CN106184519B - A kind of balance car method of controlling security and device - Google Patents
A kind of balance car method of controlling security and device Download PDFInfo
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- CN106184519B CN106184519B CN201610527849.3A CN201610527849A CN106184519B CN 106184519 B CN106184519 B CN 106184519B CN 201610527849 A CN201610527849 A CN 201610527849A CN 106184519 B CN106184519 B CN 106184519B
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- balance car
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- operational mode
- posture
- intelligent terminal
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Abstract
The invention discloses a kind of balance car method of controlling security and devices.The balance car method of controlling security, comprising: establish communication connection of the balance car with mobile intelligent terminal；Starting balance car enters self-balancing state；Detect driver status；When driver is in position, the operational mode of mobile intelligent terminal setting is read；The posture for controlling balance car is consistent with operational mode.Driver can be allowed preferably to go up hand using the present invention.
Description
Technical field
The present invention relates to balance car control fields, more specifically, being related to a kind of balance car method of controlling security and device.
Background technique
Electrodynamic balance vehicle, is called balance car, thinking vehicle, and operation principles are mainly built upon a kind of be referred to as " dynamically surely
In basic principle calmly ", using the gyroscope and acceleration transducer of vehicle body, to detect the variation of vehicle body attitude, utilize
Servo-control system, accurately driving motor is adjusted correspondingly, to keep the balance of system.
There are two types of existing electrodynamic balance vehicle is general, one is having an operating stick on car body, user stands electronic
Operating stick is operated on the foot platform of balance car, to advance, retreat and stop, such control is also referred to as " manual control ".
Another kind is that car body consists of two parts, and mutually rotation is realized by rotating mechanism between left half and right half, to realize
" foot control ".As long as existing balance car is acted according to the operation signal of driver completely, and as beginner, driving habit
Be it is very chaotic, cause balance car that can not control, or even be easy to happen danger.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of balance car safety of hand speed on raising new hand driver
Control method and device.
The purpose of the present invention is achieved through the following technical solutions:
According to an aspect of the present invention, the present invention discloses a kind of balance car method of controlling security, comprising:
Establish communication connection of the balance car with mobile intelligent terminal；
Starting balance car enters self-balancing state；
Detect driver status；
When driver is in position, the operational mode of mobile intelligent terminal setting is read；
The posture for controlling balance car is consistent with operational mode.
Further, the posture and the consistent method of operational mode of the control balance car further include:
Whether the posture for detecting balance car is consistent with operational mode；Balance car starts when consistent；Otherwise out of service and protect
Self-balancing state is held, voice prompting is issued.By verbal cue, driver correction's posture can be constantly reminded, as long as in addition, flat
Weighing apparatus vehicle stops and self-balancing state is also not easy to throw from vehicle, it is ensured that driver safety even if driver's operating mistake.
Further, the posture and the consistent method of operational mode of the control balance car further include:
Real-time detection operational mode, according to operational mode automatic adjustable balance vehicle posture.
The technical program provides a kind of mode of active control, and balance car ignores the operation of driver, directly in response to shifting
The operational mode of dynamic intelligent terminal, further ensures the safety of driving, new hand is also facilitated preferably to experience the driving striven for
Mode, hand time in shortening.
Further, the posture and the consistent method of operational mode of the control balance car further include:
Detect the weight information of driver；
When weight information is more than preset value, maximum travel speed is reduced, and feed back to mobile intelligent terminal, amendment operation
Mode.
The preset operational mode of mobile phone is often to be directed to masses, for dysponderal personage, needs to carry out parameter
Amendment could more be bonded the actual conditions of driver.
Further, the method for the detection driver status further include:
Driver status is detected by the weight data of pedal；When weight data is more than preset section, start loading
Mode；
Safe velocity is calculated according to weight data；
Control balance car travels at the uniform speed by safe velocity；
Further, the method that control balance car travels at the uniform speed by safe velocity further include: real-time calculated equilibrium vehicle
It with the distance of mobile intelligent terminal, controls balance car and is maintained in pre-determined distance with the distance of mobile intelligent terminal, when detecting
When balance car is run by safe velocity, the distance of balance car and controller is still persistently widened, and issues warning information.
Further, the balance car includes car body, and the pedal assembly of setting on the car body, the pedal assembly packet
Include pressure sensor corresponding with two soles respectively；It is described detection driver status method include:
The weight of double-legged pressure difference and driver is calculated according to the measured value of two pressure sensors,
Driver status is judged according to the ratio of double-legged pressure difference and weight.
Further, the pressure sensor includes first sensor corresponding with forefoot, and corresponding with rear heel
Second pressure sensor；When the difference of first sensor and second sensor measured value is less than first threshold, determine to drive
Member is in position.
