CN108860417B

CN108860417B - Balance car sliding protection control method and device, balance car and storage medium

Info

Publication number: CN108860417B
Application number: CN201810490883.7A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Lexing World Technology Co ltd
Current assignee: Shenzhen Youbo Life Technology Co ltd
Priority date: 2018-05-21
Filing date: 2018-05-21
Publication date: 2020-10-20
Anticipated expiration: 2038-05-21
Also published as: WO2019223085A1; CN108860417A

Abstract

The invention relates to a balance car control method, a balance car control device, a balance car and a storage medium, wherein the balance car control method comprises the following steps: acquiring bearing information of the balance car during operation; when the bearing information indicates that the bearing state is changed into the non-bearing state, acquiring the running data of the balance car; and when the operation data meet a preset operation stopping condition, controlling the wheels of the balance car to stop operating. The balance car control method, the balance car control device, the balance car and the storage medium can improve the safety of balance car control.

Description

Balance car sliding protection control method and device, balance car and storage medium

Technical Field

The invention relates to the technical field of balance cars, in particular to a balance car control method and device, a balance car and a storage medium.

Background

With the rapid development of the balance car technology and the increasing improvement of the living standard of people, more and more users select the balance car as a travel tool. When the balance car is driven, the user can realize actions such as acceleration, deceleration, turning and the like by changing the gravity center, and the operation is simple and easy to operate.

Traditional balance car, if do not shut down after getting off, the balance car can continue to keep balance, easily on slope automatic acceleration, strikes other article and causes danger, also easily because unexpected user jumps the back, oneself continues to keep high-speed operation, causes the secondary damage.

Disclosure of Invention

In view of the above, it is necessary to provide a balance car control method, a balance car control device, a balance car, and a storage medium, which can improve safety of balance car control.

A balance car control method comprises the following steps:

acquiring bearing information of the balance car during operation;

when the bearing information indicates that the bearing state is changed into the non-bearing state, acquiring the running data of the balance car;

and when the operation data meet a preset operation stopping condition, controlling the wheels of the balance car to stop operating.

A balance car control apparatus comprising:

the bearing information acquisition module is used for acquiring bearing information of the balance car during operation;

the operation data acquisition module is used for acquiring the operation data of the balance car when the bearing information shows that the bearing state is changed into the non-bearing state;

and the operation control module is used for controlling the wheels of the balance car to stop operating when the operation data meet the preset operation stop condition.

A balance car comprising a car body, the car body comprising:

a load bearing assembly for supporting the vehicle body;

a running gear for running and operating the vehicle body;

the control assembly is used for controlling the running of the walking mechanism according to the bearing state of the bearing assembly so as to realize self-balancing of the vehicle body; and

a power supply device for supplying power to the control assembly;

the control assembly comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the balance car control method in any embodiment of the application.

A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the balance car control method according to any one of the embodiments of the present application.

According to the balance car control method, the balance car control device, the balance car and the storage medium, the operation data is changed from the bearing state to the non-bearing state according to the balance car; whether the balance car meets the preset stop condition or not is detected, if so, the wheels of the balance car are controlled to stop running, the balance car is stopped, the car sliding is prevented, and the safety of balance car control is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic flow chart of a balance car control method according to an embodiment;

FIG. 2 is a schematic structural diagram of a balance car in one embodiment;

FIG. 3 is a schematic structural diagram of a balance car in another embodiment;

FIG. 4 is a schematic view of the dynamic balance of the balance car shown in FIG. 3;

FIG. 5 is a schematic flow chart of a control method of the balance car in another embodiment;

FIG. 6 is a schematic flow chart illustrating a method for controlling a balance car according to another embodiment;

FIG. 7 is a schematic flow chart of a control device of the balance car according to an embodiment;

FIG. 8 is a schematic flow chart of a control device of a balance car according to another embodiment;

FIG. 9 is a schematic flow chart of a control device of a balancing vehicle in another embodiment;

FIG. 10 is a schematic structural view of a first embodiment of a vehicle body of the self-balancing scooter shown in FIG. 3;

FIG. 11 is a schematic view of another perspective of the vehicle body;

FIG. 12 is an exploded view of the vehicle body shown in FIG. 10;

FIG. 13 is a cross-sectional view of the frame of the vehicle body illustrated in FIG. 12;

FIG. 14 is a schematic view of the electrical windings of the drive member in one embodiment;

FIG. 15 is a Hall commutation waveform of a drive member of the travel mechanism in one embodiment;

FIG. 16 is an exploded view of the walking mechanism in one embodiment;

FIG. 17 is a block diagram of a partial structure in a vehicle body in one embodiment;

FIG. 18 is an exploded view of a portion of the structure in the body shown in FIG. 10;

FIG. 19 is a schematic structural view of a second embodiment of the body of the self-balancing scooter shown in FIG. 3;

FIG. 20 is a schematic view of the structure of the pedals and the second support block in the vehicle body shown in FIG. 19.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In one embodiment, as shown in fig. 1, a balance car control method is provided, which includes the following steps S102 to S106.

And step S102, acquiring the bearing information of the balance car during operation.

