CN109018170A - Balance car control method, device, balance car and storage medium - Google Patents
Balance car control method, device, balance car and storage medium Download PDFInfo
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- CN109018170A CN109018170A CN201810747207.3A CN201810747207A CN109018170A CN 109018170 A CN109018170 A CN 109018170A CN 201810747207 A CN201810747207 A CN 201810747207A CN 109018170 A CN109018170 A CN 109018170A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 75
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- 238000005259 measurement Methods 0.000 claims description 2
- 230000006378 damage Effects 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 9
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J99/00—Subject matter not provided for in other groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
This application involves a kind of balance car control method, device, balance car and storage medium, method includes: to obtain the monitoring information of balance car at runtime；Monitoring information when according to operation determines that the wheel for controlling balance car shuts down when meeting alert if；Obtain monitoring information of the balance car after shutting down；Monitoring information after according to shutting down, determines after meeting operating condition, controls the wheel operating of balance car.This method is when balance car is in dangerous scene, only control wheel shuts down, there is no close power supply to car body, and after shutting down, meet the wheel operating that operating condition then controls balance car, entire car body restores the process of walking without carrying out switching on and shutting down operation, avoids injury of the rush of current to balance car caused by frequent switching on and shutting down operate.
Description
Technical field
This application involves balance car technical fields, more particularly to a kind of balance car control method, device, balance car and deposit
Storage media.
Background technique
With the rapid development of balance car technology and the increasingly raising of people's living standard, more and more users' selection
Walking-replacing tool of the balance car as trip.When driving balance car, user realizes acceleration, deceleration, turning by changing center of gravity
It is easy to operate Deng movement, it is easy to get started.
Traditional balance car is provided with and flies the protection acts such as rotation protection, when perceiving preset dangerous situation, controls vehicle
Wheel stops and alarms.And balance car, after actuation of an alarm, user loses response to any routine operation of car body, and motor does not have
Have a motor-car, balance car cannot be introduced into the operating mode of balance control, can only user actively close power supply or after alarm several seconds, car body
It is automatically closed.When user is again started up automobile body power booting, balance car just can enter normal mode of operation.
And rush of current caused by balance car frequent switching on and shutting down in the process of moving can damage balance car.
Summary of the invention
Based on this, it is necessary to which the technical issues of frequently switching on machine for balance car provides a kind of balance car control method, dress
It sets, balance car and storage medium.
A kind of balance car control method, runs on the controller of balance car, comprising:
Obtain the monitoring information of balance car at runtime；
Monitoring information when according to the operation determines that the wheel for controlling the balance car stops when meeting alert if
Only operate；
Obtain monitoring information of the balance car after shutting down；
Monitoring information after according to shutting down, determines after meeting operating condition, controls the wheel operating of balance car.
A kind of balance truck control device, comprising:
Monitoring information obtains module, for obtaining the monitoring information of balance car at runtime；
Control module is operated, for monitoring information when according to the operation, determines that control is flat when meeting alert if
The wheel of weighing apparatus vehicle shuts down；
The monitoring information obtains module, is also used to obtain monitoring information of the balance car after shutting down；
The operating control module is also used to monitoring information after according to shutting down, determines after meeting operating condition,
Control the wheel operating of the balance car.
A kind of balance car, including car body, the car body include:
It is used to support the bearing assembly of the car body；
For travelling and running the walking mechanism of the car body；
For controlling the operation of the walking mechanism according to the loaded state of the bearing assembly, to realize the car body
The control assembly of self-balancing；With
For providing the power supply unit of electric energy for control assembly；
The control assembly includes memory and processor, and computer program, the calculating are stored in the memory
When machine program is executed by the processor, so that the step of processor executes above-mentioned balance car control method.
A kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
It realizes when being executed by processor such as the step of above-mentioned balance car control method.
Above-mentioned balance car control method, device, balance car and storage medium, by when according to balance car at runtime
Monitoring information determines that the wheel for controlling balance car shuts down, and stops balance car, prevents balance car when meeting alert if
It walks in dangerous scene, monitoring information after according to shutting down determines after meeting operating postcondition, controls balance car
Wheel operation, so that balance car is walked on, this method only controls wheel and shuts down when balance car is in dangerous scene,
Power supply is not closed to car body, and after shutting down, meet the wheel operating that operating condition then controls balance car, entire vehicle
Body restores the process of walking without carrying out switching on and shutting down operation, avoids rush of current caused by frequent switching on and shutting down operate to balance
The injury of vehicle.
Detailed description of the invention
Fig. 1 is the flow diagram of balance car control method in one embodiment；
Fig. 2 is the structural schematic diagram of balance car in one embodiment；
Fig. 3 is the structural schematic diagram of balance car in another embodiment；
Fig. 4 is the flow diagram of balance car control method in another embodiment；
Fig. 5 is the structural block diagram that truck control device is balanced in one embodiment；
Fig. 6 is the structural schematic diagram of the first embodiment of car body in self-balancing vehicle shown in Fig. 3；
The structural schematic diagram at another visual angle of car body shown in Fig. 7；
Fig. 8 is the explosive view of car body shown in fig. 6；
Fig. 9 is the sectional view of vehicle frame in car body shown in Fig. 8；
Figure 10 is the electrical winding schematic diagram of actuator in one embodiment；
Figure 11 is the Hall commutation waveform figure of actuator in walking mechanism in one embodiment；
Figure 12 is the explosive view of walking mechanism in one embodiment；
Figure 13 is the module frame chart of partial structurtes in car body in one embodiment；
Figure 14 is the explosive view of partial structurtes in car body shown in fig. 6；
Figure 15 is the structural schematic diagram of the second embodiment of car body in self-balancing vehicle shown in Fig. 3；
Figure 16 is the structural schematic diagram of foot pedal and the second supporting block in car body shown in figure 15.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, and
It is not used in restriction the application.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that in limitation the application.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
In one embodiment, as shown in Figure 1, providing a kind of balance car control method, the control of balance car is run on
Device, method includes the following steps:
S102 obtains the monitoring information of balance car at runtime.
Wherein, the operation principles of balance car are mainly built upon a kind of referred to as " dynamic stability " (Dynamic
Stabilization basic principle), be it is a kind of cannot keep balance when out of power, when starting, is put down by dynamic operation adjustment
A kind of vehicles of weighing apparatus.Controller is the control system of balance car, for realizing the control to each component of balance car.Work as balance
When the car body of vehicle is leaned forward by outer force-disturbance, the control system control car body of balance car is accelerated forwardly；In car body by external force
Disturbance and when hypsokinesis, control system control car body accelerates backward；When car body guarantees horizontal, control system control wheel holding is worked as
Preceding speed traveling.Wherein, it may be provided with attitude transducer on balance car, the change of vehicle body attitude can be captured by attitude transducer
Change, as car body leans forward, the variation of the posture of hypsokinesis or level.The balance car may include electrodynamic balance vehicle, the electrodynamic balance vehicle
It can be described as body-sensing vehicle, thinking vehicle, the vehicle that acts as regent, balance swing car etc..Wheel on the car body of balance car can for 1 or 2 or its
His quantity.When the wheel on car body is 2, which can be coaxial arrangement, can also be not to be coaxially disposed.At one
In embodiment, as shown in Figures 2 and 3, the schematic diagram of two distinct types of balance car is set forth.For example the balance car can
For No. 9 common balance cars, split type swing car etc., split type swing car can be rendered as self-balancing roller skate as shown in Figure 3
Pattern, and one group can be formed by 2 self-balancing roller skates and be used together.