Further, the balance car method of controlling security further include:
The weight and driving habit of driver are recorded, driving mode data are generated；
Driving mode data feedback is returned into mobile intelligent terminal；
It is described to select matched operational mode according to driving mode data.
The technical program can allow actual conditions of the operational mode with meeting specific driver, allow driver's upper hand as early as possible.
According to another aspect of the present invention, the invention discloses a kind of balance car safety controls, which is characterized in that
Include:
For establishing the device of communication connection of the balance car with mobile intelligent terminal；
Enter the device of self-balancing state for starting balance car；
For detecting the device of driver status；
For when driver is in position, reading the device of the operational mode of mobile intelligent terminal setting；
For controlling the posture and the consistent device of operational mode of balance car.
Compared with prior art, the solution have the advantages that: the present invention sets operational mode by balance car, only
When the operation of driver meets operational mode, i.e., when driver's control balance car reaches scheduled posture, balance car just starts, and keeps away
Exempt from that new hand is unfamiliar with operation or anxiety causes balance car out of control, provides a kind of controllable adaptation process for new hand.In addition, balance
Vehicle starting enters self-balancing state, it is ensured that driver can steadily get on the bus.
Detailed description of the invention
Fig. 1 is balance car method of controlling security schematic diagram of the present invention；
Fig. 2 is the schematic diagram of balance car safety control of the present invention.
Specific embodiment
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing or method described as flow chart.Although operations are described as the processing of sequence by flow chart, therein to be permitted
Multioperation can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of operations can be rearranged.When it
The processing can be terminated when operation completion, it is also possible to have the additional step being not included in attached drawing.The processing
It can correspond to method, function, regulation, subroutine, subprogram etc..
Alleged mobile intelligent terminal (such as smart phone, tablet computer, wearable device or intelligent glasses), meter within a context
Calculation machine, AI (artificial intelligence), robot, VR (virtual reality), AR (augmented reality), smart home device or intelligent industrial control
Equipment etc. can execute the predetermined process mistakes such as numerical value calculating and/or logic calculation by operation preset program or instruction
Journey may include processor and memory, execute the survival prestored in memory instruction by processor to execute book office
Reason process, or predetermined process process is executed by hardware such as ASIC, FPGA, DSP, or realized by said two devices combination.Meter
Calculating machine equipment includes but is not limited to server, PC, laptop, tablet computer, smart phone etc..
The network equipment includes but is not limited to single network server, the server group of multiple network servers composition or is based on
The cloud consisting of a large number of computers or network servers of cloud computing (Cloud Computing), wherein cloud computing is distributed
One kind of calculating, a super virtual computer consisting of a loosely coupled set of computers.Wherein, the computer is set
It is standby can isolated operation realize the present invention, also can access network and pass through the interactive operation with other computer equipments in network
To realize the present invention.Wherein, network locating for the computer equipment includes but is not limited to internet, wide area network, Metropolitan Area Network (MAN), office
Domain net, VPN network etc..
It should be noted that the user equipment, the network equipment and network etc. are only for example, other are existing or from now on may be used
The computer equipment or network that can occur such as are applicable to the present invention, should also be included within the scope of protection of the present invention, and to draw
It is incorporated herein with mode.
Method (some of them are illustrated by process) discussed hereafter can be by hardware, software, firmware, centre
Part, microcode, hardware description language or any combination thereof are implemented.Implement when with software, firmware, middleware or microcode
When, program code or code segment to implement necessary task can be stored in machine or computer-readable medium and (for example deposit
Storage media) in.Necessary task can be implemented in (one or more) processor.
Specific structure and function details disclosed herein are only representative, and are for describing the present invention show
The purpose of example property embodiment.But the present invention can be implemented by many alternative forms, and be not interpreted as
It is limited only by the embodiments set forth herein.
Although it should be understood that may have been used term " first ", " second " etc. herein to describe each unit,
But these units should not be limited by these terms.The use of these items is only for by a unit and another unit
It distinguishes.For example, without departing substantially from the range of exemplary embodiment, it is single that first unit can be referred to as second
Member, and similarly second unit can be referred to as first unit.Term "and/or" used herein above include one of them or
Any and all combinations of more listed associated items.
It should be understood that when a unit referred to as " connects " or when " coupled " to another unit, can directly connect
Another unit is connect or be coupled to, or may exist temporary location.In contrast, " directly connect when a unit is referred to as
Connect " or " direct-coupling " to another unit when, then temporary location is not present.It should explain in a comparable manner and be used to retouch
Other words for stating the relationship between unit (such as " are in.Between " compared to " being directly in.Between ", " with.It is adjacent
Closely " compared to " with.It is directly adjacent to " etc.).