The operation principle of the balance vehicle is mainly established on a basic principle called dynamic stabilization (dynamic stabilization), and the balance vehicle cannot keep balance when the vehicle is not powered on and adjusts balance through dynamic operation when the vehicle is started. When the balance car body is disturbed by external force and inclines forwards, the control system of the balance car controls the car body to accelerate forwards; when the vehicle body tilts backwards due to external force disturbance, the control system controls the vehicle body to accelerate backwards; when the vehicle body is ensured to be horizontal, the control system controls the wheels to keep running at the current speed. Wherein, the balance car can be provided with an attitude sensor, and the change of the car body attitude, such as the change of the car body forward tilting, backward tilting or horizontal attitude, can be captured by the attitude sensor. This balance car can include electrodynamic balance car, and this electrodynamic balance car can be called as body and feel car, thinking car, the car of taking a photograph, balanced swing car etc.. The number of wheels on the body of the balance car may be 1 or 2 or other numbers. When the number of the wheels on the vehicle body is 2, the 2 wheels can be coaxially arranged or can be non-coaxially arranged. In one embodiment, as shown in fig. 2 and 3, schematic diagrams of two different types of balance cars are respectively given. For example, the balance car may be a common 9 # balance car, a split swing car, etc., and the split swing car may be in the form of a self-balancing roller skate as shown in fig. 3, and may be used together in a set of 2 self-balancing roller skates.

The bearing information is used for showing whether the balance car has the information of load or not, and comprises a bearing state and a non-bearing state, and can also comprise information of a bearing user in the bearing state. For example, as shown in fig. 3, when the balance car detects that a user stands on the car body, if it is detected that the bearing assembly on the car body is stepped on by the user, that is, a load is detected on the car body, the bearing information may be in a bearing state; as another example, as shown in fig. 2, when there is no load on the balance car, the load information may be in a no-load state.

The balance car can detect whether a load is arranged on the balance car according to a certain frequency in the running process, for example, whether a user is loaded on the balance car body is detected in the running state, and the load information is generated or updated according to the detection result.

And step S104, acquiring the running data of the balance car when the bearing information shows that the bearing state is changed into the non-bearing state.

The balance car can detect whether the bearing state of the balance car changes or not, and when the balance car detects that a user leaves the balance car, such as when the balance car detects that the user gets off or empties, the balance car can update the bearing information from the bearing state to the non-bearing state according to the detection result.

After the bearing information indicates that the bearing state is changed into the non-bearing state, the balance car can read the operation data after the balance car is changed into the non-bearing state. The operational data represents data for representing the operational state and/or operational performance of the balance car. In one embodiment, the operation data may include one or more characteristic data of the operation time length, the operation speed and the operation distance, and accordingly, the operation data after becoming unloaded may include one or more characteristic data of the operation time length, the operation speed and the operation distance when the balance car is in the unloaded state. It can be understood that the operation data of the balance car can be obtained in real time when the balance car is in the power-on state, but the operation data of the balance car is not obtained only when the balance car is in the state of changing from the bearing state to the non-bearing state.

And step S106, controlling the wheels of the balance car to stop running when the running data meets the preset running stop condition.

In one embodiment, the balance car is further provided with a stop condition, the electronic device can judge whether the balance car in the running state meets the stop condition according to the acquired running data in the no-load state, and when the stop condition is met, the electronic device can control wheels of the balance car to stop running, so that the balance car is prevented from slipping, and the safety of a user in using the balance car is improved. Wherein, the rolling indicates that when the user is not on the vehicle, the balance vehicle still provides driving force except inertia to keep balance and run wheels because the vehicle body is provided without human operation. For example, if the balance car slides on a slope, the balance car is easy to automatically accelerate on the slope and collides with other objects to cause danger; if the user jumps due to an accident, the balance car can slide to keep the balance car to continuously run at a high speed, so that secondary damage is caused.

Optionally, the wheel of the balance car is controlled to stop running, the balance car enters a car sliding protection state, and the balance car is not controlled to be shut down. The state of the rolling protection is to make the wheels stop running freely or brake the wheels to stop running, and the balance car is still in a working state, for example, the indicator lamp on the balance car is still in a lighting state, and waits for the balance car to return to the normal running state before entering the rolling protection state again. In one embodiment, when the time length of the balance car in the car slipping protection state reaches the preset time length, the balance car is controlled to be shut down. The time length may be any preset time length, for example, 10 minutes or 5 minutes, and when it is detected that the preset time length is reached, it may be determined that the user of the balance car has got off the car, so that the balance car is turned off.

In one embodiment, controlling the wheels of a balance vehicle to stop running comprises: freely stopping the wheels of the balance car by stopping supplying power to the balance car; or the wheels of the balance car are stopped by braking the balance car. After the balance car detects that the running stopping condition is met, the balance car freely stops by enabling wheels to lose power support; the driving part can be completely locked, and the vehicle can be stopped in a brake mode.

According to the balance car control method, the running data of the balance car is changed from the bearing state to the non-bearing state; whether the balance car meets the preset stop condition or not is detected, if so, the wheels of the balance car are controlled to stop running, the balance car is stopped, the car sliding is prevented, and the safety of balance car control is improved.

In one embodiment, the shutdown condition may include, but is not limited to, one or a combination of the following conditions:

condition 1): the running time of the balance car in the no-bearing state exceeds a time threshold, and the starting time of the running time is the time when the bearing information is changed from the bearing state to the no-bearing state;

condition 2): after the bearing information shows that the bearing state is changed into the non-bearing state, the speed of the balance car exceeds a speed threshold;

condition 3): and after the bearing information indicates that the bearing state is changed into the non-bearing state, the running distance of the balance car exceeds a preset distance threshold value.

The running time length represents the time when the balance car detects that the bearing state is changed into the no-bearing state, and the counted time length of the balance car is maintained in the no-bearing state. The duration threshold may be any suitable duration that is preset, and may be, for example, 0.5 seconds, 1 second, 2 seconds, 5 seconds, etc. When the duration maintained in the no-bearer state exceeds the duration threshold, it may be determined that condition 1) described above is satisfied. For example, the time period threshold is set to 1 second, and when it is detected that the time period for the user to get off the vehicle exceeds 1 second, it is determined that the above condition 1) is satisfied.

