CN106527739A - Balance bike and method and device for controlling movement of same - Google Patents
Balance bike and method and device for controlling movement of same Download PDFInfo
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- CN106527739A CN106527739A CN201611161217.6A CN201611161217A CN106527739A CN 106527739 A CN106527739 A CN 106527739A CN 201611161217 A CN201611161217 A CN 201611161217A CN 106527739 A CN106527739 A CN 106527739A
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- balance car
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- 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
Abstract
The invention relates to a balance bike and a method and device for controlling movement of the same. The method includes: when the balance bike is in a following mode, detecting a first distance value between a first sensor on the balance bike and user equipment and a second distance value between a second sensor and the user equipment, wherein the first sensor and the second sensor are distributed on an axle direction of the balance bike; when the balance bike follows the user equipment to move, determining whether movement direction of the balance bike needs to be adjusted or not according to the first distance value and the second distance value; if yes, adjusting the movement direction of the balance bike. By utilizing the above technology, the balance bike can be controlled to follow the user equipment carried by a user to move, so that more convenience is brought to the user to use the balance bike, and experience of the user is improved greatly.
Description
Technical field
It relates to communication technical field, more particularly to a kind of method and device of control balance car motion, balance car.
Background technology
Balance car is increasingly favored by people due to having the features such as accommodating, intelligent, pollution is little.However,
The use of balance car is but restricted in some occasions, for example in public places, Administrative Area etc..In this case, user
By way of hand push, the movement of balance car can only be controlled, so as to bring very big inconvenience to user.
The content of the invention
To overcome problem present in correlation technique, the embodiment of the present disclosure provide a kind of method of control balance car motion and
Device, balance car.
According to the first aspect of the embodiment of the present disclosure, there is provided a kind of method of control balance car motion, including：
When balance car is in follow the mode, first on the balance car between first sensor and user equipment is detected
Second distance value between distance value and second sensor and the user equipment, wherein the first sensor and described second
Sensor is distributed on the wheel direction of principal axis of the balance car；
When the balance car follows the user equipment to move, according to first distance value and the second distance
Value, determines whether the balance car needs to adjust the direction of motion；
When it is determined that the balance car needs to adjust the direction of motion, the direction of motion of the balance car is adjusted.
In one embodiment, it is described according to first distance value and the second distance value, determine that the balance car is
It is no to need to adjust the direction of motion, including：
According to first distance value, the second distance value, between the first sensor and second sensor
Three distance values, determine the angle of the first angle and the second angle；Wherein, define the first sensor and the user equipment it
Between institute line section be the first line segment, it is second line segment to define institute's line section between the second sensor and the user equipment,
Tri- line segments of institute's line Duan Wei between the first sensor and the second sensor are defined, first angle is described
One line segment and angle formed by the 3rd line segment, second angle are formed by the second line segment and the 3rd line segment
Angle；
When the angle of first angle or second angle is more than predetermined angle threshold value, determine that the balance car is needed
Turned to.
In one embodiment, it is described according to first distance value and the second distance value, determine that the balance car is
It is no to need to adjust the direction of motion, including：
Determine the distance difference of first distance value and the second distance value；
When the distance difference is more than preset difference value threshold value, determine that the balance car needs to be turned to.
In one embodiment, methods described also includes：
The change of first distance value or the second distance value is detected, and according to first distance value or described
The change of two distance values, determines the speed of related movement between the balance car and the user equipment；
When movement velocity of the speed of related movement less than the balance car, the motion side of the user equipment is determined
To the current kinetic direction for the balance car；
When movement velocity of the speed of related movement more than the balance car, the motion side of the user equipment is determined
To the opposite direction in the current kinetic direction for the balance car.
In one embodiment, the change for detecting first distance value or the second distance value, and according to described
The change of the first distance value or the second distance value, determines the relative motion speed between the balance car and the user equipment
Degree, including：
By the change that first distance value or the second distance value are detected in preset duration, the user is determined
Changing value of the air line distance between equipment and the balance car in the preset duration；
According to the changing value and the preset duration of the air line distance, the speed of related movement is calculated.
In one embodiment, the distance between the first sensor and wheel shaft midpoint of the balance car are equal to described the
The distance between two sensors and wheel shaft midpoint of the balance car.
According to the second aspect of the embodiment of the present disclosure, there is provided a kind of device of control balance car motion, including：
Detection module, for when balance car is in follow the mode, detecting first sensor and user on the balance car
The first distance value between equipment and the second distance value between second sensor and the user equipment, wherein described first passes
Sensor and the second sensor are distributed on the wheel direction of principal axis of the balance car；
First determining module, for when the balance car follows the user equipment to move, according to first distance
Value and the second distance value, determine whether the balance car needs to adjust the direction of motion；
Adjusting module, for, when it is determined that the balance car needs to adjust the direction of motion, adjusting the motion of the balance car
Direction.
In one embodiment, first determining module includes：
First determination sub-module, for according to first distance value, the second distance value, the first sensor and
The 3rd distance value between second sensor, determines the angle of the first angle and the second angle；Wherein, define first sensing
Between device and the user equipment, institute's line section is the first line segment, defines institute between the second sensor and the user equipment
Line section is second line segment, defines tri- line segments of institute's line Duan Wei, institute between the first sensor and the second sensor
It is first line segment and angle formed by the 3rd line segment to state the first angle, second angle be the second line segment and
Angle formed by 3rd line segment；
Second determination sub-module, is more than predetermined angle threshold value for the angle in first angle or second angle
When, determine that the balance car needs to be turned to.
