广东宝乐机器人股份有限公司 | The automatic safe protective method of two-wheeled balance car |
| CN105404305B (en) * | 2015-12-29 | 2018-12-18 | 小米科技有限责任公司 | The control method and control device of balance car |
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