Monitoring information refers to the information that can be used in monitoring balance car state caused by balance car, including but not limited to flat
Carrying information, velocity information, angle information, operation duration, the battery voltage information of weighing apparatus vehicle, car body temperature information etc..
Carrying information be used for embody on balance car with the presence or absence of load information, include loaded state and without carrying shape
State may additionally include the information of the carrying user under loaded state.For example, as shown in figure 3, when balance car has detected user
When standing on the car body, when such as detecting that the bearing assembly on car body is stepped on by user, that is, detecting has load on car body, then should
Carrying information can be to have loaded state；For another example shown in Fig. 2, when non-loaded on balance car, which can be no carrying
State.
Angle information refers to the tilt angle for the balance car car body that the angular transducer of balance car is monitored.Shown in Fig. 3
Balance car for, using the traffic direction of balance car as the front of balance car, then when angular transducer monitors balance car vehicle
When body turns forward, is tilted to the right, is tilted to the left and is tilted to the right, corresponding side tilt angle and pitch angle can detect to obtain.
Velocity information refers to the speed of service of balance car, it is to be understood that when balance car stops, the speed of service is
Zero.
When balance car is in different conditions, generated monitoring information is different.For example, when balance car is in operating status
When, it is in load condition, and generate velocity information and duration information.
S104, monitoring information when according to operation determine that the wheel for controlling balance car stops fortune when meeting alert if
Turn.
In one embodiment, balance car is provided with alert if, monitoring information when can run according to balance car, to sentence
Whether the balance car in operating status that breaks meets alert if, and when meeting alarm condition, the wheel of controllable balance car stops
Only operate.
Generated carrying information, velocity information, angle information, fortune when specifically alert if can run for balance car
Row duration, battery voltage information, car body temperature information etc. have been more than threshold value, and wherein threshold value is the boundary value operated normally, work as prison
When measurement information is more than threshold value, balance car is in dangerous operating status.By the wheel for when meeting alert if, controlling balance car
Stop operating, thus prevent that balance car from continuing to run under precarious position and caused by injury, improve balance car stability and
Safety.
In one embodiment, the wheel for controlling balance car shuts down, comprising: dynamic by offer of the stopping to balance car
Power and so that the wheel of balance car is freely shut down；Or the wheel of balance car is set to shut down and braking to balance car.Its
In, balance car is detecting that satisfaction shuts down after condition, it is run out of steam support by making wheel, free parking；It can also make to drive
Moving part is completely locked, is stopped in the form of brake.
It is the mode for making balance car enter a kind of guard mode that the wheel of control balance car, which shuts down, is not to make to balance
Vehicle shutdown, balance car itself is in the indicator light in working condition, such as balance car also in the state lighted, and waits
Balance car restores again to normal operating condition.
In the present embodiment, when controller is according to monitoring information when running, when determination meets alert if, automatic control is flat
The wheel of weighing apparatus vehicle shuts down, and without artificial control, i.e. wheel shuts down without components such as key and handlebars i.e.
It can be achieved, improve the intelligent control performance of balance car.
S106 obtains monitoring information of the balance car after shutting down.
Monitoring information of the balance car after shutting down, refer to the wheel of balance car after shutting down, the temperature of balance car
Spend carrying information, velocity information, angle information, the operation duration, battery electricity of the balance cars of acquisitions such as sensor, attitude transducer
Press information, car body temperature information etc..By that can judge whether balance car relieves danger to the monitoring information after shutting down
State allows the wheel of balance car to restore operating when balance car relieves precarious position.
S108, monitoring information after according to shutting down, determines after meeting operating condition, controls the wheel fortune of balance car
Turn.
In one embodiment, balance car is also further provided with operating condition, after balance car can be according to shutting down
Monitoring information, to judge whether meet operating condition in the balance car to shut down under state.When meeting the operating condition,
The wheel of the balance car can control to operate, so that balance car launches into walking states.
Generated carrying information, velocity information, angle information, fortune when specifically operating condition can run for balance car
Row duration, battery voltage information, car body temperature information, delay protection time etc., wherein threshold value was normal fortune in threshold range
Capable boundary value, when monitoring information is in threshold range, balance car normal condition.By controlling when meeting operating condition
The vehicle wheel rotation of balance car, so that balance car be made to enter walking states.
In one embodiment, the wheel operating of balance car is controlled, comprising: balance car is made to the offer power of balance car
Wheel operating.
In the present embodiment, when controller according to it is out of service after monitoring information, determine when meeting operating condition, it is automatic to control
The wheel of balance car processed operates, and without artificial control, i.e. wheel shuts down to the process for restoring operating, without key and
The components such as handlebar can be realized, and improve the intelligent control performance of balance car.
Above-mentioned balance car control method, by determining and meeting alarm when the monitoring information according to balance car at runtime
When condition, the wheel for controlling balance car shuts down, and stops balance car, prevents balance car from walking in dangerous scene, when
According to the monitoring information after shutting down, determine after meeting operating postcondition, control the wheel operation of balance car, make balance car after
It continuing away, this method only controls wheel and shuts down, do not close power supply to car body when balance car is in dangerous scene,
And after shutting down, meet the wheel operating that operating condition then controls balance car, the process that entire car body restores walking is not necessarily to
Switching on and shutting down operation is carried out, injury of the rush of current to balance car caused by frequent switching on and shutting down operate is avoided.
In another embodiment, monitoring information when according to operation when determination meets alert if, controls balance car
Generate warning message.
Wherein, warning message is the information for being used to indicate user equilibrium vehicle and being currently under precarious position, prompts user's note
Meaning safety.
In one embodiment, control balance car generates one or more of combinations that warning message includes following manner:
1), control balance car makes a sound alarm.
2), control balance car issues light alarm；
3), control balance car car body shake；
4), alarm signal is sent to the control equipment connecting with balance car.
Balance car is provided with the buzzer that can issue prompt tone, when reaching alert if, controls buzzer sending sound
Tone alerts, such as rapid drop drop sound.It wherein, can be in each car body when balance car is split type swing car as shown in Figure 3
Buzzer is provided on 10, when alarming when a car body 10 because of hypervelocity, another car body 10 also can same alarm.
Balance car is additionally provided with status indicator lamp.It specifically, can be according to the state state of a control indicator light colors of car body
Variation, so that status indicator lamp can serve to indicate that the operating status of car body 10.For example, controlling shape when reaching alert if
Red light is presented in state indicator light.
When reaching alert if, also controllable balance car shake, to prompt alarm condition.