In one embodiment, first determining module includes：
3rd determination sub-module, for determining the distance difference of first distance value and the second distance value；
4th determination sub-module, for when the distance difference is more than preset difference value threshold value, determining that the balance car is needed
Turned to.
In one embodiment, described device also includes：
Second determining module, for detecting the change of first distance value or the second distance value, and according to described
The change of the first distance value or the second distance value, determines the relative motion speed between the balance car and the user equipment
Degree；
3rd determining module, in movement velocity of the speed of related movement less than the balance car, determining institute
The direction of motion for stating user equipment is the current kinetic direction of the balance car；
4th determining module, in movement velocity of the speed of related movement more than the balance car, determining institute
The direction of motion for stating user equipment is the opposite direction in the current kinetic direction of the balance car.
In one embodiment, second determining module includes：
5th determination sub-module, for by first distance value or the second distance value are detected in preset duration
Change, determine changing value of the air line distance between the user equipment and the balance car in the preset duration；
6th determination sub-module, for the changing value according to the air line distance and the preset duration, calculates the phase
To movement velocity.
In one embodiment, the distance between the first sensor and wheel shaft midpoint of the balance car are equal to described the
The distance between two sensors and wheel shaft midpoint of the balance car.
According to the third aspect of the embodiment of the present disclosure, there is provided a kind of balance car, including：
Processor；
For storing the memorizer of processor executable；
Wherein, the processor is configured to：
When balance car is in follow the mode, first on the balance car between first sensor and user equipment is detected
Second distance value between distance value and second sensor and the user equipment, wherein the first sensor and described second
Sensor is distributed on the wheel direction of principal axis of the balance car；
When the balance car follows the user equipment to move, according to first distance value and the second distance
Value, determines whether the balance car needs to adjust the direction of motion；
When it is determined that the balance car needs to adjust the direction of motion, the direction of motion of the balance car is adjusted.
The technical scheme that the embodiment of the present disclosure is provided can include following beneficial effect：
In the embodiment of the present disclosure, balance car is provided with follow the mode, when balance car is in the follow the mode, can detect institute
State between the first distance value and second sensor and the user equipment on balance car between first sensor and user equipment
Second distance value；And then according to first distance value and the second distance value, determine whether the balance car needs to adjust
The whole direction of motion；When it is determined that the balance car needs to adjust the direction of motion, the direction of motion of the balance car is adjusted.It can be seen that,
By first, second sensor arranged on balance car, user can be caused when being not easy to ride the balance car, led to
Crossing said process control balance car follows user equipment (i.e. user) to move, so that user is more square when using balance car
Just, greatly improve the experience of user.
It should be appreciated that the general description of the above and detailed description hereinafter are only exemplary and explanatory, not
The disclosure can be limited.
Description of the drawings
During accompanying drawing herein is merged in description and the part of this specification is constituted, show the enforcement for meeting the present invention
Example, and be used for explaining the principle of the present invention together with description.
Figure 1A is a kind of flow chart of the method for the control balance car motion according to an exemplary embodiment；
Figure 1B is a kind of one of scene graph of method of control balance car motion according to an exemplary embodiment；
Fig. 1 C are the two of the scene graph of the method for a kind of control balance car motion according to an exemplary embodiment；
Fig. 1 D are the three of the scene graph of the method for a kind of control balance car motion according to an exemplary embodiment；
Fig. 1 E are the four of the scene graph of the method for a kind of control balance car motion according to an exemplary embodiment；
Fig. 1 F are the five of the scene graph of the method for a kind of control balance car motion according to an exemplary embodiment；
Fig. 2 is the flow chart of the method for another kind of control balance car motion according to an exemplary embodiment one；
Fig. 3 is the flow chart of the method for another kind of control balance car motion according to an exemplary embodiment one；
Fig. 4 A are the flow charts of the method for another the control balance car motion according to an exemplary embodiment one；
Fig. 4 B be according to an exemplary embodiment one another control balance car motion method scene graph it
One；
Fig. 4 C be according to an exemplary embodiment one another control balance car motion method scene graph it
Two；
Fig. 5 is a kind of block diagram of the device of the control balance car motion according to an exemplary embodiment；
Fig. 6 is the block diagram of the device of another kind of control balance car motion according to an exemplary embodiment；
Fig. 7 is the block diagram of the device of another kind of control balance car motion according to an exemplary embodiment；
Fig. 8 is the block diagram of the device of another kind of control balance car motion according to an exemplary embodiment；
Fig. 9 is the block diagram of the device of another the control balance car motion according to an exemplary embodiment；
Figure 10 is a kind of module map of the balance car according to an exemplary embodiment.
Specific embodiment
Here in detail exemplary embodiment will be illustrated, its example is illustrated in the accompanying drawings.Explained below is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.Conversely, they be only with as appended by
The example of consistent apparatus and method in terms of some described in detail in claims, the present invention.