The vehicle speed represents the real-time vehicle speed of the balance vehicle after the load state is detected to be changed into the no-load state. The speed threshold may also be a preset vehicle speed of any suitable magnitude, such as 5km/h, 8km/h, 3km/h, etc. When the vehicle speed maintained in the no-load state exceeds the vehicle speed threshold, it may be determined that condition 2) described above is satisfied. For example, the vehicle speed threshold is set to 5km/h, and when it is detected that the vehicle speed thereof exceeds 5km/h in the no-load state, it is determined that the above-described condition 2) is satisfied.

Similarly, the running distance represents the running distance of the balance car which is counted and maintained in the no-load state when the balance car is started at the moment of detecting the change of the load state to the no-load state. The distance threshold may also be any suitable distance of a preset magnitude, such as 0.2m, 0.8m, 1m, 2m, 3m, 5m, etc. When the travel distance maintained in the no-load state exceeds the distance threshold, it may be determined that condition 3) described above is satisfied. For example, the vehicle speed threshold is set to 1m, and when it is detected that the traveling distance thereof exceeds 1m in the no-load state, it is determined that the above condition 3) is satisfied. Further, the distance threshold value can be any value within 0.2-2 m, and the distance threshold value is set within a distance interval of 0.2-2 m, so that once the running distance of the balance car after the balance car is detected to be in a no-bearing state reaches the distance threshold value, wheels of the balance car are controlled to stop running, the control safety of the balance car is further improved, and the use experience of a user can be improved.

In one embodiment, the time duration threshold, the speed threshold, and/or the distance threshold may be automatically determined based on the acquired operational data. For example, as the operating speed in the operating data increases, the corresponding automatically determined time threshold, speed threshold, and/or distance threshold may be relatively large.

In one embodiment, the stop condition may be any one of the above conditions, and when the any one of the conditions is satisfied, it is determined that the stop condition is satisfied, and the wheels of the balance vehicle are controlled to stop operating. Or the operation stopping condition can be a combination of the above multiple conditions, and when the corresponding multiple conditions are met, the wheels of the balance vehicle are controlled to stop operating.

For example, as shown in fig. 4, when the balance car is in a balanced state at a middle position and is in a no-load state, when the balance car is operated to a position at the left or right, and the running distance of the balance car is detected to exceed a preset distance threshold, the wheels of the balance car are controlled to stop running. As shown in fig. 4, the balance car on the right and left sides is in a state where the wheels are stopped and fallen down, but is not in a shutdown state.

In the method, one or more conditions of the running time length, the running speed and the running distance are set, so that the wheels of the balance car are controlled to stop running after the corresponding conditions are met, the situation that the balance car is immediately shut down or stopped once no load is detected is reduced, the risk of car falling caused by shutdown or stop due to empty users during driving is reduced, and the safety of control over the balance car is further improved.

In one embodiment, step S102 includes: the bearing information of the balance car is detected through a preset sensor for detecting the bearing state of the balance car. The balance car further comprises a sensor for detecting the load state of the balance car, and the sensor can comprise one or a combination of several of a mechanical switch, a groove-type photoelectric switch, a Hall switch, a membrane switch and a strain gauge. Whether the balance car carries a user or not can be detected by using the sensor.

In one embodiment, the method further comprises: acquiring setting information of the stop operation condition of the balance car; the shutdown condition is determined based on the setting information.

Wherein, the acquisition of the setting information of the stop operation condition of the balance car may be performed before the above step S102. The setting information is used for setting corresponding shutdown conditions, and the setting information may include one or more of the above-mentioned time length threshold, speed threshold, distance threshold, and the like. After the balance car acquires the setting information, the threshold information or conditions in the setting information can be identified, and corresponding operation stopping conditions are determined according to the identified threshold information or conditions. By setting the shutdown conditions according to the setting information, it is possible to realize diversity of the settings for the shutdown conditions.

In one embodiment, acquiring the setting information of the stop operation condition of the balance car comprises: acquiring setting information of the stop operation condition of the balance car through an input device on the balance car; or receiving the setting information of the stop operation condition of the balance car, which is sent by the control equipment connected with the balance car.

Wherein, the balance car can be provided with an input device, and a user can input the setting information of the stop operation condition on the cover input device. Alternatively, the setting information may be generated by some operation such as an operation switch, a vehicle body posture action, or the like.

In one embodiment, the balance car can be further connected with other electronic devices through a preset connection mode to receive a control instruction or setting information and the like of the corresponding electronic device on the balance car, so that the balance car can be controlled through the electronic device. The electronic equipment connected with the balance car is the control equipment of the balance car. The connection mode may be a Wireless connection mode such as bluetooth connection, Wireless Fidelity (WiFi) connection, or Near Field Communication (NFC), or may also be a wired connection mode connected through a corresponding data line. Control instructions or setting information and the like sent by the control equipment to the balance car can be realized through a preset computer Application program (APP).

Optionally, the user may input setting information for the shutdown condition on the electronic device, and send the setting information to the balance car through the corresponding APP. The balance car can receive the setting information sent by the control device, and the stop operation condition of the balance car is set according to the setting information.

The convenience of setting the stop condition on the balance car can be improved by the control device sending the setting information or acquiring the setting information through the input device on the balance car.

In one embodiment, the method further comprises: and acquiring the user type of the user, and determining the corresponding operation stopping condition according to the user type.

The user types can be divided according to one or more dimensions of gender, age, weight, hobbies, occupation and the like to form a plurality of user types. For example, the users can be divided into male users and female users according to gender; and classifying the users into user types such as children, young users, middle-aged users, old users and the like according to the ages. The balance car can obtain the user personal information of the corresponding user, and automatically determines the user type matched with the user according to the user personal information. Or the user type setting information can be directly received, and the user type of the corresponding user is determined according to the setting information. The user posture represents posture information in which the user runs on the balance car, such as a forward-leaning, backward-leaning, vacating, and the like posture. The balance car can determine corresponding attitude information according to the bearing information.