In one embodiment, balance car can be also attached by preset connection type and other electronic equipments, with
Corresponding electronic equipment is received to the control instruction of the balance car or setting information etc., so as to pass through electronic equipment realization pair
The control of balance car.The electronic equipment connecting with balance car is the control equipment of balance car.Wherein, which can be
Pass through bluetooth connection, Wireless Fidelity (Wireless Fidelity, WiFi) connection or wireless near field communication (Near Field
Communication, NFC) etc. radio connections, or can be also the wired connection side that is connected by corresponding data line
Formula.Control instruction or setting information that control equipment is sent to balance car etc. can be by preset computer applied algorithms
(Application, APP) and realize.
Specifically, when reaching alert if, send alarm signal to the control equipment that connect with balance car, for example, to
The mobile phone terminal of balance car connection sends alarm signal, and the user of mobile phone terminal can receive alarm signal by mobile phone.
In one embodiment, a kind of balance car control method is provided, as shown in figure 4, method includes the following steps:
S402 obtains the monitoring information of balance car at runtime.
S404, monitoring information when according to operation determine that control balance car generates warning message when meeting alert if
And the wheel for controlling balance car shuts down.
S406 obtains monitoring information of the balance car after alarm.
S408, monitoring information after according to alarm when determination meets alarm release condition, generate alarm release information.
Wherein, alarm release information is used to indicate user's alarm release, and balance car is cleared state.
S410 obtains monitoring information of the balance car after alarm release.
Specifically, after the monitoring information after alarm release refers to alarm release, each sensor of balance car is monitored flat
The status information of weighing apparatus vehicle, including but not limited to the carrying information, velocity information of balance car, angle information, operation duration, battery electricity
Press information, car body temperature information etc..
S412 controls the wheel fortune of balance car when determining after meeting operating condition according to the monitoring information released after alarm
Turn.
In one embodiment, balance car is also further provided with operating condition, after balance car can be according to alarm be released
Monitoring information, to judge whether the balance car after releasing alarm meets operating condition.When meeting the operating condition, controllably
The wheel operating for making the balance car, so that balance car launches into walking states.
Generated carrying information, velocity information, angle information, fortune when specifically operating condition can run for balance car
Row duration, battery voltage information, car body temperature information, delay protection time etc., wherein threshold value was normal fortune in threshold range
Capable boundary value, when monitoring information is in threshold range, balance car normal condition.By controlling when meeting operating condition
The vehicle wheel rotation of balance car, so that balance car be made to enter walking states.
Above-mentioned balance car control method, on the one hand, this method only controls wheel and stop when balance car is in dangerous scene
It only operates, power supply is not closed to car body, and after shutting down, meet the wheel fortune that operating condition then controls balance car
Turn, entire car body restores the process of walking without carrying out switching on and shutting down operation, avoids electric current caused by frequent switching on and shutting down operate
Impact the injury to balance car.On the other hand, when balance car is in dangerous scene, also generation warning message, prompt user pacify
Entirely.
In one embodiment, alert if includes one or more of combinations of the following conditions:
Condition 1): balance car is at runtime from there is loaded state to become no loaded state；
Condition 2): balance car is in the operation duration without loaded state more than duration threshold value, the initial time of operation duration
It is from the time of thering is loaded state to become no loaded state for carrying information；
Condition 3): it is indicated after thering is loaded state to become no loaded state in carrying information, the speed of balance car is more than speed
Spend threshold value；
Condition 4): it is indicated after thering is loaded state to become no loaded state in carrying information, the range ability of balance car is super
Cross pre-determined distance threshold value；
Condition 5): the wheel spin and idle speed of balance car are more than idle speed threshold value at runtime；
Condition 6): the in-vehicle device temperature of balance car is more than temperature threshold at runtime；
Condition 7): side tilt angle/pitch angle of the car body of balance car is more than security standpoint threshold value at runtime.
Wherein, balance car can detect whether its loaded state produces variation, when detecting that user leaves balance car, such as
When detecting that user gets off or empties, balance car can according to testing result will carrying information from there is loaded state to be updated to without holding
Load state.It when balance car is at runtime from when having loaded state to become no loaded state, can determine whether to meet above-mentioned condition 1).Citing
For, when the foot-operated sensor of balance car can't detect pressure information, then judgement meets above-mentioned condition 1).
Operation duration expression balance car counts at the time of detecting that loaded state is changed to no loaded state
The duration for maintaining no loaded state.Duration threshold value can be pre-set any appropriate duration, such as can be 0.5 second, 1
Second, 2 seconds, 5 seconds etc..When the duration for maintaining no loaded state is more than the duration threshold value, it can determine that and meet above-mentioned condition 2).
For example, duration threshold value is arranged to 1 second, when detecting that the duration that user gets off is more than 1 second, then determines to meet above-mentioned condition
2)。
Speed indicates real-time speed of the balance car after detecting that loaded state is changed to no loaded state.Threshold speed
It can be the speed of preset any suitable size, for example can be 5km/h, 8km/h, 3km/h etc..When maintaining no loaded state
When speed is more than the speed threshold value, it can determine that and meet above-mentioned condition 3).For example, speed threshold value is arranged to 5km/h, when
It detects that speed is more than 5km/h under no-load condition, then determines to meet above-mentioned condition 3).
Similarly, which indicates that balance car is opened at the time of detecting that loaded state is changed to no loaded state
Begin, and the range ability maintained under no loaded state counted on.Distance threshold can also be preset any suitable size
Distance, for example can be 0.2m, 0.8m, 1m, 2m, 3m, 5m etc..It is more than the distance when maintaining the range ability under no loaded state
When threshold value, it can determine that and meet above-mentioned condition 3).For example, speed threshold value is arranged to 1m, is in non-loaded when detecting
Under state, range ability is more than 1m, then determines to meet above-mentioned condition 4).Further, the distance threshold can in 0.2 to
Any number within 2 meters, by by distance threshold be arranged in 0.2 to 2 meter within section, may make once detecting
Range ability of the balance car after becoming no loaded state reaches the distance threshold, i.e. the wheel of control balance car shuts down,
The safety for further increasing balance car control, also can be improved the usage experience of user.
When wheel spin refers to that balance car leaves ground, wheel is still the phenomenon that rotating.Wheel spin brings energy consumption issues
And security risk.When wheel occurs being greater than the idle running of setting speed, judgement meets above-mentioned condition 5).Once detecting balance car
Wheel occur dallying and when idle speed is more than idle speed threshold value, the wheel for controlling balance car shuts down, and improves flat
The security performance of weighing apparatus vehicle.
Balance car is additionally provided with temperature sensor, for detecting the temperature of in-vehicle device.Specifically, the actuator of balance car
A large amount of heat can be generated during the motion.Actuator overheats and influences the normal work of itself in order to prevent, in this implementation
In example, actuator further includes temperature sensor, and temperature sensor can perceive the temperature of stator winding, when temperature is higher than temperature threshold
It when value, can determine whether to meet above-mentioned condition 6).Once detecting that the vehicle interior temperature of balance car is greater than temperature threshold, balance car is controlled
Wheel shuts down, and avoids the excessively high damage caused by actuator of temperature.