Figure 1A is a kind of flow chart of the method for the control balance car motion according to an exemplary embodiment, Tu1BShi
A kind of one of scene graph of method of control balance car motion according to an exemplary embodiment, Fig. 1 C are according to an example
Property two, Fig. 1 D of the scene graph of the method for a kind of control balance car motion for implementing to exemplify be to be shown according to an exemplary embodiment
A kind of three, Fig. 1 E of the scene graph of the method for the control balance car motion for going out are a kind of controls according to an exemplary embodiment
Four, Fig. 1 F of the scene graph of the method for balance car motion processed are a kind of control balance car fortune according to an exemplary embodiment
The five of the scene graph of dynamic method.The method of control balance car motion can be applied on balance car, and the balance car can be with
By the sensor arranged on balance car, user equipment is obtained (for example：Smart mobile phone, bracelet etc.) motion conditions, and according to
The motion conditions of the user equipment, control the motion of balance car itself.As shown in Figure 1A, the method bag of above-mentioned control balance car
Include following steps 101-103：
In a step 101, when balance car is in follow the mode, detect that first sensor and user set on the balance car
The first distance value and the second distance value between second sensor and the user equipment between standby.
In the embodiment of the present disclosure, in the non-riding-balance car of user, the balance car may be at follow the mode.Will be described
Balance car is placed in the mode of follow the mode and be able to will be illustrated including various below.
For example, in one embodiment, user can pass through the button for operating balance car to raise balance car motor pattern, will
The balance car is set to follow the mode.
In one embodiment, user can be by operating control on user equipment (such as smart mobile phone, Intelligent bracelet etc.) flat
The balance car is set to follow the mode by the application of weighing apparatus car.
In one embodiment, balance car detect itself do not ridden by user when (for example, the balance car detect from
When the current load-bearing of body is zero), it is automatically adjusted to follow the mode.
In one embodiment, the first sensor and the second sensor are distributed in the wheel direction of principal axis of the balance car
On.In a preferred embodiment, the distance between the first sensor and wheel shaft midpoint of the balance car can be equal to
The distance between the second sensor and wheel shaft midpoint of the balance car.For example, when the balance car includes two wheels
When, first, second sensor can be respectively set near the position of described two wheels.
The situation of the first distance value and the second distance value shown in detection in balance car is said with reference to Figure 1B, Fig. 1 C
It is bright.With reference to shown in Figure 1B, the user equipment 20 that balance car 10, user is carried.12 points of the first sensor 11, second sensor
Be not distributed in two wheel shafts 13 of the balance car 10, on 14 directions.Shown in reference picture 1C, the position that the first sensor is located
Point P1, the second sensor position point P2, the wheel shaft midpoint M of the balance car are put, then the length and line segment of line segment P1M
The equal length of P2M, user equipment position point Q, the first sensor detect its own between user equipment
First distance value x, the second sensor detect second distance value y between its own user equipment, first sensing
Between device and the second sensor the 3rd is apart from z.
The first sensor, second sensor can be by technology for detection such as ultrasound wave, laser, infrared, radars to institute
State the first distance value, second distance value.
In a step 102, when the balance car follows the user equipment to move, according to first distance value and institute
Second distance value is stated, determines whether the balance car needs to adjust the direction of motion.
In the present embodiment, institute can be determined in several ways according to first distance value and the second distance value
State whether balance car needs to adjust the direction of motion, will illustrate below.
For example, in one embodiment, can whether big according to the difference of first distance value and the second distance value
Determine in preset difference value threshold value, whether balance car needs adjustment direction.The difference threshold, for the numerical value for pre-setting, uses
Family can be in balance car before follow the mode, and, used as difference threshold, such as user can for a numerical value being input on balance car
To be input into 0.3 meter, 0.5 meter, 0.8 meter etc..It can also be difference that balance car manufacturer is set in balance car production process
Threshold value, such as 0.5 meter, 0.8 meter etc..
Illustrate with reference to Fig. 1 C, understand according to described in above-mentioned steps 101, the first distance value x, second distance value y, if
Default difference threshold is 0.5 meter, when the difference of the first distance value x and second distance value y is (i.e. obtained by x-y or y-x
Value) more than 0.5 meter when, it is determined that the balance car need adjust the direction of motion.
In another embodiment, can be according to first distance value, the second distance value and the first sensor
The 3rd distance value and the second sensor between, determines the angle of the first angle and the second angle.Wherein, define described the
Between one sensor and the user equipment, institute's line section is the first line segment, defines the second sensor and the user equipment
Between institute line section be second line segment, define tri- lines of institute's line Duan Wei between the first sensor and the second sensor
Section, first angle is first line segment and angle formed by the 3rd line segment, and second angle is described second
Line segment and angle formed by the 3rd line segment；It is more than predetermined angle threshold in the angle of first angle or second angle
During value, determine that the balance car needs to be turned to.The angle threshold, for the angular values for pre-setting, user can be
Before follow the mode, a numerical value being input on balance car can be input into balance car as angle threshold, such as user
90 °, 100 ° etc.；Can also be angle threshold that balance car manufacturer is set in balance car production process, such as 90 °, 95 °
Deng.
Illustrate with reference to Fig. 1 D, reference picture 1D, balance car position point is respectively P1, P2, user equipment institute is in place
Put Q1, the first line segment P1Q1 and the 3rd line segment P1P2 and constitute the first included angle A, second line segment P2Q1 and the 3rd line segment P1P2 constitute the
Two included angle Bs.In the present embodiment, first distance value x 1, second distance value x2 and the 3rd distance value z can be measured, then described
First included angle A, the second included angle B can utilize the cosine law of triangle to be calculated；If default angle threshold is 90 °,
First included angle A and second included angle B are determined respectively whether more than 90 °, as shown in figure ip, wherein, the first included angle A is more than
90 °, it is determined that the balance car needs to be turned to.