Optionally, the balance car presets different user types and/or user gestures corresponding to the stop conditions, and after the user types and/or user gestures are determined, the corresponding stop conditions can be determined according to the preset corresponding relationship. For example, when the user type is determined to be a child user, the corresponding shutdown condition may be one or a combination of the following conditions: 1) the running time of the balance car in the no-load state exceeds 0.5 second; 2) after the balance car is changed from a bearing state to a non-bearing state, the speed of the balance car exceeds 3 km/h; 3) after the balance car is changed from the bearing state to the non-bearing state, the running distance of the balance car exceeds 0.5 m. When the user type is determined to be a young user, the corresponding shutdown condition may be one or a combination of the following conditions: 1) the running time of the balance car in the no-load state exceeds 2 seconds; 2) after the balance car is changed from a bearing state to a non-bearing state, the speed of the balance car exceeds 8 km/h; 3) after the balance car is changed from the bearing state to the non-bearing state, the running distance of the balance car exceeds 2 m.

In one embodiment, obtaining the user type and/or user gesture of the user comprises: and determining the user type and/or the user posture of the operation user of the balance car according to the bearing information.

Optionally, the carrying information may further include information for representing a user type and/or a user posture, and the balance car may determine the user type and/or the user posture of the user according to the corresponding information. For example, a posture sensor can be arranged on the balance car, and the posture sensor can detect the inclination angle of the frame of the balance car; or the balance car can be also provided with a sensor for detecting the bearing weight of a user, and the bearing weight information can be detected according to the sensor; or further, the balance car can detect the position or the posture of the user standing on the balance car according to a corresponding sensor, and the standing position and the standing posture of the user can be detected according to the sensor. The balance car can comprehensively determine the user type and/or the user posture of the operation user of the balance car according to one or more bearing information of the inclination angle, the weight information, the standing position, the standing posture and the like.

The corresponding operation stopping condition is determined according to the user type and/or the user posture, so that the determined operation stopping condition is more matched with the user, and the safety of the user in controlling the balance car is further improved.

In one embodiment, the method further comprises: and when the operation data meet the preset operation stopping condition, the balance car generates alarm information.

Wherein, the alarm information can be a sound alarm and/or an indicator light alarm. Wherein, the sound alarm can be a preset alarm sound. The balance car can be provided with a buzzer, when the operation data meet the preset operation stopping condition, the balance car is controlled to enter a car sliding protection state to stop the operation of wheels, and the buzzer is further indicated to generate an alarm sound to remind a user of safety. When the balance car is a split type swing car as shown in fig. 3, a buzzer can be arranged on each car body 10, and when one car body 10 alarms due to overspeed, the other car body 10 can also alarm at the same time. The indicator light alarm can be that one or more indicator lights on the balance car are lighted or twinkle at a certain frequency to form an alarm effect to prompt a user to pay attention to safety.

In one embodiment, the method further comprises: and when the balance car is restored to the bearing state, controlling the wheels of the balance car to restore to operate.

When the balance car is in the car sliding protection state, the bearing information is continuously acquired, and when the bearing information is detected to indicate that the balance car is restored to the bearing state, the wheels can be restored to operate, and the normal working mode before the car sliding protection state is entered again without shutdown.

Optionally, the balance car further sets a maintaining time threshold of the car slipping protection state, and counts the maintaining time of the balance car entering the car slipping protection state, and the starting time of the maintaining time is the time of entering the car slipping protection state. The duration threshold may be any suitable duration value set, such as any duration of 3 minutes, 5 minutes, 10 minutes, etc. When the maintaining time length is less than the maintaining time length threshold value, for example, the maintaining time length is less than 5 minutes, if the bearing state is detected to be the bearing state, the vehicle sliding protection state is ended, and the vehicle sliding protection device enters the normal driving state, namely, the wheels are recovered to operate. And when the bearing state is not detected to be the bearing state within the time period that the maintaining time length reaches the maintaining time length threshold value, namely the bearing state is always in the no-bearing state, ending the vehicle sliding protection state, and enabling the balance vehicle to be shut down.

According to the method, after the balance car enters the car sliding protection state, whether the bearing information indicates the bearing state is detected, and when the balance car is restored to the bearing state, wheels of the balance car are controlled to restore to operate, so that when a user steps on the balance car after vacating the balance car, the balance car can restore to operate, and the safety of balance car control is improved.

In one embodiment, as shown in fig. 5, another balance car control method is provided, the method comprising:

and step S502, detecting the bearing information of the balance car through a preset sensor for detecting the bearing state of the balance car.

The sensor comprises one or more of a mechanical switch, a groove-type photoelectric switch, a Hall switch, a thin film switch and a strain gauge.

And step S504, after the bearing information shows that the bearing state is changed into the non-bearing state, determining the user type and/or the user posture of the operation user of the balance car according to the bearing information.

Step S506, determining corresponding running stopping conditions according to the user type and/or the user posture.

And step S508, acquiring the running data of the balance car.

In an embodiment, the execution sequence of step S508 and step S506 may not be limited, for example, the operation data and the user type and/or the user gesture may be obtained at the same time after the bearer information indicates that the bearer state is changed from the bearer state to the bearer-less state.

The running data comprises one or more of running time, running speed and running distance of the balance car in a no-load state;

the shutdown condition comprises one or a combination of the following conditions:

the running time of the balance car in the no-bearing state exceeds a time threshold, and the starting time of the running time is the time when the bearing information is changed from the bearing state to the no-bearing state;

after the bearing information shows that the bearing state is changed into the non-bearing state, the speed of the balance car exceeds a speed threshold;

and after the bearing information indicates that the bearing state is changed into the non-bearing state, the running distance of the balance car exceeds a preset distance threshold value.

