CN109278914A - Balance mobile device and its control method, storage medium and electric terminal - Google Patents
Balance mobile device and its control method, storage medium and electric terminal Download PDFInfo
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- CN109278914A CN109278914A CN201811087792.5A CN201811087792A CN109278914A CN 109278914 A CN109278914 A CN 109278914A CN 201811087792 A CN201811087792 A CN 201811087792A CN 109278914 A CN109278914 A CN 109278914A
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- Prior art keywords
- mobile device
- balance mobile
- balance
- brake
- brake unit
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Classifications
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- 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
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L1/00—Brakes; Arrangements thereof
Abstract
The present invention provides balance mobile device and its control method, storage medium and electric terminal, the balance mobile device not only has the function of mobile and self-balancing, it is additionally provided with the brake unit that braking task is executed when being triggered, so as to realize the dynamic stability and steady stability that maintain device.Therefore, which increases second balanced protection device, is capable of handling similar to situations such as emergency brake or steady stabilities on the basis of existing electrodynamic balance vehicle, thus more intelligent.
Description
Technical field
The present invention relates to smart machine field, more particularly to balance mobile device and its control method, storage medium and
Electric terminal.
Background technique
For electrodynamic balance vehicle because of its small volume, it is novel convenient to manipulate, and is increasingly liked by young man.Currently a popular
Electrodynamic balance vehicle is to manipulate based on rod-type electrodynamic balance vehicle, using the gyroscope and acceleration transducer of vehicle body, to detect
The variation of vehicle body attitude, and servo-control system is utilized, accurately driving motor is adjusted correspondingly, to keep the flat of system
Weighing apparatus.But electrodynamic balance vehicle is only used as walking-replacing tool, and function is more limited to, and carries out multifunctional development on the basis of electrodynamic balance vehicle
When, it may occur that therefore how the problem of gravity center instability causes car body to overturn due to external force is larger reinforces the certainly flat of electrodynamic balance vehicle
Weighing apparatus, still has to be solved.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide balance mobile device and its controlling parties
Method, storage medium and electric terminal, for solve the problems, such as in the prior art electrodynamic balance vehicle by larger external force gravity center instability.
In order to achieve the above objects and other related objects, the present invention provides a kind of balance mobile device comprising: braking is single
Member, for braking the balance mobile device；Control unit is electrically connected the brake unit, for meeting default touching
The brake unit is triggered when clockwork spring part and executes braking task, to brake the balance mobile device by the brake unit；
Wherein, the preset trigger condition include the balance mobile device be in it is non-moving during static labile state and/or
Dynamic labile state in moving process.
In one embodiment of the invention, the dynamic labile state includes emergency braking condition；The static unstable shape
State includes the labile state generated due to by external force or generates because of the contained movable loading of the balance mobile device
Labile state.
In one embodiment of the invention, the balance mobile device includes: posture detecting unit, described in electric connection
Control unit, the attitude data and movement tendency data for detecting and sending the balance mobile device are single to the control
Member；Wherein, the posture detecting unit includes gyroscope and accelerometer.
In one embodiment of the invention, described control unit is according to the attitude data and the judgement of movement tendency data
When the balance mobile device is in non-moving state and posture shakiness, triggers the brake unit and execute braking task, with logical
Cross balance mobile device described in the brake unit static brake.
In one embodiment of the invention, described control unit is according to the attitude data and the judgement of movement tendency data
When the balance mobile device is in moving condition and posture shakiness, triggers the brake unit and execute braking task, to pass through
Balance mobile device described in the brake unit dynamic brake.
In one embodiment of the invention, the balance mobile device includes: environmental detection unit, described in electric connection
Control unit, for detecting and sending the ambient data of the balance mobile device to described control unit；Wherein, described
Control unit is judged according to the ambient data between the barrier on balance mobile device on the move and movement routine
Distance do not meet default safe distance when in the emergency braking condition, trigger the brake unit and execute braking and appoint
Business, to pass through balance mobile device described in the brake unit emergency braking.
In one embodiment of the invention, the environmental detection unit includes: image recognition sensor, speech recognition sensing
In device, laser radar sensor, infrared sensor of the human body, electricity induction detecting element, binocular camera or ultrasonic sensor
Any one or more combinations.