In step 103, when it is determined that the balance car needs to adjust the direction of motion, adjust the motion side of the balance car
To.
In one embodiment, when it is determined that the balance car needs to adjust the direction of motion, can be by adjusting the balance
It is less in the motion of a wheel shaft in car apart from user equipment farther out, or adjustment first angle or second angle
Angle summit place wheel shaft motion, to realize the adjustment to the direction of motion of balance car.
In one embodiment, illustrate with reference to Fig. 1 E, if first distance value x 2 and second distance value y2
Difference is more than 0.5 meter of the default distance difference, determines that the balance car needs to adjust the direction of motion, then can adopt and pass through
Adjust the size of the first distance value x 2 or second distance value y2 to realize.Shown in reference picture 1E, it is clear that second distance value y2
More than first distance value x 2, then wheel shaft second sensor place wheel shaft being located with first sensor is carried out as the center of circle
Rotate counterclockwise, until the difference for meeting the first distance value x 2 and second distance value y2' is less than default distance difference 0.5.
For example, in one embodiment, can by second sensor be located wheel axial adjustment to cause the second distance y2' with
Described first apart from equal.
In one embodiment, illustrate with reference to Fig. 1 F, if the angle of first included angle A 2 or second included angle B 2
More than 90 ° of predetermined angle threshold value, reference picture 1F understands, the first included angle A 2 is more than 90 °, then can adjust wherein less second folder
The wheel shaft that angle B2 summits P2 is located so that the wheel shaft is rotated counterclockwise with P1 places wheel shaft as the center of circle, until first angle
A2 " is less than 90 °, and the second angle is similarly less than 90 °.
For example, in one embodiment, can by P2 be located wheel axial adjustment to cause the first included angle A 2 " with second angle
B2 " is equal.
It should be noted that in the embodiment of the present disclosure, the direction of advance of general acquiescence balance car motion is and user equipment
Direction of advance identical, if balance car motion direction of advance and user equipment direction of advance conversely, can be manually
Operation, the direction of advance of balance car is turned.
The said method that the embodiment of the present disclosure is provided, when balance car is in follow the mode, detects the balance car respectively
The first distance value, second distance value between upper first sensor, second sensor and the user equipment；And then according to described
First distance value and the second distance value, determine whether the balance car needs to adjust the direction of motion；It is determined that the balance
When car needs to adjust the direction of motion, the direction of motion of the balance car is adjusted.It can be seen that, user is being not easy to the balance car of riding
When, balance car can be controlled by said process and follow user equipment to move, so that user is when using balance car
It is convenient, greatly improve the experience of user.
Fig. 2 is the flow chart of the method for another kind of control balance car motion according to an exemplary embodiment, the party
Method can apply to balance car.As shown in Fig. 2 the method for above-mentioned control balance car motion comprises the steps 201～204, its
In：
In step 201, when balance car is in follow the mode, detect that first sensor and user set on the balance car
The first distance value and the second distance value between second sensor and the user equipment between standby.
In the present embodiment step 201, the first sensor and the second sensor are distributed in the wheel of the balance car
On direction of principal axis.
In step 202., passed according to first distance value, the second distance value, the first sensor and second
The 3rd distance value between sensor, determines the angle of the first angle and the second angle.
In the present embodiment step 202, it is first to define institute's line section between the first sensor and the user equipment
Line segment, it is second line segment to define institute's line section between the second sensor and the user equipment, defines first sensing
Tri- line segments of institute's line Duan Wei between device and the second sensor, first angle is first line segment and the described 3rd
Angle formed by line segment, second angle are the second line segment and angle formed by the 3rd line segment；
In step 203, when the angle of first angle or second angle is more than predetermined angle threshold value, it is determined that
The balance car needs to be turned to.
In step 204, adjust the direction of motion of the balance car.
Above-mentioned steps 201 and step 204 are referred to step 101 and step 103 in the embodiment shown in above-mentioned Figure 1A
Content, is no longer repeated herein.Above-mentioned steps 202 and step 203 are referred to step in the embodiment shown in above-mentioned Figure 1A
Related content in 102, is also no longer repeated herein.
In the present embodiment, whether default angle threshold is more than by the contrast first angle and the second angle
Value, determines that balance car follows whether the direction of motion of user equipment needs adjustment, follows user to set so as to improve balance car
The accuracy of the standby direction of motion.
Fig. 3 is the flow chart of the method for another kind of control balance car motion according to an exemplary embodiment one, should
Method can apply to balance car.As shown in figure 3, the method for above-mentioned control balance car motion comprises the steps 301～304,
Wherein：
In step 301, when balance car is in follow the mode, detect that first sensor and user set on the balance car
The first distance value and the second distance value between second sensor and the user equipment between standby.
In step 302, determine the distance difference of first distance value and the second distance value.
In step 303, when the distance difference is more than preset difference value threshold value, determine that the balance car needs to carry out turning
To.
In step 304, adjust the direction of motion of the balance car.
Above-mentioned steps 301 and step 304 are referred to step 101 and step 103 in the embodiment shown in above-mentioned Figure 1A
Content, is no longer repeated herein.Above-mentioned steps 302 and step 303 are referred to step in the embodiment shown in above-mentioned Figure 1A
Related content in 102, is also no longer repeated herein.