And step S510, when the operation data meets the operation stopping condition, controlling the wheels of the balance car to stop operating.

Alternatively, the wheels of the balance car may be freely stopped by stopping the power supply to the balance car; or the wheels of the balance car are stopped by braking the balance car.

And step S512, controlling wheels of the balance car to resume running after the balance car recovers to the bearing state.

In the method, the running data is changed from the bearing state to the non-bearing state according to the balance car; whether the balance car meets the preset stop condition or not is detected, if so, the wheels of the balance car are controlled to stop running, the balance car is stopped, the car sliding is prevented, and the safety of balance car control is improved.

In one embodiment, as shown in fig. 6, there is provided a balance car control method, including:

step S602, acquiring setting information of the stop operation condition of the balance car; the shutdown condition is determined based on the setting information.

In one embodiment, the setting information of the stop operation condition of the balance car can be acquired through an input device on the balance car; or receiving the setting information of the stop operation condition of the balance car, which is sent by the control equipment connected with the balance car. The shutdown condition comprises one or a combination of the following conditions:

And step S604, detecting the bearing information of the balance car through a preset sensor for detecting the bearing state of the balance car.

And step S606, acquiring the running data of the balance car when the bearing information shows that the bearing state is changed into the non-bearing state.

In one embodiment, the operation data comprises one or more of operation time length, operation speed and operation distance of the balance car in a no-load state.

And step S608, when the operation data meets the operation stopping condition, controlling the wheels of the balance car to stop operating.

And step S610, controlling wheels of the balance car to resume running after the balance car is restored to the bearing state.

It should be understood that although the steps in the flowcharts of fig. 1, 5 and 6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1, 5, and 6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 7, there is provided a balance car control apparatus including:

a bearing information acquiring module 702, configured to acquire bearing information of the balance car during operation;

the operation data acquisition module 704 is used for acquiring the operation data of the balance car when the bearing information indicates that the bearing state is changed into the non-bearing state;

and the operation control module 706 is used for controlling the wheels of the balance car to stop operating when the operation data meets the preset operation stopping condition.

In one embodiment, the operation data comprises one or more of operation time length, operation speed and operation distance of the balance car in a no-load state; the shutdown condition comprises one or a combination of the following conditions:

In one embodiment, the distance threshold is at any value within 0.2 meters to 2 meters.

In one embodiment, the loading information acquiring module 702 is further configured to detect the loading information of the balance car through a preset sensor for detecting the loading state of the balance car.

In one embodiment, the sensor comprises one or a combination of mechanical switches, groove-type photoelectric switches, Hall switches, membrane switches and strain gauges.

In one embodiment, as shown in fig. 8, the balance car control apparatus further includes:

a first shutdown condition determination module 708 for acquiring setting information of shutdown conditions for the balance car; the shutdown condition is determined based on the setting information.

In one embodiment, the first shutdown condition determination module 708 is further configured to obtain setting information for a shutdown condition of the balance car through an input device on the balance car; or receiving the setting information of the stop operation condition of the balance car, which is sent by the control equipment connected with the balance car.

In one embodiment, as shown in fig. 9, the balance car control apparatus further includes:

a second shutdown condition determining module 710, configured to obtain a user type and/or a user gesture of the user; and determining corresponding running stopping conditions according to the user type and/or the user posture.

In one embodiment, the second shutdown condition determination module 710 is further configured to determine a user type and/or a user gesture of an operating user of the balancing vehicle based on the loading information.

In one embodiment, the operation control module 706 is further configured to freely stop the wheels of the balance car by stopping the power to the balance car; or the wheels of the balance car are stopped by braking the balance car.

In one embodiment, the number of wheels included on the body of the balance car is 1.

In one embodiment, the operation control module 706 is further configured to generate an alarm message when the operation data satisfies a preset operation stop condition.

In one embodiment, when the balance car is restored to the loaded state, the wheels of the balance car are controlled to restore to the running state.

The division of each module in the balance car control device is only used for illustration, and in other embodiments, the balance car control device may be divided into different modules as needed to complete all or part of the functions of the balance car control device.

For specific limitations of the balance car control device, reference may be made to the above limitations of the balance car control method, which are not described herein again. All or part of each module in the balance car control device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

The implementation of each module in the balance car control device provided in the embodiment of the present application may be in the form of a computer program. The computer program may be run on a balance car, a mobile terminal or a server. The program modules constituted by the computer program may be stored on the memory of the terminal or the server. Which when executed by a processor, performs the steps of the method described in the embodiments of the present application.

The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the steps of the balance car control method described in any embodiment of the present application.

A computer program product containing instructions which, when run on a computer, cause the computer to perform the balance car control method described in any embodiment of the present application.

In one embodiment, a balance car is provided, the balance car including a car body, the car body including:

a load bearing assembly for supporting the vehicle body; a running gear for running and operating the vehicle body; the control assembly is used for controlling the running of the walking mechanism according to the bearing state of the bearing assembly so as to realize the self-balancing of the vehicle body; and a power supply device for supplying electrical energy to the control assembly; the control assembly comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the balance car control method described in any embodiment of the application.

In one embodiment, as shown in fig. 3 and fig. 10 to 13, the self-balancing scooter of one embodiment includes two vehicle bodies 10, and the vehicle bodies 10 are configured to be disposed in one-to-one correspondence with both feet of a user, that is, one vehicle body 10 is configured to correspond to a left foot of the user, and the other vehicle body 10 is configured to correspond to a right foot of the user. In the present embodiment, the structures of the two vehicle bodies 10 are substantially the same, and the structure of one of the vehicle bodies 10 will be specifically described below by way of example.