Balance car is additionally provided with attitude transducer, is able to detect tilt angle/pitch angle of balance car car body.Work as car body
In inclination/pitch attitude and when inclination/pitching angle is more than security standpoint (i.e. angle threshold), it can determine whether to meet above-mentioned item
Part 7).For example, attitude transducer can perceive when the pitch angle or side tilt angle of car body are greater than 45 °, it is flat by controlling
The wheel of weighing apparatus vehicle shuts down and balance car is made to enter a safe mode, and overturning rear wheel is avoided to continue to fly to turn.
In one embodiment, above-mentioned duration threshold value, threshold speed, distance threshold, idle speed threshold value, temperature threshold
And/or angle threshold can be automatically determined according to the operation data of acquisition.For example, the speed of service in operation data is bigger, then
Duration threshold value, threshold speed and/or the distance threshold accordingly automatically determined is relatively large.
In one embodiment, alarm release condition includes the combination of one or more of the following conditions:
1), the duration that the wheel of balance car shuts down is more than the second delay threshold；
2), car body side tilt angle/pitch angle of balance car is in second angle threshold range；
3), balance car has loaded state from becoming before alarm without loaded state；
4), balance car has loaded state to become no loaded state from before alarm.
I.e. in an alarm state, control wheel can not operate wheel duration out of service, the delay for turning wheel delay
Duration.One boundary value of the duration that the second delay threshold shuts down as wheel, such as 5 seconds.It shuts down when wheel
When duration is more than the second delay threshold, reach alarm release condition 1), the alarm condition of balance car is released, alarm condition is released
Afterwards, balance car enters standby mode.Wherein, the second delay threshold should be distinguished with the first delay threshold, and the first delay threshold is made
To judge whether the standard for reaching operating condition, the first delay threshold is greater than the second delay threshold.
Balance car is provided with attitude transducer, is able to detect tilt angle/pitch angle of balance car car body.At car body
In inclination/pitch attitude and inclination/pitching angle more than security standpoint from when being decreased in second angle threshold range, judges
Reach alarm release condition 2).For example, 0 degree to 45 degree of second threshold range.User encounters Uneven road when riding, with
After family is got off, car body is surprisingly turned on one's side, and side tilt angle is greater than 45 degree, and balance car enters alarm condition, and control wheel shuts down.When
When user is car body righting, i.e., when detecting that side tilt angle is within the scope of 0 degree to 45 degree, judgement reaches alarm release condition
2) alarm condition of balance car, is released.After releasing alarm condition, balance car enters standby mode.Wherein, second angle threshold value model
Enclosing should distinguish with first angle threshold range, first angle threshold range as the standard for judging whether to reach operating condition,
It can be different from second angle threshold value according to practical situations.
When the state of balance car changes relative to the loaded state before alarm, for example, from before alarm without carrying shape
State becomes having loaded state, or from the alarm shape for when having loaded state to become no loaded state, releasing balance car before alarm
State, after releasing alarm condition, balance car enters standby mode.
In another embodiment, operating condition includes the combination of one or more of the following conditions:
1), balance car becomes having loaded state from no loaded state；
2), side tilt angle/pitch angle of car body is in first angle threshold range；
3), in-vehicle device temperature is within the scope of temperature threshold；
4), cell voltage is within the scope of voltage threshold；
5), the time that wheel shuts down is within the scope of the first delay threshold.
Wherein, balance car can detect whether its loaded state changes.When detecting that subscriber station is on balance car, put down
Carrying information can be had carrying information from without carrying information update according to testing result by weighing apparatus vehicle.When balance car is releasing alarm
Afterwards, become having loaded state from no loaded state, can determine whether to meet above-mentioned condition 1).For example, when the foot-operated biography of balance car
When sensor detects pressure information, then judgement meets above-mentioned condition 1).
Balance car is provided with attitude transducer, is able to detect tilt angle/pitch angle of balance car car body.At car body
In inclination/pitch attitude and when inclination/pitching angle is in first angle threshold range, judgement reaches alarm release condition
2).For example, 0 degree to 45 degree of first threshold range.For example, car body enters acceleration mode when car body turns forward, then reach fortune
Turn condition 2), control the wheel operating of balance car.Wherein, first angle threshold range should be with second angle threshold range area
Point, second angle threshold range, can be according to practical situations, with the as the standard for judging whether to reach alarm release condition
One angle threshold is different.
Balance car is additionally provided with temperature sensor, for detecting the temperature of in-vehicle device.In-vehicle device is in excessively high temperature
Lower operation is easy to cause damage, and when the temperature of in-vehicle device can determine whether to meet above-mentioned condition 3 within the scope of temperature threshold), i.e.,
The temperature of balance in-vehicle device meets operating condition.
The control piece of balance car is also used to detect balance car cell voltage.Balance car runs under excessively high voltage and is easy to lead
Operation is caused, when cell voltage can determine whether to meet above-mentioned condition 4 within the scope of voltage threshold), i.e., the cell voltage of balance car meets
Operating condition.
I.e. in an alarm state, control wheel can not operate wheel duration out of service, the delay for turning wheel delay
Duration, initial time are the time to shut down from control wheel.The duration that first delay threshold shuts down as wheel
One boundary value, such as 10 seconds.When the duration that wheel shuts down is more than the first delay threshold, reach operating condition 5), control
The wheel of balance car processed operates.Wherein, the second delay threshold should be distinguished with the first delay threshold, and the second delay threshold, which is used as, to be sentenced
The disconnected standard for whether reaching alarm release, the first delay threshold are greater than the second delay threshold.
In another embodiment, it includes the one or more of of following manner that control balance car, which generates alarm release information,
Combination:
1) audible alarm for, controlling balance car is closed；
2) the light alarm for, controlling balance car is closed；
3), control balance car issues standby sound prompting；
4) it, issues balance car and issues standby light prompting；
5) wheel for, controlling balance car is free state；
6) wheel for, controlling balance car is braking state；
7), alarm cancelling signal is sent to the control equipment connecting with balance car.
Wherein, the mode for generating alarm release information is corresponding with the mode of warning message is generated, e.g., if generating warning message
Mode be control balance car make a sound alarm, then the mode for generating alarm release information is the sound report for controlling balance car
It is alert to close.Specifically, the buzzer for controlling car body is closed.
In another example generating alarm release letter if the mode for generating warning message is that control balance car issues light alarm
The mode of breath is to control the light alarm closing of balance car.Specifically, the alarm lamp for controlling car body is closed.
In another example if the mode for generating warning message is to send warning message to the control equipment connecting with balance car,
The mode for generating alarm release information is to send alarm cancelling signal to the control equipment connecting with balance car.Specifically, to hand
Machine terminal sends alarm cancelling signal, and user can be appreciated that balance car state by mobile phone, user-friendly.
The mode for generating alarm release information can also be that control balance car issues standby sound prompting or light and mentions
It wakes up, user equilibrium vehicle is reminded to enter standby mode.
The mode for generating alarm release information can also be that control wheel is free state or braking state, for balance
The operating of vehicle wheel provides preparation.
In another embodiment, balance car control method further include: obtain the setting to the operating status of balance car and believe
Breath；Determine that the corresponding status condition of operating status, status condition include alert if, operating condition and releasing according to setting information
Alert if.