In the present embodiment, it is not necessary to calculate first by above-mentioned first distance value, second distance value and the 3rd distance value
Angle and second angle, but whether default difference is more than according to the difference of first distance value and second distance value directly
Threshold value come determine balance car whether need adjust the direction of motion.So that the method whether balance car needs to adjust the direction of motion determined
It is simpler.The method of the control balance car motion that the present embodiment is provided so that user is gone on a journey convenient using balance car
At the same time it can also reduce the time for determining whether balance car needs adjustment direction.
Fig. 4 A are the flow charts of the method for another the control balance car motion according to an exemplary embodiment one, are schemed
4B is one of scene graph of method of another control balance car motion according to an exemplary embodiment one, and Fig. 4 C are roots
According to the two of the scene graph of the method for another the control balance car motion shown in an exemplary embodiment one, the method can be used for
Balance car.As shown in Figure 4 A, the method for above-mentioned control balance car motion comprises the steps 401～404, wherein：
In step 401, when balance car is in follow the mode, detect that first sensor and user set on the balance car
The first distance value and the second distance value between second sensor and the user equipment between standby.
In the embodiment of the present disclosure, step 401 is referred to the content of step 101 in the embodiment shown in above-mentioned Figure 1A, this
Place is no longer repeated.
In step 402, detect the change of first distance value or the second distance value, and according to described first away from
From the change of value or the second distance value, the speed of related movement between the balance car and the user equipment is determined.
In the embodiment of the present disclosure, can be by first distance value or the second distance value be detected in preset duration
Change, determine changing value of the air line distance between the user equipment and the balance car in the preset duration.
In the embodiment of the present disclosure, the preset duration is the time period for pre-setting, for example, could be arranged to 5s,
10s etc..If preset duration is 5s, the speed of related movement is：Straight line between the user equipment and the balance car
The numerical value that changing value of the distance in 5s is obtained divided by preset duration 5s.In the embodiment of the present disclosure, the user equipment and institute
The air line distance between balance car is stated, can be the air line distance on balance car between any one location point and user equipment.
For example, in one embodiment, as shown in Figure 4 B, the air line distance can be wheels of the user equipment Q3 to balance car
Air line distance s3 of axle midpoint M.Wherein s3 can be calculated by first distance value x 3 or second distance value y3, then accordingly
The changing value of s3 can be determined by the change of the first distance value x 3 or second distance value y3.
In another embodiment, as shown in Figure 4 C, the air line distance can be the user equipment Q4 of balance car to balance
The vertical line of axletree place straight line P1P2 can be counted by first distance value x 4 or second distance value y4 apart from s4, wherein s4
Calculate, then the changing value of corresponding s4 can be determined by the change of the first distance value x 4 or second distance value y4.
According to the changing value and the preset duration of the air line distance, the speed of related movement is calculated.
In step 403, according to the relative velocity, first distance value and the second distance value, it is determined that described
Whether balance car needs to adjust the direction of motion.
In the embodiment of the present disclosure, first can determine that the direction of motion of the user equipment is described according to the relative velocity
The opposite direction in the current kinetic direction or current kinetic direction of balance car, and the current fortune of balance car is adjusted according to determination result
Dynamic direction, further according to first distance value and the second distance value, determines whether the balance car needs to adjust motion side
To.Wherein, the current kinetic direction that the direction of motion of the user equipment is the balance car is determined according to the relative velocity
Or the opposite direction in current kinetic direction can include the following two kinds situation：
In movement velocity of the speed of related movement less than the balance car, the motion side of the user equipment is determined
To the current kinetic direction for the balance car；
In movement velocity of the speed of related movement more than the balance car, the motion side of the user equipment is determined
To the opposite direction in the current kinetic direction for the balance car.
In one embodiment, in the direction of motion the working as balance car that the user equipment is determined according to the relative velocity
During the opposite direction of the front direction of motion, the balance car can be turned 180 °, further according to first distance value and described second
The result that distance value determines, controls the direction of motion of the balance car.
It should be noted that whether described determine the balance car according to first distance value and the second distance value
Need to adjust the content of the direction of motion, be referred to the content of step 102 in the embodiment shown in above-mentioned Figure 1A, no longer give herein
To repeat.
In step 404, when it is determined that the balance car needs to adjust the direction of motion, adjust the motion side of the balance car
To.
In the embodiment of the present disclosure, step 404 is referred to the content of step 103 in the embodiment shown in above-mentioned Figure 1A, this
Place is no longer repeated.
It should be noted that when balance car is in follow the mode, for the distance between user equipment and balance car (i.e.
First distance value, second distance value) a distance range value can be set, with guarantee balance car from user will not it is too remote or too close to.
Further, it is also possible to arrange the maximal rate of balance car so that balance car will not be moved too soon, to guarantee balance car user and its week
Enclose the safety of other pedestrians.For the distance range value or the maximal rate, user can be arranged by mobile phone, also may be used
Arrange with by the operation in the related interfaces of balance car.And this setting, it is also possible to suitable for other embodiment.
In the embodiment of the present disclosure, increased using the relative velocity between the balance car and the user equipment, come true
Whether the current kinetic direction of the fixed balance car needs the method for adjusting so that the balance car can not need user's handss
In the case of dynamic operation, user equipment (i.e. user) is followed automatically to move.