In one embodiment of the invention, the brake unit includes electric expansion part；The electric retractable part not by
Contraction state is in when triggering, plane is where extending to the balance mobile device in a triggered to brake the device.
In one embodiment of the invention, the electric expansion part includes at least one and the balance mobile device place
The pulley of planar slide contact.
In order to achieve the above objects and other related objects, the present invention provides a kind of controlling party suitable for balance mobile device
Method comprising: judge whether balance mobile device meets preset trigger condition；If meeting preset trigger condition, described in triggering
The brake unit of balance mobile device, to brake the balance mobile device by the brake unit；Wherein, the default touching
Clockwork spring part includes the balance mobile device in the dynamic labile state in moving process and/or during non-moving
Static labile state.
In order to achieve the above objects and other related objects, the present invention provides a kind of computer readable storage medium, deposits thereon
Computer program is contained, the controlling party for being suitable for balance mobile device is realized when the computer program is executed by processor
Method.
In order to achieve the above objects and other related objects, the present invention provides a kind of electric terminal comprising reason device, memory
And transceiver；The transceiver with external device communication for connecting, and the memory is for storing computer program, the place
Reason device is used to execute the computer program of the memory storage, so that electric terminal execution is described to be suitable for balanced sequence
The control method of device.
As described above, balance mobile device provided by the invention and its control method, storage medium and electric terminal, have
Below the utility model has the advantages that the balance mobile device not only has the function of mobile and self-balancing, it is additionally provided with execution when being triggered
The brake unit of braking task, so as to realize the dynamic stability and steady stability that maintain device.Therefore, the invention is existing
On the basis of electrodynamic balance vehicle, second balanced protection device is increased, is capable of handling steady similar to emergency brake or static state
The situations such as fixed, thus it is more intelligent.
Detailed description of the invention
Fig. 1 a is shown as the structural schematic diagram of balance mobile device in one embodiment of the invention.
Fig. 1 b is shown as the structural schematic diagram of balance mobile device in one embodiment of the invention.
Fig. 2 is shown as the flow diagram in one embodiment of the invention suitable for the control method of balance mobile device.
Fig. 3 is shown as the schematic diagram of the control system of balance mobile device in one embodiment of the invention.
Fig. 4 is shown as the structural schematic diagram of electric terminal in one embodiment of the invention.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be noted that with reference to attached drawing, attached drawing describes several embodiments of the application in described below.It should
Understand, other embodiments also can be used, and mechanical group can be carried out without departing substantially from spirit and scope
At, structure, electrical and operational change.Following detailed description should not be considered limiting, and the application
The range of embodiment only limited by the claims for the patent announced.Term used herein is merely to description is specific
Embodiment, and it is not intended to limit the application.The term of space correlation, for example, "upper", "lower", "left", "right", " following ", " under
Side ", " " lower part ", " top ", " top " etc., can use in the text in order to elements or features shown in explanatory diagram with
The relationship of another elements or features.
Furthermore as used in herein, singular " one ", "one" and "the" are intended to also include plural number shape
Formula, unless there is opposite instruction in context.It will be further understood that term "comprising", " comprising " show that there are the spies
Sign, operation, element, component, project, type, and/or group, but it is not excluded for one or more other features, operation, element, group
Presence, appearance or the addition of part, project, type, and/or group.Term "or" and "and/or" used herein are interpreted as including
Property, or mean any one or any combination.Therefore, " A, B or C " or " A, B and/or C " mean " it is following any one:
A；B；C；A and B；A and C；B and C；A, B and C ".Only when the combination of element, functions or operations is inherently mutual under certain modes
When repulsion, it just will appear the exception of this definition.
The present invention provides balance mobile device and its control method, storage medium and electric terminal, the balanced sequence dress
Setting not only has the function of mobile and self-balancing, is additionally provided with the brake unit that braking task is executed when being triggered, so as to
It realizes the dynamic stability and steady stability for maintaining device, illustrates that the work of technical solution of the present invention is former below in conjunction with embodiment
Reason.