Wherein, the monitoring information of balance car at runtime can obtained to the setting information of the operating status of balance car by obtaining
The step of before carry out.Setting information is used to be arranged the condition of operating status.Operating status include operating status, alarm condition and
Standby mode.Wherein, operating status is corresponding with turn condition, and alarm condition is corresponding with alert if, and standby mode and releasing are reported
Alert condition is corresponding.Setting information may include the information that each status condition corresponds to threshold value.With the setting of the alert if of alarm condition
It may include duration threshold value, threshold speed, distance threshold, idle speed threshold value, temperature threshold and angle threshold for information
Deng.It may include first angle threshold range by taking the setting information of the operating condition of operating status as an example, temperature threshold range,
Voltage threshold range and the first delay threshold range etc..It, can be with by taking the setting information of the releasing alert if of standby mode as an example
Including the second delay threshold and second angle threshold range etc..
After balance car gets the setting information, threshold information therein or condition can recognize, according to the threshold identified
Value information or condition determine the corresponding status condition of corresponding each operating status.By the way that status bar is arranged according to setting information
Part is, it can be achieved that the diversity that status condition is arranged.
In another embodiment, the setting information to the operating status of balance car is obtained, comprising: by balance car
Input unit obtains the setting information to the operating status of balance car；Or receiving balance vehicle connection control equipment send to put down
The setting information of the operating status of weighing apparatus vehicle.
Wherein, there can be input unit on balance car, user can input on the input unit to the condition of shutting down
Setting information.Optionally, which can be believed by the setting that the operations such as some Operation switches, vehicle body attitude movement generate
Breath.
In one embodiment, balance car can be also attached by preset connection type and other electronic equipments, with
Corresponding electronic equipment is received to the control instruction of the balance car or setting information etc., so as to pass through electronic equipment realization pair
The control of balance car.The electronic equipment connecting with balance car is the control equipment of balance car.Wherein, which can be
Pass through bluetooth connection, Wireless Fidelity (Wireless Fidelity, WiFi) connection or wireless near field communication (Near Field
Communication, NFC) etc. radio connections, or can be also the wired connection side that is connected by corresponding data line
Formula.Control instruction or setting information that control equipment is sent to balance car etc. can be by preset computer applied algorithms
(Application, APP) and realize.
Optionally, user can input the setting information to status condition on an electronic device, and passing through corresponding APP will
The setting information is sent to balance car.Balance car can receive the control equipment transmission setting information, according to the setting information come
The status condition of balance car is set.Setting information is sent by control equipment, or is obtained by the input unit on balance car
Setting information is taken, the convenience to the condition setting that shuts down on balance car can be improved.
For example, user when riding, encounters Uneven road, after user gets off, car body is also surprisingly turned on one's side, at this time monitoring letter
Include side tilt angle in breath more than security standpoint threshold value, then enter alarm condition, controls the wheel stopping movement of balance car, car body
Issue sound-light alarm.
Monitoring information of the balance car after alarm is obtained, after reaching 5 seconds such as time that the wheel of balance car shuts down, then
Reach alarm conditions to release, control sound-light alarm is eliminated, and indicator light becomes green, and condition is restarted in waiting.
The monitoring information after alarm is eliminated is obtained, in this case such as user, car body righting, foot tramples pedal
On, then the monitoring information obtained includes that balance car becomes having loaded state from no loaded state, the car body side tilt angle of balance car
In first angle threshold range, then the wheel for controlling balance car starts running, normal equilibrium of entering again operating mode.
Using this method, by accurately perceiving posture and various signal condition of the car body after alarm, enter in balance car
After alarm condition, it is not necessary that under conditions of additional key interactive operation, car body can automatically reply normal mode of operation, enormously simplify
Restart process, improves the smooth degree of user experience.Movement and switching on and shutting down operation, entire car body are frequently restarted due to avoiding
Switching on and shutting down number tails off, and reduces electrical system damage because of caused by rush of current caused by switching on and shutting down.
It should be understood that although each step in the flow chart of Fig. 1 and Fig. 4 is successively shown according to the instruction of arrow,
But these steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly state otherwise herein, these
There is no stringent sequences to limit for the execution of step, these steps can execute in other order.Moreover, Fig. 1 and Fig. 4 are extremely
Few a part of step may include that perhaps these sub-steps of multiple stages or stage are not necessarily same to multiple sub-steps
Moment executes completion, but can execute at different times, and the execution sequence in these sub-steps or stage is also not necessarily
It successively carries out, but in turn or can be handed over at least part of the sub-step or stage of other steps or other steps
Alternately execute.
In one embodiment, as shown in figure 5, providing a kind of balance truck control device, comprising:
Monitoring information obtains module 502, for obtaining the monitoring information of balance car at runtime；
Control module 504 is operated, for monitoring information when according to operation, determines that control is flat when meeting alert if
The wheel of weighing apparatus vehicle shuts down 506；
Monitoring information obtains module 508, is also used to obtain monitoring information of the balance car after shutting down；
Control module 510 is operated, monitoring information after according to shutting down is also used to, determines after meeting operating condition,
Control the wheel operating of balance car.
Above-mentioned balance truck control device, by determining and meeting alarm when the monitoring information according to balance car at runtime
When condition, the wheel for controlling balance car shuts down, and stops balance car, prevents balance car from walking in dangerous scene, when
According to the monitoring information after shutting down, determine after meeting operating postcondition, control the wheel operation of balance car, make balance car after
It continuing away, this method only controls wheel and shuts down, do not close power supply to car body when balance car is in dangerous scene,
And after shutting down, meet the wheel operating that operating condition then controls balance car, the process that entire car body restores walking is not necessarily to
Switching on and shutting down operation is carried out, injury of the rush of current to balance car caused by frequent switching on and shutting down operate is avoided.
In another embodiment, balance truck control device further include alarm control module, for when according to operation when
Monitoring information determines that control balance car generates warning message when meeting alert if.
In another embodiment, monitoring information obtains module, is also used to obtain monitoring information of the balance car after alarm.
Alarm control module is also used to monitoring information after according to alarm, when determination meets alarm release condition, generates
Alarm release information.
Monitoring information module, specifically for obtaining monitoring information of the balance car after alarm release.
Using the device, by accurately perceiving posture and various signal condition of the car body after alarm, enter in balance car
After alarm condition, it is not necessary that under conditions of additional key interactive operation, car body can automatically reply normal mode of operation, enormously simplify
Restart process, improves the smooth degree of user experience.Movement and switching on and shutting down operation, entire car body are frequently restarted due to avoiding
Switching on and shutting down number tails off, and reduces electrical system damage because of caused by rush of current caused by switching on and shutting down.
The division of modules is only used for for example, in other embodiments, can incite somebody to action in above-mentioned balance truck control device
Balance truck control device is divided into different modules as required, to complete all or part of function of above-mentioned balance truck control device
Energy.