Fig. 5 is a kind of block diagram of the device of the motion of the control balance car according to an exemplary embodiment, such as Fig. 5 institutes
Show, the telecontrol equipment of the control balance car can include：
Detection module 501, for when balance car is in follow the mode, detecting first sensor and use on the balance car
The first distance value between the equipment of family and the second distance value between second sensor and the user equipment, wherein described first
Sensor and the second sensor are distributed on the wheel direction of principal axis of the balance car.
First determining module 502, for when the balance car follows the user equipment to move, according to described first away from
From value and the second distance value, determine whether the balance car needs to adjust the direction of motion.
Adjusting module 503, for, when it is determined that the balance car needs to adjust the direction of motion, adjusting the fortune of the balance car
Dynamic direction.
Fig. 6 is the block diagram of the device of another kind of control balance car motion according to an exemplary embodiment, such as Fig. 6 institutes
Show, shown first determining module 502 can include：
First determination sub-module 5021, for according to first distance value, the second distance value, first sensing
The 3rd distance value between device and second sensor, determines the angle of the first angle and the second angle；Wherein, define described first
Between sensor and the user equipment, institute's line section is the first line segment, define the second sensor and the user equipment it
Between institute line section be second line segment, define tri- lines of institute's line Duan Wei between the first sensor and the second sensor
Section, first angle is first line segment and angle formed by the 3rd line segment, and second angle is described second
Line segment and angle formed by the 3rd line segment；
Second determination sub-module 5022, is more than predetermined angle for the angle in first angle or second angle
During threshold value, determine that the balance car needs to be turned to.
Fig. 7 is the block diagram of the device of another kind of control balance car motion according to an exemplary embodiment, such as Fig. 7 institutes
Show, shown first determining module 502 can include：
3rd determination sub-module 5023, for determining the distance difference of first distance value and the second distance value；
4th determination sub-module 5024, for when the distance difference is more than preset difference value threshold value, determining the balance
Car needs to be turned to.
Fig. 8 is the block diagram of the device of another kind of control balance car motion according to an exemplary embodiment, such as Fig. 8 institutes
Show, on the basis of above-mentioned embodiment illustrated in fig. 5, described device can also include：
Second determining module 504, for detecting the change of first distance value or the second distance value, and according to institute
The change of the first distance value or the second distance value is stated, the relative motion between the balance car and the user equipment is determined
Speed；
3rd determining module 505, for being less than in the speed of related movement during movement velocity of the balance car, it is determined that
The direction of motion of the user equipment is the current kinetic direction of the balance car；
4th determining module 506, for being more than in the speed of related movement during movement velocity of the balance car, it is determined that
The direction of motion of the user equipment is the opposite direction in the current kinetic direction of the balance car.
Fig. 9 is the block diagram of the device of another the control balance car motion according to an exemplary embodiment, such as Fig. 9 institutes
Show, shown second determining module 504 can include：
5th determination sub-module 5041, for by detect in preset duration first distance value or described second away from
From the change of value, change of the air line distance between the user equipment and the balance car in the preset duration is determined
Value；
6th determination sub-module 5042, for the changing value according to the air line distance and the preset duration, calculates institute
State speed of related movement.
In one embodiment, the distance between the first sensor and wheel shaft midpoint of the balance car are equal to described the
The distance between two sensors and wheel shaft midpoint of the balance car.
With regard to the device in above-described embodiment, wherein modules perform the concrete mode of operation in relevant the method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
For device embodiment, as which corresponds essentially to embodiment of the method, so related part is referring to method reality
Apply the part explanation of example.Device embodiment described above is only schematic, wherein illustrating as separating component
Unit can be or may not be physically separate, as the part that unit shows can be or may not be
Physical location, you can local to be located at one, or can also be distributed on multiple NEs.Can be according to the actual needs
Select some or all of module therein 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.
Figure 10 is a kind of module diagram of the balance car according to an exemplary embodiment.With reference to Figure 10, balance car
600 can include following one or more assemblies：Process assembly 602, memorizer 604, power supply module 606, multimedia groupware
608, audio-frequency assembly 610, the interface 612 of input/output (I/O), sensor cluster 614, and communication component 616.
The integrated operation of 602 usual control terminal equipment 600 of process assembly, such as with display, data communication, record operation
Associated operation.Treatment element 602 can carry out execute instruction including one or more processors 620, in one embodiment, institute
State processor 620 to be configured to：
When balance car is in follow the mode, first on the balance car between first sensor and user equipment is detected
Second distance value between distance value and second sensor and the user equipment, wherein the first sensor and described second
Sensor is distributed on the wheel direction of principal axis of the balance car；
When the balance car follows the user equipment to move, according to first distance value and the second distance
Value, determines whether the balance car needs to adjust the direction of motion；
When it is determined that the balance car needs to adjust the direction of motion, the direction of motion of the balance car is adjusted.
Additionally, process assembly 602 can include one or more modules, it is easy between process assembly 602 and other assemblies
Interaction.For example, processing component 602 can include multi-media module, with facilitate multimedia groupware 608 and process assembly 602 it
Between interaction.