The vehicle body 10 includes a bearing assembly 100, a traveling mechanism 200, a control assembly 300 and a power supply device 400, the bearing assembly 100 is used as a main supporting structure, the traveling mechanism 200, the control assembly 300 and the power supply device 400 are all installed on the bearing assembly 100, the control assembly 300 can control the state of the traveling mechanism 200 according to the state of the bearing assembly 100 so as to realize self-balancing of the vehicle body 10, and the power supply device 400 can provide electric energy for the control assembly 300.

In one embodiment, the bearing assembly 100 is a two-layer structure that is fastened up and down, and includes a frame 110 and a pedal 120, the frame 110 is a hollow structure, and the frame 110 and the pedal 120 are connected to form the cavity 102. The traveling mechanism 200 includes wheels 210 and a driving member 220, the wheels 210 are disposed on a side of the frame 110 away from the pedals 120 and between the pedals 120 and the ground, and the driving member 220 can drive the wheels 210 to rotate relative to the frame 110.

Specifically, the side of the frame 110 connected to the wheel 210 is recessed toward the footboard 120 to form the groove 112, and at this time, the longitudinal section of the frame 110 in the front-rear direction is W-shaped, and the cavity 102 is also divided into two front and rear chambers communicating with each other. Part of the structure of the wheel 210 is accommodated in the groove 112 to reduce the distance between the wheel 210 and the footboard 120, so that the overall height of the vehicle body 10 can be reduced and the stability of the vehicle body 10 can be improved. Also, the lowest point of the inner walls of the two chambers is lower than the highest point of the wheel 210.

In other embodiments, the bearing assembly 100 has an inner-outer double-layer structure, and includes a main body frame and a housing, wherein the main body frame is made of a metal material and is mainly used for mounting the traveling mechanism 200, the control assembly 300, the power supply device 400, and the like. The shell is arranged on the outer side of the main body framework and mainly plays a role in protection and decoration. The shell can be an integrated structure and is arranged on the main body framework from bottom to top. The housing may include a plurality of portions, such as an upper structure and a lower structure respectively installed at upper and lower sides of the main body frame, or a front structure and a rear structure respectively installed at front and rear sides of the main body frame, the front structure and the rear structure being respectively provided at front and rear sides of the traveling mechanism 200, and the like.

The side of the frame 110 remote from the footrest 120 is also provided with a handle slot 104 to facilitate the user's handling of the vehicle body 10.

The foot pedal 120 is used for a user to step on with a single foot, and the area on the foot pedal 120 for the user to stand is matched with the size of the single foot of the user. The projection of the geometric center of the pedal 120 on the ground coincides with the projection of the geometric center of the wheel 210 on the ground, so that the center of gravity of a user can pass through the contact point of the wheel 210 in a balanced state, and the stability of the vehicle body 10 during operation is improved.

The carrier assembly 100 further includes a non-slip pad 130, the non-slip pad 130 is disposed on a surface of the pedal 120 away from the wheel 120, and the non-slip pad 130 is made of sand paper, rubber or silica gel, which can increase friction between the non-slip pad 130 and the foot of the user, so that the user can drive the vehicle body 10 to perform a steering action with the leg as an axis, or a tilting action such as forward tilting or backward tilting. In this embodiment, the non-slip mat 130 may be a continuous integral structure, or may be divided into a plurality of blocks, and arranged on the pedal 120 at intervals. In other embodiments, the non-slip pad 130 may be omitted.

In this embodiment, the wheel 210 includes a tire for contacting the ground and a hub disposed in cooperation with the tire, the tire is a solid tire structure, the tire is provided with one or more tires, and when the tire is provided with a plurality of tires, the plurality of tires are disposed on one hub at intervals. The plurality as referred to herein is two or more.

In this embodiment, one of the wheel 210 and the driving member 220 is provided, and both are integrated as a hub motor. As shown in fig. 14 to 16, the driving member 220 is a three-phase winding brushless motor, and includes a central shaft 230, a stator 240, a rotor 250 and a hall sensor 260, the central shaft 230, the stator 240 and the rotor 250 are coaxially disposed, the wheel 210 is connected to the rotor 250, and the rotor 250 can drive the wheel 210 to rotate relative to the stator 240. The hall sensor 260 is connected to the central shaft 230, the hall sensor 260 is used for sensing the commutation position of the rotor 250, and the control assembly 300 can realize the continuous rotation of the rotor 250 according to the detection result of the hall sensor 260. In other embodiments, the driving member 220 may be connected to the wheel 210 via a gear assembly or the like.

For the drive member 220 of this embodiment, the rotor 250 is external and the stator 240 is internal. The stator 240 includes a stator core 242 and a stator winding, the stator winding is disposed on the stator core 242, a copper wire of the stator winding is used for generating magnetic force to drive the rotor 250 to rotate, and three phase wires are led out and connected in a star shape, and the three phase wires are a U phase wire, a V phase wire and a W phase wire respectively. The hall sensor 260 includes three hall chips 262 corresponding to the three phase lines, respectively, and signals detected by the three hall chips 262 are a signal, a signal B, and a signal C, respectively, each signal being represented by a binary number 0 or 1. Normally, the combination results of 000 and 111 do not occur, and thus, the combination results of the a signal, the B signal, and the C signal are 6 in total, each corresponding to one physical position of the rotor 250. After the hall sensor 260 transmits the physical position information of the rotor 250 to the control assembly 300, the control assembly 300 can change the direction of the current in the stator winding to achieve continuous rotation of the rotor 250.

The hall signal detected by the hall sensor 260 allows the controller 320 to sense the distance information and the speed information of the rotation of the wheel 210, so as to ensure that the vehicle body 10 is in a safe state, for example, to prevent the vehicle body 10 from rolling, which means that when a user is not on the vehicle body 10, the vehicle body 10 still runs at a certain speed due to the inertia of the original speed of the vehicle body 10, the uneven center of gravity, or the uneven road surface.