Specific about balance truck control device limits the restriction that may refer to above for balance car control method,
This is repeated no more.Modules in above-mentioned balance truck control device can come fully or partially through software, hardware and combinations thereof
It realizes.Above-mentioned each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also be with software
Form is stored in the memory in computer equipment, executes the corresponding operation of the above modules in order to which processor calls.
Realizing for the modules in balance truck control device provided in the embodiment of the present application can be computer program
Form.The computer program can be run on balance car, mobile terminal or server.The program module that the computer program is constituted
It is storable on the memory of terminal or server.When the computer program is executed by processor, realize in the embodiment of the present application
The step of described method.
The embodiment of the present application also provides a kind of computer readable storage mediums.One or more is executable comprising computer
The non-volatile computer readable storage medium storing program for executing of instruction, when computer executable instructions are executed by one or more processors,
So that processor executes the step of balance car control method described in the application any embodiment.
A kind of computer program product comprising instruction, when run on a computer, so that computer executes this Shen
It please balance car control method described in any embodiment.
In one embodiment, a kind of balance car is provided, which includes car body, which includes:
It is used to support the bearing assembly of car body；For travelling and running the walking mechanism of car body；For according to bearing assembly
Loaded state control walking mechanism operation, to realize the control assembly of the self-balancing of car body；With for mentioning for control assembly
For the power supply unit of electric energy；Control assembly includes memory and processor, and computer program, computer journey are stored in memory
When sequence is executed by processor, so that the step of processor executes balance car control method described in the application any embodiment.
In one embodiment, as shown in Fig. 3 and Fig. 6~Fig. 9, the self-balancing vehicle of an embodiment includes two vehicles
Body 10, car body 10 is used to be arranged in a one-to-one correspondence with the both feet of user, that is, a car body 10 is used to correspond to the left foot of user, separately
One car body 10 is used to correspond to the right crus of diaphragm of user.In the present embodiment, the structure of two car bodies 10 is essentially identical, below just with
For one of car body 10, the structure of car body 10 is specifically introduced.
Car body 10 includes bearing assembly 100, walking mechanism 200, control assembly 300 and power supply unit 400, bearing assembly
100 are used as main support construction, and walking mechanism 200, control assembly 300 and power supply unit 400 are installed in bearing assembly
On 100, control assembly 300 can control the state of walking mechanism 200 according to the state of bearing assembly 100, to realize car body 10
Self-balancing, power supply unit 400 can provide electric energy for control assembly 300.
In one embodiment, bearing assembly 100 is the double-layer structure fastened up and down, including vehicle frame 110 and foot pedal 120, vehicle
Frame 110 is hollow structure, and vehicle frame 110 connect to form cavity 102 with foot pedal 120.Walking mechanism 200 includes wheel 210 and drives
Moving part 220, wheel 210 are set to side of the vehicle frame 110 far from foot pedal 120, and between foot pedal 120 and ground, driving
Part 220 can drive wheel 210 to rotate relative to vehicle frame 110.
Specifically, the side that vehicle frame 110 is connect with wheel 210 forms groove 112 towards the recess of foot pedal 120, at this point, vehicle
The longitudinal cross-section of frame 110 in the longitudinal direction be it is W-shaped, cavity 102 is also divided into former and later two interconnected chambers.Wheel
210 part-structure is accommodated in groove 112, to reduce the spacing between wheel 210 and foot pedal 120, so as to reduce vehicle
The whole height of body 10, improves the stability of car body 10.Moreover, the minimum point of the inner wall of two chambers is most lower than wheel 210
High point.
In other embodiments, bearing assembly 100 is interior outer double-layer structure, including main body framework and shell, main body framework by
Metal material is made, and is mainly used for installing walking mechanism 200, control assembly 300, power supply unit 400 etc..Shell is set to main body
The outside of skeleton, mainly plays protection and decorative effect.Shell can be integrated formed structure, be mounted on main body framework from the bottom to top
On.Shell also may include multiple portions, for example be separately mounted to the superstructure and substructure of main body framework or more two sides,
Alternatively, being separately mounted to the front portion structure and rear structure of main body framework front and rear sides, front portion structure is set respectively with rear structure
It sets in the front and rear sides etc. of walking mechanism 200.
Vehicle frame 110 is additionally provided with handle slot 104 far from the side of foot pedal 120, in order to which user takes car body 10.
Foot pedal 120 is used to trample for single foot of user, and can be for area that user stands and user on foot pedal 120
Single foot size match.The geometric center of the projection of the geometric center of foot pedal 120 on the ground and wheel 210 is on ground
On projection be overlapped, to guarantee in the state of the equilibrium, the center of gravity of user can improve car body 10 by the touchdown point of wheel 210
Stability when operation.
Bearing assembly 100 further includes non-slip mat 130, and one of foot pedal 120 far from wheel 120 is arranged in non-slip mat 130
Face, non-slip mat 130 are made of materials such as sand paper, rubber or silica gel, are capable of increasing its frictional force between user foot, thus
User's energy band motor vehicles bodies 10 make the go to action using leg as axis, or the tilting actions such as lean forward, swing back.In the present embodiment
In, non-slip mat 130 can be continuous overall structure, be also segmented into muti-piece, be intervally arranged on foot pedal 120.At other
In embodiment, non-slip mat 130 also be can be omitted.
In the present embodiment, wheel 210 includes the tire for contacting ground and the wheel hub with matching of tyre setting, tire
For solid tyre structure, tire is equipped with one or more, when tire is equipped with it is multiple when, multiple tires are arranged at intervals on a wheel hub
On.It is mentioned here multiple to be more than or equal to two.
In this embodiment, wheel 210 and actuator 220 are equipped with one, and the two is integrated into hub motor.Extremely such as Figure 10
Shown in Figure 12, actuator 220 is three-phase windings brushless motor, including central axis 230, stator 240, rotor 250 and hall sensing
Device 260, central axis 230, stator 240 and rotor 250 are coaxially disposed, and wheel 210 is connect with rotor 250,250 energy band motor-car of rotor
Wheel 210 is rotated relative to stator 240.Hall sensor 260 is connect with central axis 230, and Hall sensor 260 is for perceiving rotor
250 commutation position, control assembly 300 can realize the continuous rotation of rotor 250 according to the testing result of Hall sensor 260.
In other embodiments, actuator 220 can also be connect by transmission components such as gear pairs with wheel 210.
For the actuator 220 of the present embodiment, rotor 250 outside, including stator 240.Stator 240 includes stator
Iron core 242 and stator winding, stator winding are arranged on stator core 242, and the copper wire of stator winding is for generating magnetic drive
Rotor 250 rotates, and draws the phase line that three tunnels are in star-like connection, and three tunnel phase lines are respectively U phase line, V phase line and W phase line.Hall
Sensor 260 includes three Hall chips 262 corresponding with three tunnel phase lines, is detected corresponding to three Hall chips 262
Signal difference a-signal, B signal and C signal, every road signal be indicated using binary number 0 or 1.Under normal circumstances, no
It will appear 000 and 111 combined result, therefore, the combined result one of a-signal, B signal and C signal shares 6 kinds, every kind of combination
As a result all physical location of respective rotor 250.The physical location information of rotor 250 is sent to control by Hall sensor 260
After component 300 processed, control assembly 300 can change the current direction in stator winding, to realize the continuous rotation of rotor 250.