Term used herein above is not intended to limit exemplary embodiment just for the sake of description specific embodiment.Unless
Context clearly refers else, otherwise singular used herein above "one", " one " also attempt to include plural number.Also answer
When understanding, term " includes " and/or "comprising" used herein above provide stated feature, integer, step, operation,
The presence of unit and/or component, and do not preclude the presence or addition of other one or more features, integer, step, operation, unit,
Component and/or combination thereof.
It should further be mentioned that the function action being previously mentioned can be attached according to being different from some replace implementations
The sequence indicated in figure occurs.For example, related function action is depended on, the two width figures shown in succession actually may be used
Substantially simultaneously to execute or can execute in a reverse order sometimes.
It takes the mobile phone as an example below, in conjunction with attached drawing 1,2 and preferred embodiment, the invention will be further described.
According to an aspect of the present invention, the present invention discloses a kind of balance car method of controlling security, comprising:
Establish communication connection of the balance car with mobile intelligent terminal；
Starting balance car enters self-balancing state；
Detect driver status；
When driver is in position, the operational mode of mobile intelligent terminal setting is read；
The posture for controlling balance car is consistent with operational mode.
Compared with prior art, the solution have the advantages that: the present invention sets operational mode by balance car, only
When the operation of driver meets operational mode, i.e., when driver's control balance car reaches scheduled posture, balance car just starts, and keeps away
Exempt from that new hand is unfamiliar with operation or anxiety causes balance car out of control, provides a kind of controllable adaptation process for new hand.In addition, balance
Vehicle starting enters self-balancing state, it is ensured that driver can steadily get on the bus.
Optionally, the posture and the consistent method of operational mode of the control balance car further include:
Whether the posture for detecting balance car is consistent with operational mode；Balance car starts when consistent；Otherwise out of service and protect
Self-balancing state is held, voice prompting is issued.By verbal cue, driver correction's posture can be constantly reminded, as long as in addition, flat
Weighing apparatus vehicle stops and self-balancing state is also not easy to throw from vehicle, it is ensured that driver safety even if driver's operating mistake.
For example, opening dedicated APP in mobile phone terminal, select operational mode to advance, 5 kilometers/hour of speed limit, and driver is controlled
Balance car processed enters the posture of retroversion, and balance car will be forced out of service and keep self-balancing state at this time, and driver is allowed to return
To upright, stationary state.Alternatively, driver's transition is leaned forward, balance vehicle speed has been more than speed limit level, and stop of being also eager to excel is stopped and answered
Return self-balancing state, excessive velocities is avoided to cause danger.
Optionally, the posture and the consistent method of operational mode of the control balance car further include:
Real-time detection operational mode, according to operational mode automatic adjustable balance vehicle posture.
The technical program provides a kind of mode of active control, and balance car ignores the operation of driver, directly in response to shifting
The operational mode of dynamic intelligent terminal, further ensures the safety of driving, new hand is also facilitated preferably to experience the driving striven for
Mode, hand time in shortening.
Optionally, the posture and the consistent method of operational mode of the control balance car further include:
Detect the weight information of driver；
When weight information is more than preset value, maximum travel speed is reduced, and feed back to mobile intelligent terminal, amendment operation
Mode.
The preset operational mode of mobile phone is often to be directed to masses, for dysponderal personage, needs to carry out parameter
Amendment could more be bonded the actual conditions of driver.
Optionally, the method for the detection driver status further include:
Driver status is detected by the weight data of pedal；When weight data is more than preset section, start loading
Mode；
Safe velocity is calculated according to weight data；
Control balance car travels at the uniform speed by safe velocity；
Optionally, the method that travels at the uniform speed by safe velocity of control balance car further include: real-time calculated equilibrium vehicle with
The distance of mobile intelligent terminal, control balance car is maintained in pre-determined distance with the distance of mobile intelligent terminal, flat when detecting
When the vehicle that weighs is run by safe velocity, the distance of balance car and controller is still persistently widened, and issues warning information.
Optionally, the balance car includes car body, and the pedal assembly of setting on the car body, the pedal assembly include
Pressure sensor corresponding with two soles respectively；It is described detection driver status method include:
The weight of double-legged pressure difference and driver is calculated according to the measured value of two pressure sensors,
Driver status is judged according to the ratio of double-legged pressure difference and weight.
Optionally, the pressure sensor includes first sensor corresponding with forefoot, and corresponding with rear heel
Second pressure sensor；When the difference of first sensor and second sensor measured value is less than first threshold, driver is determined
In position.
Optionally, the balance car method of controlling security further include:
The weight and driving habit of driver are recorded, driving mode data are generated；
Driving mode data feedback is returned into mobile intelligent terminal；
It is described to select matched operational mode according to driving mode data.
The technical program can allow actual conditions of the operational mode with meeting specific driver, allow driver's upper hand as early as possible.