In one embodiment, the distance between the highest point on the vehicle body 10 and the ground is greater than or equal to the ground contact width of the wheel 210, and in particular, the ratio of the distance between the highest point on the vehicle body 10 and the ground to the ground contact width of the wheel 210 is less than 6:1, where the ground contact width of the wheel 210 refers to the distance between the two most distant intersection points of the plurality of collinear intersection points between the wheel 210 and the ground.

The height is small for the vehicle body 10, and the axial dimension of the wheel 210 is large, so that the vehicle body 10 can be automatically balanced without being tilted left and right after a user gets off the vehicle.

In the present embodiment, the ground contact width of the wheel 210 is equal to or greater than the diameter of the wheel 210, and specifically, the ratio of the ground contact width of the wheel 210 to the diameter of the wheel 210 is 1-2.

Referring to fig. 12 and 17, the control assembly 300 includes an attitude sensor 310 and a controller 320, the attitude sensor 310 can detect the tilt angle of the frame 110, the controller 320 is connected to the driving member 220, and the controller 320 can control the rotation speed of the driving member 220 according to the detection result of the attitude sensor 310. Specifically, the attitude sensor 310 includes a gyroscope 312 and an accelerometer 314, and can obtain an absolute angle of the vehicle relative to gravity, that is, an attitude angle of the frame 110 in real time in a dynamic state and a static state, and the controller 320 can enable the driving element 220 to exhibit a motion state corresponding to the attitude angle of the frame 110.

For example, when the user drives the frame 110 to tilt forward, the attitude sensor 310 can sense the forward tilting angle of the frame 110, and the controller 320 can control the driving element 220 to rotate forward according to the forward tilting angle, so that the vehicle body 10 completes the forward movement, and the greater the forward tilting angle, the greater the rotation speed of the driving element 220, and the faster the vehicle body 10 moves forward. When the user drives the frame 110 to lean backward, the driving member 220 rotates reversely, so that the vehicle body 10 moves backward, and the larger the tilting angle is, the faster the vehicle body 10 moves backward.

In the present embodiment, the attitude sensor 310 and the controller 320 are integrated on a circuit board, and the circuit board is accommodated in the cavity 102. It is understood that in other embodiments, the attitude sensor 310 and the controller 320 may be disposed separately, the attitude sensor 310 may be disposed at other positions of the frame 110, and the controller 320 may be disposed on the traveling mechanism 200.

Referring to fig. 18, the control assembly 300 further includes a pedal sensor 332, the pedal sensor 332 is disposed on the pedal plate 120, and in the embodiment, the pedal sensor 332 is located between the pedal plate 120 and the non-slip mat 130. The foot sensor 332 is used to determine whether the vehicle body 10 is manned and to sense the weight carried, and may be an electro-optical switch, a pressure sensor, a membrane switch, or a mechanical crash switch. In order to improve the accuracy of detection, two foot sensors 332 are provided, which are provided at the places corresponding to the toe and the heel of the foot pedal 120, respectively. In other embodiments, only one of the foot sensors 332 may be provided, and may be disposed at a middle position of the foot pedal 120.

In other embodiments, as shown in fig. 19 and 20, the control assembly 300 further includes a strain gauge 334, the strain gauge 334 being configured to sense changes in the load.

Specifically, in this embodiment, the load bearing assembly 100 further includes a first support block 106 and a second support block 108, the first support block 106 being located within the cavity 102 and being connected to an inner wall of the frame 110. The second supporting block 108 is disposed on a side of the footboard 120 close to the wheel 210, and the second supporting block 108 abuts against the first supporting block 106. The first support blocks 106 are arranged in a plurality and are distributed in the frame 110 at intervals, and the second support blocks 108 are arranged corresponding to the first support blocks 106 one by one. A gap is formed between the pedal 120 and the frame 110, so that the first supporting block 106 plays a main role in bearing force.

The strain gauge 334 is installed at a central region of the carrier assembly 100, and specifically, the strain gauge 334 may be disposed on an inner wall of the cavity 102 extending in the front-rear direction at a middle position of the inner wall and near the pedal plate 120, or at a middle position of the pedal plate 120. The strain gauge 334 is connected with a signal conditioning amplifying circuit, senses the micro deformation of the stress of the vehicle body 10 in a loaded state, and changes an initial weak voltage signal into a recognizable load signal through signal conditioning and amplification, and if the load signal exceeds a preset threshold value, the vehicle body 10 is in a manned state.

When the vehicle body 10 carries a person, the first support block 106 is subjected to a large pressure, and a gap is left between the pedal plate 120 and the vehicle frame 110, so that the pressure applied to the vehicle body 10 in the vertical direction is converted into a tensile force in the front-rear direction of the vehicle body 10, and no matter the side of the vehicle frame 110 close to the pedal plate 120 or the middle part of the pedal plate 120 itself, the tensile force is subjected to the tensile force in the front-rear direction and is deformed, and the strain gauge 334 can sense the tensile force, so that the person carried on the vehicle body 10 is judged.

Meanwhile, it is also possible to recognize whether the user is an adult or a child through the load signal output from the strain gauge 334. By comparing the load information sensed by the strain gauges 334 of the two vehicle bodies 10, it is possible to determine whether the center of gravity of the user is placed on one foot or both feet. When the user is a child or the user's center of gravity is placed on one foot, the vehicle body 10 can enter a safety mode in which performance is limited, for example, the balance response becomes slow, the top speed decreases, the current is limited, and the like.