The hall signal detected by Hall sensor 260, controller 320 can perceive the distance of the rotation of wheel 210
Information and velocity information under guaranteeing that car body 10 is in a safe condition, for example can prevent 10 car slipping of car body, the meaning of car slipping,
Refer in user not when on car body 10, because of the road of the original velocity inertia of car body 10, jiggly center of gravity or out-of-flatness
Face etc. is caused in the case where nobody manipulates, and car body 10 is still travelled with certain speed.
In one embodiment, the distance between the highest point on car body 10 and ground are more than or equal to contacting to earth for wheel 210
Width, specifically, the distance between highest point and ground on car body 10 and the ratio of the width that contacts to earth of wheel 210 are less than 6:1,
Wherein, the width that contacts to earth of wheel 210 refers to two of lie farthest away in multiple conllinear intersection points between wheel 210 and ground
The distance between intersection point.
For car body 10, height is smaller, and the axial dimension of wheel 210 is larger, so that user is after getting off, car body
10 still can automatically keep balance, will not swaying style.
In the present embodiment, the width that contacts to earth of wheel 210 is more than or equal to the diameter of wheel 210, specifically, wheel 210
The ratio of diameter of width and wheel 210 of contacting to earth is 1-2.
Fig. 8 and Figure 13 is please referred to, control assembly 300 includes attitude transducer 310 and controller 320, attitude transducer 310
It is able to detect the tilt angle of vehicle frame 110, controller 320 is connect with actuator 220, and controller 320 can be according to attitude transducer
The revolving speed of 310 testing result control actuator 220.Specifically, attitude transducer 310 includes gyroscope 312 and accelerometer
314, itself absolute angle relative to gravity, that is, the appearance of vehicle frame 110 can be obtained in real time under dynamic and static state
State angle, controller 320 just can make actuator 220 show motion state corresponding with the attitude angle of vehicle frame 110.
For example, attitude transducer 310 can perceive the angle that vehicle frame 110 leans forward when user drives vehicle frame 110 to lean forward, control
Device 320 just can control actuator 220 and rotate in the forward direction according to the angle to lean forward, so that car body 10 completes the movement advanced, and
The angle to lean forward is bigger, and the revolving speed of actuator 220 is bigger, and the speed that car body 10 advances is faster.User drives vehicle frame 110 to swing back
When, actuator 220 can reversely rotate, so that car body 10 retreats, and the angle swung back is bigger, and the speed that car body 10 retreats is got over
Fastly.
In the present embodiment, attitude transducer 310 and controller 320 are integrated on a circuit board, and the circuit board holds
It is placed in cavity 102.It is appreciated that in other embodiments, attitude transducer 310 can also be arranged apart with controller 320,
Attitude transducer 310 can also be arranged at the other positions of vehicle frame 110, and controller 320 can also be arranged in walking mechanism 200
On.
Figure 14 is please combined together, and control assembly 300 further includes foot-operated sensor 332, rides the setting of sensor 332 foot-operated
On plate 120, specific in the present embodiment, foot-operated sensor 332 is between foot pedal 120 and non-slip mat 130.Foot-operated sensor
332, for judging whether car body 10 is manned and perceiving the weight of carrying, can be optoelectronic switch, pressure sensor, film
Switch or mechanical collision switch.In order to improve the accuracy of detection, there are two foot-operated sensor 332 is set, foot pedal is respectively set
Correspond to the place of tiptoe and heel on 120.In other embodiments, can also be only arranged by riding sensor 332 by one, by it
It is arranged in the medium position of foot pedal 120.
In other embodiments, as shown in Figure 15 and Figure 16, control assembly 300 further includes foil gauge 334, foil gauge 334
For perceiving the variation of load.
Specifically, in this embodiment, bearing assembly 100 further includes the first supporting block 106 and the second supporting block 108, and
One supporting block 106 is located in cavity 102, and connect with the inner wall of vehicle frame 110.It is close that second supporting block 108 is set to foot pedal 120
The side of wheel 210, the second supporting block 108 are abutted with the first supporting block 106.First supporting block 106 is equipped with multiple, interval point
In vehicle frame 110, the second supporting block 108 is arranged in a one-to-one correspondence cloth with the first supporting block 106.Between foot pedal 120 and vehicle frame 110
Equipped with gap, so that the first supporting block 106 has played main load.
Foil gauge 334 is mounted on the central area of bearing assembly 100, and specifically, foil gauge 334 can be set in cavity
On 102 inner wall extended along the longitudinal direction, and it is located at the middle position of the inner wall, and close to foot pedal 120, can also sets
It sets at the medium position of foot pedal 120.Foil gauge 334 is connected with the amplifying circuit of signal arrangement, by having to car body 10
The miniature deformation of stress is perceived under loaded-up condition, amplifies by the arrangement of signal, initial weak voltage signals are become
Identifiable load signal shows that car body 10 is in manned state if load signal is more than preset threshold value.
When car body 10 is manned, the first supporting block 106 will receive biggish pressure, and between foot pedal 120 and vehicle frame 110
There are gaps, so, loading the pressure along the vertical direction being applied on car body 10 can be converted on 10 front-rear direction of car body
Drawing force, either vehicle frame 110, all can be by preceding close to the side of foot pedal 120 or the intermediate position of foot pedal 120 itself
Afterwards the drawing force of two sides and deformation occurs, foil gauge 334 can perceive the drawing force, to judge to have carried on car body 10
People.
Meanwhile the load signal exported by foil gauge 334, additionally it is possible to identify that user is adult or children.And
And the weight information perceived by the foil gauge 334 on two car bodies 10 of comparison, it can judge that the center of gravity of user is placed on
On single foot or both feet.When the center of gravity that user is children or user is placed on single foot, car body 10 is able to enter limited performance
Safe mode, for example, equilibrium response is slack-off, maximum speed reduces, limitation electric current etc..
It is noted that the load signal that foil gauge 334 exports is analog signal, so foil gauge 334 can identify
The consecutive variations of load out, so that controller 320 adjusts the state of car body 10 according to the variation of load in real time.And due to tool
The car body of self-balancing, if car body is easy to automatically speed up on the slope without shutting down in time, is hit after user gets off
Hit other objects.So when foil gauge 334 perceive car body 10 it is not manned when, controller 320 can issue control wheel 210
To avoid 10 car slipping of car body, the instruction that controller 320 issues includes following several schemes for the instruction to shut down: when being more than default
Between after, controller 320 control wheel 210 shut down, preset time can be designed as 1 second；The revolving speed of wheel 210 is more than default
Threshold value, controller 320 control wheel 210 and shut down, and preset threshold can be 5km/h；The distance of 10 car slipping of car body is more than pre-
If distance, controller 320 controls wheel 210 and shuts down, and pre-determined distance can be 1m.Wheel 210 mentioned here stops fortune
Turn, can be and run out of steam, free parking is also possible to actuator 220 and locks completely, braking state is presented.