According to another aspect of the present invention, embodiment of the present invention also discloses a kind of balance car safety control,
Include:
Communication device 10: for establishing communication connection of the balance car with mobile intelligent terminal；
Balancing device 20: enter self-balancing state for starting balance car；
Detection device 30: for detecting driver status；
Setting device 40: for reading the operational mode of mobile intelligent terminal setting when driver is in position；
Control device 50: the posture for controlling balance car is consistent with operational mode.
Balance car safety control can be used for implementing balance car method of controlling security of the invention.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (8)
1. a kind of balance car method of controlling security, which is characterized in that the balance car includes car body, and is arranged on the car body
Pedal assembly, the pedal assembly include pressure sensor corresponding with two soles respectively, comprising:
Establish communication connection of the balance car with mobile intelligent terminal；
Starting balance car enters self-balancing state；
Detect driver status；
The weight of double-legged pressure difference and driver is calculated according to the measured value of two pressure sensors；
Driver status is judged according to the ratio of double-legged pressure difference and weight；
The weight and driving habit of driver are recorded, driving mode data are generated；
Driving mode data feedback is returned into mobile intelligent terminal；
Matched operational mode is selected according to the driving mode data；
When driver is in position, the operational mode of mobile intelligent terminal setting is read；
The posture for controlling balance car is consistent with operational mode.
2. balance car method of controlling security according to claim 1, which is characterized in that it is described control balance car posture with
The consistent method of operational mode further include:
Whether the posture for detecting balance car is consistent with operational mode；Balance car starts when consistent；Otherwise out of service and holding is certainly
Equilibrium state issues voice prompting.
3. balance car method of controlling security according to claim 1, which is characterized in that it is described control balance car posture with
The consistent method of operational mode further include:
Real-time detection operational mode, according to operational mode automatic adjustable balance vehicle posture.
4. balance car method of controlling security according to claim 1, which is characterized in that it is described control balance car posture with
The consistent method of operational mode further include:
Detect the weight information of driver；
When weight information is more than preset value, maximum travel speed is reduced, and feed back to mobile intelligent terminal, amendment operation mould
Formula.
5. balance car method of controlling security according to claim 1, which is characterized in that the side of the detection driver status
Method further include:
Driver status is detected by the weight data of pedal；When weight data is more than preset section, start loading mode；
Safe velocity is calculated according to weight data；
Control balance car travels at the uniform speed by safe velocity.
6. balance car method of controlling security according to claim 5, which is characterized in that control balance car is by safety traffic speed
Spend the method to travel at the uniform speed further include: real-time calculated equilibrium vehicle is with the distance of mobile intelligent terminal, and control balance car is with mobile intelligence
The distance of energy terminal is maintained in pre-determined distance, when detecting that balance car is run by safe velocity, balance car and control
The distance of device still persistently widens, and issues warning information.
7. balance car method of controlling security according to claim 1, which is characterized in that the pressure sensor include with it is preceding
The corresponding first sensor of sole, and second pressure sensor corresponding with rear heel；When first sensor and second sense
When the difference of device measured value is less than first threshold, determine that driver is in position.
8. a kind of balance car safety control characterized by comprising
For establishing the device of communication connection of the balance car with mobile intelligent terminal；
Enter the device of self-balancing state for starting balance car；
For detecting the device of driver status；
For when driver is in position, reading the device of the operational mode of mobile intelligent terminal setting；
For controlling the posture and the consistent device of operational mode of balance car.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610527849.3A CN106184519B (en) | 2016-07-06 | 2016-07-06 | A kind of balance car method of controlling security and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610527849.3A CN106184519B (en) | 2016-07-06 | 2016-07-06 | A kind of balance car method of controlling security and device |
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| CN106184519A CN106184519A (en) | 2016-12-07 |
| CN106184519B true CN106184519B (en) | 2019-04-23 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018006301A1 (en) * | 2016-07-06 | 2018-01-11 | 尚艳燕 | Balancing vehicle safety control method and device |
| CN108116579A (en) * | 2017-10-31 | 2018-06-05 | 深圳市博鑫创科科技有限公司 | The balance car control method and device of driver safety are ensured under a kind of emergency condition |
| CN110554641B (en) * | 2019-08-01 | 2021-02-12 | 纳恩博（北京）科技有限公司 | Balance car, method for controlling balance car and storage medium |
| CN110525562A (en) * | 2019-08-01 | 2019-12-03 | 纳恩博（北京）科技有限公司 | Balance car and the method and storage medium for controlling it |
| CN112141253B (en) * | 2020-09-21 | 2021-10-01 | 苏州三六零智能安全科技有限公司 | Balance car running mode control method, equipment, storage medium and device |
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| CN204210654U (en) * | 2014-10-14 | 2015-03-18 | 深圳路帝科技有限公司 | Self-balance electric vehicle |
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| CN106184519A (en) | 2016-12-07 |
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