As shown in Fig. 1 a~1b, the structural schematic diagram of balance mobile device in one embodiment of the invention is shown respectively.Wherein,
Fig. 1 a shows that the structural schematic diagram based on forward sight visual angle of the balance mobile device, Fig. 1 b show that the balance is moved
The structural schematic diagram based on backsight visual angle of dynamic device.
In this present embodiment, the type of the balance mobile device is the Self-Balancing vehicle with braking function, so-called from flat
Weighing apparatus vehicle is a kind of by detecting vehicle body attitude variation and being adjusted accordingly using the accurate driving motor of servo-control system to protect
Maintain an equal level the device to weigh.
The balance mobile device includes brake unit 101 and control unit, and the brake unit 101 is described for braking
Balance mobile device, described control unit and the brake unit 101 are electrically connected, for the touching when meeting preset trigger condition
It sends out brake unit 101 described and executes braking task, to brake the balance mobile device by the brake unit 101.
Described control unit example is controller, and the controller for example can be ARM controller, FPGA controller, DSP control
Device, SoC controller, MCU controller or asic processor processed etc..
In one embodiment, the brake unit 101 is electric expansion part, specifically for example, electric pushrod.This is electronic to stretch
Contracting part is in contraction state when not being triggered, in order to avoid the movement of countermeasure set；The electric expansion part is receiving trigger signal
Afterwards then be triggered stretching, extension and drop to ground face contact, thus total with balance mobile device and the moving component of ground touching
With balanced supporting structure is constituted, so that device keeps steadily of centre of gravity without tilting or lodging.
It should be noted that the brake unit 101 and its supporting mechanism can be connected through a screw thread, be welded to connect, bond
The connection types such as connection are connected, are connected together or are interference fitted to be fixed on the balance mobile device.In addition, for convenient for the electricity
Dynamic extensible member extend to ground face contact, can in such a way that the electric expansion part is set to the edge on device chassis, or
The modes such as the hole passed through by setting one on device chassis for electronic extensible member are realized.
Preferably, the brake unit 101 is equipped at least one and contacts with planar slide where the balance mobile device
Pulley 102.The pulley 102 can be connected through a screw thread, be welded to connect, bonding connection, is connected together or is interference fitted connection
Etc. modes be fixedly connected with brake unit 101.In this present embodiment, the advantage for installing pulley 102 is, if brake unit 101
It, can be by means of pulley when accidentally extending to ground during the movement of balance mobile device is somebody's turn to do or shrinking delay
102 sliding function reduces the friction between brake unit 101 and ground, in order to avoid the normally travel of balance mobile device is influenced,
To further ensure the stability of balance mobile device of the invention.
Optionally, the preset trigger condition includes the unstable shape of static state during balance mobile device is in non-moving
State, the static state labile state includes the labile state generated due to by external force when balance mobile device stops mobile, such as is stopped
Only motionless balance mobile device is because of gravity center instability state caused by by external thrust or impact force.The static unstable shape
State further includes the labile state that balance mobile device is generated by the movable loading that it is loaded.
Specifically, the balance mobile device further includes posture detecting unit, for detecting the posture of balance mobile device
Data and movement tendency.The posture detecting unit is electrically connected described control unit, thus the attitude data hair that will test
It send to described control unit.The posture detecting unit includes gyroscope and accelerometer, and three axis tops can be used in the gyroscope
Spiral shell instrument, six axis gyroscopes or nine axis gyroscopes etc., this is not limited by the present invention.
In one embodiment, described control unit is judging the balance according to the attitude data and movement tendency data
When mobile device is in non-moving state and posture shakiness, triggers the brake unit 101 and execute braking task, by described
Balance mobile device described in 101 static brake of brake unit.Specifically, can be with the attitude data of adjacent moment and/or movement
The variable quantity of trend data is as judging the whether stable standard of the posture of the shifting balance device；If the posture of adjacent moment
The variable quantity of data and/or movement tendency data exceed certain threshold value, although variable quantity without departing from threshold value change speed
It spends fastly, then can determine whether that shifting balance device is in the state of posture shakiness.