Memorizer 604 is configured to store various types of data to support the operation in equipment 600.These data are shown
Example includes the instruction of any application program or method for operating on balance car 600, message, picture etc..Memorizer 604 can
With by any kind of volatibility or non-volatile memory device or combinations thereof realization, such as static RAM
(SRAM), Electrically Erasable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM) may be programmed
Read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, disk or CD.
Power supply module 606 provides electric power for the various assemblies of balance car 600.Electric power assembly 606 can include power management
System, one or more power supplys, and other generate, manage and distribute the component that electric power is associated with for balance car 600.
Multimedia groupware 608 is included in the screen of one output interface of offer between balance car 600 and user.At some
In embodiment, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen
Touch screen is may be implemented as, to receive the input signal from user.Touch panel includes one or more touch sensors
With the gesture on sensing touch, slip and touch panel.Touch sensor can not only sensing touch or sliding action border,
But also detect the persistent period related to touch or slide and pressure.In certain embodiments, multimedia groupware 608 is wrapped
Include a front-facing camera and/or post-positioned pick-up head.When equipment 600 is in operator scheme, such as screening-mode or during video mode,
Front-facing camera and/or post-positioned pick-up head can receive the multi-medium data of outside.Each front-facing camera and post-positioned pick-up head
Can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio-frequency assembly 610 is configured to output and/or input audio signal.For example, audio-frequency assembly 610 includes a Mike
Wind (MIC), when balance car 600 is in operator scheme, such as call model, logging mode and speech recognition mode, mike quilt
It is configured to receive external audio signal.The audio signal for being received can be further stored in memorizer 604 or via communication
Component 616 sends.In certain embodiments, audio-frequency assembly 610 also includes a speaker, for exports audio signal.
, for interface is provided between process assembly 602 and peripheral interface module, above-mentioned peripheral interface module can for I/O interfaces 612
To be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and lock
Determine button.
Sensor cluster 614 includes one or more sensors, and the state for various aspects are provided for balance car 600 is commented
Estimate.For example, sensor cluster 614 can detect the opening/closed mode of equipment 600, such as relative localization of component, component
For the display and keypad of balance car 600, sensor cluster 614 can also detect 600 1 groups of balance car 600 or balance car
The position change of part, user are presence or absence of with what balance car 600 was contacted, 600 orientation of balance car or acceleration/deceleration and balance
The temperature change of car 600.Sensor cluster 614 can include proximity transducer, be configured to do not having any physics to connect
The presence of object nearby is detected when tactile.Sensor cluster 614 can also include optical sensor, such as CMOS or ccd image sensor,
For used in imaging applications.In certain embodiments, the sensor cluster 614 can also include acceleration transducer, top
Spiral shell instrument sensor, Magnetic Sensor, distance-sensor, pressure transducer or temperature sensor.
Communication component 616 is configured to facilitate the communication of wired or wireless way between balance car 600 and other equipment.It is flat
Weighing apparatus car 600 can access the wireless network based on communication standard, such as WIFI, 2G or 3G, or combinations thereof.It is exemplary at one
In embodiment, communication component 616 receives the broadcast singal or broadcast correlation from external broadcasting management system via broadcast channel
Information.In one exemplary embodiment, communication component 616 also includes near-field communication (NFC) module, to promote junction service.
For example, RF identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra broadband (UWB) skill can be based in NFC module
Art, bluetooth (BT) technology and other technologies are realizing.
In the exemplary embodiment, balance car 600 can be by one or more application specific integrated circuits (ASIC), numeral
Signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components realizations, for performing said method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided
Such as include the memorizer 604 of instruction, above-mentioned instruction can be performed to complete said method by the processor 620 of balance car 600.This reality
Apply in example, the processor 620 can be configured to：Obtain view data；It is determined that presetting the parameter preset in mist elimination algorithm
Value；According to the value of the parameter preset and the default mist elimination algorithm is adopted, mist elimination process is carried out to described image data；Response
In photographing instruction, according to the view data obtained after mist elimination process, image file is generated.For example, non-transitory computer-readable
Storage medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and optical data storage devices etc..
Those skilled in the art will readily occur to its of the disclosure after considering description and putting into practice disclosure disclosed herein
Its embodiment.The disclosure is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes or
Person's adaptations follow the general principle of the disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claim is pointed out.
It should be appreciated that the disclosure is not limited to the precision architecture for being described above and being shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present disclosure is limited only by appended claim.
Claims (13)
1. a kind of method that control balance car is moved, it is characterised in that methods described includes：
When balance car is in follow the mode, the first distance between first sensor and user equipment on the balance car is detected
Value and the second distance value between second sensor and the user equipment, wherein the first sensor and second sensing
Device is distributed on the wheel direction of principal axis of the balance car；
When the balance car follows the user equipment to move, according to first distance value and the second distance value, really
Whether the fixed balance car needs to adjust the direction of motion；
When it is determined that the balance car needs to adjust the direction of motion, the direction of motion of the balance car is adjusted.
2. method according to claim 1, it is characterised in that described according to first distance value and the second distance
Value, determines whether the balance car needs to adjust the direction of motion, including：
According to first distance value, the second distance value, the between the first sensor and second sensor the 3rd away from
From value, the angle of the first angle and the second angle is determined；Wherein, define institute between the first sensor and the user equipment
Line section is the first line segment, and it is second line segment to define institute's line section between the second sensor and the user equipment, is defined
Tri- line segments of institute's line Duan Wei between the first sensor and the second sensor, first angle is the First Line
Section and angle formed by the 3rd line segment, second angle are the second line segment and the formed folder of the 3rd line segment
Angle；
First angle or second angle angle be more than predetermined angle threshold value when, determine the balance car need into
Row is turned to.