It should be noted that the load signal output from the strain gauge 334 is an analog signal, so that the strain gauge 334 can recognize a continuous change in the load, so that the controller 320 adjusts the state of the vehicle body 10 in real time according to the change in the load. And because the vehicle body with self-balancing capability is not shut down in time after a user gets off the vehicle, the vehicle body is easy to automatically accelerate on a slope and impact other objects. Therefore, when the strain gauge 334 senses that the vehicle body 10 is not occupied, the controller 320 will issue a command to control the wheels 210 to stop running to avoid the vehicle body 10 slipping, and the command issued by the controller 320 includes the following schemes: after the preset time is exceeded, the controller 320 controls the wheel 210 to stop running, and the preset time can be designed to be 1 second; the rotation speed of the wheel 210 exceeds a preset threshold value, and the controller 320 controls the wheel 210 to stop running, wherein the preset threshold value can be 5 km/h; the vehicle body 10 slides over a predetermined distance, which may be 1m, and the controller 320 controls the wheels 210 to stop operating. The wheel 210 may stop, be it without power, or may stop freely, or the driving member 220 may be completely locked, and may be in a braking state.

It is understood that the vehicle body 10 may include either one of the foot pedal sensor 332 and the strain gauge 334, or both the foot pedal sensor 332 and the strain gauge 334 may be provided.

Of course, the body 10 may be configured to accommodate the presence or absence of a person without the foot pedal sensor 332 or the strain gauge 334.

Specifically, the driver 220 is not directly activated when the vehicle body 10 is first powered on. The vehicle body 10 may be freely placed on the ground while the footboard 120 is inclined, and one side thereof may contact the ground. When the user first erects the pedal 120 to the horizontal position, the attitude sensor 310 can sense the angle change of the pedal 120 and trigger the starting action of the vehicle body 10, and then the controller 320 controls the vehicle body 10 to enter the normal self-balancing state. In this control mode, after the user gets off the vehicle, the vehicle body 10 may continue to maintain the balance since it cannot recognize that the user has got off the vehicle.

After the parking state standby or the in-place hovering state exceeds a preset time, for example, ten minutes, the controller 320 turns off the power supply, and the vehicle body 10 enters the shutdown state until the user turns on the vehicle next time. Therefore, the electric quantity waste caused by the fact that the user forgets to turn off the power supply can be avoided, and convenience is improved.

Any reference to memory, storage, database, or other medium used herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A balance car control method is characterized by comprising the following steps:

acquiring bearing information of the balance car during operation;

determining the user type and/or user posture of an operation user of the balance car according to the bearing information; determining corresponding operation stopping conditions according to the user type and/or the user posture;

when the bearing information indicates that the bearing state is changed into the non-bearing state, acquiring the running data of the balance car; the running data comprises at least one of running speed and running distance of the balance car in a no-load state;

when the operation data meet a preset operation stopping condition, controlling wheels of the balance car to stop operating; the shutdown condition comprises one or a combination of the following conditions: after the bearing information indicates that the bearing state is changed into the non-bearing state, the speed of the balance car exceeds a speed threshold value; and after the bearing information shows that the bearing state is changed into the non-bearing state, the running distance of the balance car exceeds a preset distance threshold value.

2. The method of claim 1, wherein the operational data includes an operational duration of the balance car when in an unloaded state;

the shutdown conditions include: the running time of the balance car in the no-bearing state exceeds a time threshold, and the starting time of the running time is the time when the bearing information is changed from the bearing state to the no-bearing state.

3. The method of claim 1, wherein the distance threshold is at any value within 0.2 meters to 2 meters.

4. The method of claim 1, wherein the obtaining of the load information of the balance car during operation comprises:

the bearing information of the balance car is detected through a preset sensor for detecting the bearing state of the balance car, wherein the sensor comprises one or a combination of a plurality of mechanical switches, groove type photoelectric switches, Hall switches, membrane switches and strain gauges.

5. The method of claim 1, further comprising:

acquiring setting information of the stop operation condition of the balance car;

determining the shutdown condition based on the setting information.

6. The method of claim 5, wherein the acquiring of the setting information of the shutdown condition of the balance car comprises:

acquiring setting information of a stop operation condition of the balance car through an input device on the balance car; or

And receiving the setting information of the stop operation condition of the balance car, which is sent by the control equipment connected with the balance car.

7. The method of claim 1, wherein the controlling the wheels of the balance vehicle to stop comprises:

and stopping the operation of the wheels of the balance car by braking the balance car.

8. The method of claim 1, wherein the balance car includes 1 wheel on the body.

9. The method of claim 1, further comprising:

and when the operation data meet the preset operation stopping condition, the balance car generates alarm information.

10. The method according to any one of claims 1 to 9, wherein the wheels of the balance car are controlled to resume operation after the balance car is restored to a loaded state.

11. A balance car control device characterized by comprising:

the second operation stopping condition determining module is used for determining the user type and/or the user posture of an operation user of the balance car according to the bearing information; determining corresponding operation stopping conditions according to the user type and/or the user posture;

the running data acquisition module is used for acquiring running data of the balance car after the bearing information indicates that the bearing state is changed into a non-bearing state, wherein the running data comprises at least one of running speed and running distance of the balance car in the non-bearing state;

the operation control module is used for controlling the wheels of the balance car to stop operating when the operation data meet a preset operation stop condition; the shutdown condition comprises one or a combination of the following conditions: after the bearing information indicates that the bearing state is changed into the non-bearing state, the speed of the balance car exceeds a speed threshold value; and after the bearing information shows that the bearing state is changed into the non-bearing state, the running distance of the balance car exceeds a preset distance threshold value.

12. A balance car comprising a car body, the car body comprising:

a load bearing assembly for supporting the vehicle body;

a running gear for running and operating the vehicle body;

a power supply device for supplying power to the control assembly;

the control assembly comprises a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to perform the steps of the balance car control method according to any one of claims 1 to 10.

13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the balance car control method according to any one of claims 1 to 10.