By taking balance mobile device is mounted with operable mechanical arm as an example, balance mobile device is even at the mobile shape of stopping
State, but may be due to robotic arm manipulation amplitude is larger, rotation amplitude is larger, the article of crawl is fallen suddenly or by external impacts
Cause balance mobile device static unstable.Described control unit receives the attitude data from posture detecting unit, to judge
Whether balance mobile device is in stable state in the quiescent state；If judging, the device plays pendulum, and issues triggering letter
Number to brake unit 101, so that brake unit 101 be enabled to extend to the balance that holding meanss are carried out on ground.
Optionally, the preset trigger condition includes the dynamic instability shape that balance mobile device is in motion process
State, the dynamic instability state is, for example, emergency braking condition.That is, control can be passed through when the device needs emergency brake
It makes the brake apparatus and executes braking task to realize emergency brake.It should be pointed out that the dynamic shakiness shape that the present invention is signified
State includes but is not limited to emergency braking condition.For example, balance mobile device is because center of gravity is not caused by uneven road surface of passing through
Caused by by external impacts situations such as gravity center instability, it is unstable to belong to dynamic of the invention because prominent surely or in driving process
The situation of state, the present invention no longer enumerate one by one.
In one embodiment, described control unit is judging the balance according to the attitude data and movement tendency data
When mobile device is in moving condition and posture shakiness, triggers the brake unit 101 and execute braking task, to pass through the system
Balance mobile device described in 101 dynamic brake of moving cell.Described control unit passes through in general to be read gyroscope and adds
The signal of speedometer calculates the posture and movement tendency of balance mobile device, and calculates drive by built-in balanced algorithm
The desired speed of driving wheel, then by motor driver come driving motor rotation, so that device be made to reach balance.But work as control unit
When detecting balance mobile device in moving process in the possible labile states such as run-off the straight or lodging, just triggering braking is single
Member 101 executes braking task, thus holding meanss dynamic stability.
In one embodiment, the balance mobile device further includes environmental detection unit, for detecting balance mobile device
Ambient data.The environmental detection unit includes image recognition sensor, voice recognition sensor, laser radar sensing
Device, infrared sensor of the human body, electricity induction detecting element, binocular camera or any one or more of group of ultrasonic sensor
It closes.
The environmental detection unit is electrically connected described control unit, thus the environmental data that will test be sent to it is described
Control unit.Described control unit judges on balance mobile device on the move and movement routine according to the ambient data
The distance between barrier do not meet default safe distance when in the emergency braking condition, trigger the brake unit
101 execute braking task, to pass through balance mobile device described in 101 emergency braking of brake unit.
By taking laser radar sensor as an example, balance mobile device and object that the laser radar sensor will test
The distance between body information is sent to control unit.Described control unit receive the range information and judge balance mobile device with
Whether the distance between target object belongs to safe distance, do not met if judging that the device distance objective object is too close safety away from
From requirement, then trigger signal is issued to brake unit 101, so that enabling brake unit 101 extend to ground executes emergency braking
Task.
It should be noted that traditional balance mobile device is usually not provided with brake unit 101, so as to cause the system of device
Although moving ineffective or some balance mobile devices equipped with brake unit 101, needs Manual-pushing that could execute braking and appoint
Business, cause to brake it is not smart enough, it is convenient and in time.Balance mobile device provided by the invention with braking function, Neng Gou
Braking task is executed automatically after receiving trigger signal, can be applied not only to the dynamic of balance mobile device in the process of moving
Stablize, moreover it is possible to the steady stability suitable for non-driving process, thus greatly improve user experience.
As shown in Fig. 2, showing the process signal for the control method for being suitable for balance mobile device in one embodiment of the invention
Figure.In this present embodiment, the control method is applied to controller, and the controller for example can be ARM controller, FPGA control
Device, dsp controller, SoC controller, MCU controller or asic processor processed etc..Specifically, the control method includes
Following each step:
S21: judge whether balance mobile device meets preset trigger condition.
S22: if meeting preset trigger condition, triggering the brake unit of the balance mobile device, to pass through the system
Moving cell brakes the balance mobile device；Wherein, the preset trigger condition include the balance mobile device be in moving
Dynamic labile state during dynamic and/or static labile state during non-moving.Wherein, the dynamic labile state
Including emergency braking condition；It is described static state labile state include the labile state generated due to by external force or because the balance shifting
The labile state moving the contained movable loading of device and generating.