It is understood that car body 10 may include any one in foot-operated sensor 332 and 334 the two of foil gauge,
Foot-operated sensor 332 and foil gauge 334 can also be set simultaneously.
Certainly, in not foot-operated sensor 332 or foil gauge 334, car body 10 can also be made to answer by other means
To whether manned situation.
Specifically, when car body 10 is switched on for the first time, actuator 220 will not be directly initiated.Car body 10 can be by arbitrarily
It is placed on the ground, foot pedal 120 is in heeling condition at this time, has side that can contact ground.When user is for the first time by foot pedal
When 120 rightings to horizontal position, attitude transducer 310 can perceive the angle change of foot pedal 120, and trigger car body 10
Starting operation, hereafter controller 320 controls car body 10 into normal self-balancing state.Under this control model, under user
Che Hou, car body 10 still will continue to keep balance due to that can not identify that user has got off.
After dead ship condition is standby or original place floating state is more than preset time, such as ten minutes, 320 meeting of controller
Power supply is closed, car body 10 enters off-mode, until user is switched on next time.In this way, being also avoided that due to user forgets shutdown
Caused by electricity waste, improve convenience.
Any reference to memory, storage, database or other media used in this application may include non-volatile
And/or volatile memory.Nonvolatile memory may include that read-only memory (ROM), programming ROM (PROM), electricity can be compiled
Journey ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include random access memory
(RAM), it is used as external cache.By way of illustration and not limitation, RAM is available in many forms, such as static state RAM
(SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDR SDRAM), enhanced SDRAM
(ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) directly RAM (RDRAM), straight
Connect memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM).
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
Only several embodiments of the present invention are expressed for above embodiments, and the description thereof is more specific and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from present inventive concept, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.
Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (11)
1. a kind of balance car control method, runs on the controller of balance car, comprising:
Obtain the monitoring information of balance car at runtime；
Monitoring information when according to the operation determines that the wheel for controlling the balance car stops fortune when meeting alert if
Turn；
Obtain monitoring information of the balance car after shutting down；
Monitoring information after according to shutting down, determines after meeting operating condition, controls the wheel operating of the balance car.
2. the method according to claim 1, wherein monitoring information when according to the operation, determines
When meeting alert if, control balance car generates warning message.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
Obtain monitoring information of the balance car after alarm；
Monitoring information after according to the alarm when determination meets alarm release condition, controls the balance car and generates alarm
Release information；
Obtain monitoring information of the balance car after shutting down, comprising: obtain prison of the balance car after alarm release
Measurement information.
4. the method according to claim 1, wherein the alert if includes one of the following conditions or several
The combination of kind:
The balance car is at runtime from there is loaded state to become no loaded state；
The balance car is in the operation duration without loaded state more than duration threshold value, and the initial time of operation duration is carrying letter
Breath is from the time of having loaded state to become no loaded state；
It is indicated after thering is loaded state to become no loaded state in carrying information, the speed of the balance car is more than threshold speed；
Indicated after thering is loaded state to become no loaded state in carrying information, the range ability of the balance car be more than it is default away from
From threshold value；
The wheel spin and idle speed of the balance car are more than idle speed threshold value at runtime；
The in-vehicle device temperature of the balance car is more than temperature threshold at runtime；
Side tilt angle/pitch angle of the car body of the balance car is more than security standpoint threshold value at runtime.
5. according to claim 1 or the method, which is characterized in that the operating condition include one of the following conditions or
Several combinations:
The balance car becomes having loaded state from no loaded state；
Car body side tilt angle/pitch angle of the balance car is in first angle threshold range；
The in-vehicle device temperature of the balance car is within the scope of temperature threshold；
The voltage of the battery of the balance car is within the scope of voltage threshold；
The time that the wheel of the balance car shuts down is within the scope of the first delay threshold.
6. according to the method described in claim 3, it is characterized in that, the alarm release condition includes one of the following conditions
Or several combination:
The duration that the wheel of the balance car shuts down is more than the second delay threshold；
Car body side tilt angle/pitch angle of the balance car is in second angle threshold range；
The balance car has loaded state from becoming before alarm without loaded state；
Balance car has loaded state to become no loaded state from before alarm.
7. according to the method described in claim 2, it is characterized in that, it includes with lower section that the control balance car, which generates warning message,
One or more of combinations of formula:
It controls the balance car and makes a sound alarm；
It controls the balance car and issues light alarm；
Control the balance car car body shake；
Alarm signal is sent to the control equipment connecting with the balance car.
8. according to the method described in claim 3, it is characterized in that, control the balance car generate alarm release information include with
One or more of combinations of under type:
The audible alarm for controlling the balance car is closed；
The light alarm for controlling the balance car is closed；
It controls the balance car and issues standby sound prompting；
It issues the balance car and issues standby light prompting；
The wheel for controlling the balance car is free state；
The wheel for controlling the balance car is braking state；
Alarm cancelling signal is sent to the control equipment connecting with the balance car.
9. a kind of balance truck control device, comprising:
Monitoring information obtains module, for obtaining the monitoring information of balance car at runtime；
Control module is operated, for monitoring information when according to the operation, determines that control is described flat when meeting alert if
The wheel of weighing apparatus vehicle shuts down；
The monitoring information obtains module, is also used to obtain monitoring information of the balance car after shutting down；
The operating control module is also used to monitoring information after according to shutting down, determines after meeting operating condition, control
The wheel of balance car operates.
10. a kind of balance car, including car body, the car body include:
It is used to support the bearing assembly of the car body；
For travelling and running the walking mechanism of the car body；
For controlling the operation of the walking mechanism according to the loaded state of the bearing assembly, to realize the certainly flat of the car body
The control assembly of weighing apparatus；With
For providing the power supply unit of electric energy for control assembly；
The control assembly includes memory and processor, and computer program, the computer journey are stored in the memory
When sequence is executed by the processor, so that the processor executes balance car described in any item of the claim 1 to 8 such as and controls
The step of method.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
It realizes when being executed by processor such as the step of balance car control method described in any item of the claim 1 to 8.
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|---|---|---|---|
| CN201810747207.3A CN109018170B (en) | 2018-07-09 | 2018-07-09 | Balance car control method and device, balance car and storage medium |
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| CN201810747207.3A CN109018170B (en) | 2018-07-09 | 2018-07-09 | Balance car control method and device, balance car and storage medium |
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| CN109018170A true CN109018170A (en) | 2018-12-18 |
| CN109018170B CN109018170B (en) | 2020-04-28 |
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| CN111891275A (en) * | 2020-07-21 | 2020-11-06 | 深圳乐行天下科技有限公司 | Balance car safety control method and device |
| CN112394655A (en) * | 2019-08-01 | 2021-02-23 | 纳恩博（北京）科技有限公司 | Balance car, method for controlling balance car and storage medium |
| CN113619716A (en) * | 2021-09-15 | 2021-11-09 | 浙江普瑞圣工贸有限公司 | Motion control method of intelligent interactive balance car |
| CN113858964A (en) * | 2020-06-29 | 2021-12-31 | 纳恩博（常州）科技有限公司 | Vehicle control method and device, vehicle and computer storage medium |
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