3. method according to claim 1, it is characterised in that described according to first distance value and the second distance
Value, determines whether the balance car needs to adjust the direction of motion, including：
Determine the distance difference of first distance value and the second distance value；
When the distance difference is more than preset difference value threshold value, determine that the balance car needs to be turned to.
4. method according to claim 1, it is characterised in that methods described also includes：
Detect the change of first distance value or the second distance value, and according to first distance value or described second away from
From the change of value, the speed of related movement between the balance car and the user equipment is determined；
When movement velocity of the speed of related movement less than the balance car, determine that the direction of motion of the user equipment is
The current kinetic direction of the balance car；
When movement velocity of the speed of related movement more than the balance car, determine that the direction of motion of the user equipment is
The opposite direction in the current kinetic direction of the balance car.
5. method according to claim 4, it is characterised in that detection first distance value or the second distance
The change of value, and according to the change of first distance value or the second distance value, determine the balance car and the user
Speed of related movement between equipment, including：
By the change that first distance value or the second distance value are detected in preset duration, the user equipment is determined
And changing value of the air line distance between the balance car in the preset duration；
According to the changing value and the preset duration of the air line distance, the speed of related movement is calculated.
6. method according to any one of claim 1 to 5, it is characterised in that the first sensor and the balance
The distance between wheel shaft midpoint of car is equal to the distance between the second sensor and wheel shaft midpoint of the balance car.
7. the device that a kind of control balance car is moved, it is characterised in that described device includes：
Detection module, for when balance car is in follow the mode, detecting first sensor and user equipment on the balance car
Between the first distance value and the second distance value between second sensor and the user equipment, wherein the first sensor
It is distributed on the wheel direction of principal axis of the balance car with the second sensor；
First determining module, for when the balance car follows the user equipment to move, according to first distance value and
The second distance value, determines whether the balance car needs to adjust the direction of motion；
Adjusting module, for, when it is determined that the balance car needs to adjust the direction of motion, adjusting the direction of motion of the balance car.
8. device according to claim 7, it is characterised in that first determining module includes：
First determination sub-module, for according to first distance value, the second distance value, the first sensor and second
The 3rd distance value between sensor, determines the angle of the first angle and the second angle；Wherein, define the first sensor and
Between the user equipment, institute's line section is the first line segment, defines institute's line between the second sensor and the user equipment
Section is second line segment, defines tri- line segments of institute's line Duan Wei between the first sensor and the second sensor, described the
One angle is first line segment and angle formed by the 3rd line segment, and second angle is the second line segment and described
Angle formed by 3rd line segment；
Second determination sub-module, when being more than predetermined angle threshold value for the angle in first angle or second angle,
Determine that the balance car needs to be turned to.
9. device according to claim 7, it is characterised in that first determining module includes：
3rd determination sub-module, for determining the distance difference of first distance value and the second distance value；
4th determination sub-module, for the distance difference be more than preset difference value threshold value when, determine the balance car need into
Row is turned to.
10. device according to claim 7, it is characterised in that described device also includes：
Second determining module, for detecting the change of first distance value or the second distance value, and according to described first
The change of distance value or the second distance value, determines the speed of related movement between the balance car and the user equipment；
3rd determining module, in movement velocity of the speed of related movement less than the balance car, determining the use
The direction of motion of family equipment is the current kinetic direction of the balance car；
4th determining module, in movement velocity of the speed of related movement more than the balance car, determining the use
The direction of motion of family equipment is the opposite direction in the current kinetic direction of the balance car.
11. devices according to claim 10, it is characterised in that second determining module includes：
5th determination sub-module, for the change by first distance value or the second distance value are detected in preset duration
Change, determine changing value of the air line distance between the user equipment and the balance car in the preset duration；
6th determination sub-module, for the changing value according to the air line distance and the preset duration, calculates the relative fortune
Dynamic speed.
12. devices according to any one of claim 7 to 11, it is characterised in that the first sensor is flat with described
The distance between wheel shaft midpoint of weighing apparatus car is equal to the distance between the second sensor and wheel shaft midpoint of the balance car.
13. a kind of balance cars, it is characterised in that include：
Processor and the memorizer for storing processor executable；
Wherein, the processor is configured to：
When balance car is in follow the mode, the first distance between first sensor and user equipment on the balance car is detected
Value and the second distance value between second sensor and the user equipment, wherein the first sensor and second sensing
Device is distributed on the wheel direction of principal axis of the balance car；
When the balance car follows the user equipment to move, according to first distance value and the second distance value, really
Whether the fixed balance car needs to adjust the direction of motion；
When it is determined that the balance car needs to adjust the direction of motion, the direction of motion of the balance car is adjusted.
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| CN201611161217.6A CN106527739A (en) | 2016-12-15 | 2016-12-15 | Balance bike and method and device for controlling movement of same |
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| CN201611161217.6A CN106527739A (en) | 2016-12-15 | 2016-12-15 | Balance bike and method and device for controlling movement of same |
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| CN114397888A (en) * | 2021-12-21 | 2022-04-26 | 三一机器人科技有限公司 | Blade following control method and device and working machine |
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