It should be noted that those of ordinary skill in the art will appreciate that: realize above-mentioned each method embodiment whole or
Part steps can be completed by the relevant hardware of computer program.Computer program above-mentioned can store in a computer
In readable storage medium storing program for executing.When being executed, execution includes the steps that above-mentioned each method embodiment to the program；And storage medium above-mentioned
It include: the various media that can store program code such as ROM, RAM, magnetic or disk.In addition, being suitable in the present embodiment flat
The embodiment of the control method for the mobile device that weighs is similar with the embodiment of above balance mobile device, and so it will not be repeated.
As shown in figure 3, showing the schematic diagram of the control system of balance mobile device in one embodiment of the invention.Control unit
31 receive the attitude data and movement tendency data for coming gyroscope 32 and accelerometer 33, calculate the posture of balance mobile device
And movement tendency, and the desired speed of driving wheel is calculated by built-in balanced algorithm, it then sends and executes instruction accordingly
To motor driver 34.The motor driver 34 receives the motor speed after this executes instruction, fed back according to encoder 35
Information, the corresponding revolving speed for adjusting motor 36 is to control the speed of service of movement mechanism 37, so that it is dynamic to realize balance mobile device
State is stablized.It should be noted that balanced algorithm described in the present embodiment be it is existing, so it will not be repeated.
Described control unit receives and judges that attitude data and movement tendency data from gyroscope and accelerometer are
It is no to meet preset trigger condition, if satisfied, then issuing trigger signal to brake unit 38, to brake by the brake unit 38
The balance mobile device.Certainly, described control unit can also be according to the environmental data from environmental detection unit (not shown)
Judge whether to trigger the brake unit.Because of the embodiment and the embodiment class of above balance mobile device of the present embodiment
Seemingly, so it will not be repeated.
As shown in figure 4, showing the structural schematic diagram of electric terminal in one embodiment of the invention.Electronics provided in this embodiment
Terminal includes: processor 41, memory 42, transceiver 43, communication interface 44 and system bus 45；Memory 42 and communication interface
44 connect with processor 41 and transceiver 43 and complete mutual communication by system bus 45, and memory 42 is based on storing
Calculation machine program, communication interface 44 and transceiver 43 are used for and other equipment are communicated, and processor 41 is for running computer journey
Sequence makes electric terminal execute as above each step suitable for the control method of balance mobile device.
System bus mentioned above can be Peripheral Component Interconnect standard
(PeripheralPomponentInterconnect, abbreviation PCI) bus or expanding the industrial standard structure (ExtendedIndu
StryStandardArchitecture, abbreviation EISA) bus etc..The system bus can be divided into address bus, data/address bus,
Control bus etc..Only to be indicated with a thick line in figure, it is not intended that an only bus or a type of convenient for indicating
Bus.Communication interface is for realizing between database access device and other equipment (such as client, read-write library and read-only library)
Communication.Memory may include random access memory (RandomAccessMemory, abbreviation RAM), it is also possible to further include
Nonvolatile memory (non-volatilememory), for example, at least a magnetic disk storage.
Above-mentioned processor can be general processor, including central processing unit (CentralProcessingUnit, letter
Claim CPU), network processing unit (NetworkProcessor, abbreviation NP) etc.；It can also be digital signal processor
(DigitalSignalProcessing, abbreviation DSP), specific integrated circuit (ApplicationSpecificIntegrated
Circuit, abbreviation ASIC), field programmable gate array (Field-ProgrammableGateArray, abbreviation FPGA) or
Other programmable logic device, discrete gate or transistor logic, discrete hardware components.
In conclusion balance mobile device provided by the invention and its control method, storage medium and electric terminal, described
Balance mobile device not only has the function of mobile and self-balancing, is additionally provided with the braking list that braking task is executed when being triggered
Member, so as to realize the dynamic stability and steady stability that maintain device.Therefore, the invention is on the basis of existing electrodynamic balance vehicle
On, second balanced protection device is increased, is capable of handling similar to situations such as emergency brake or steady stabilities, thus more
Intelligence.So the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (12)
1. a kind of balance mobile device characterized by comprising
Brake unit, for braking the balance mobile device；
Control unit is electrically connected the brake unit, for triggering the brake unit when meeting preset trigger condition
Braking task is executed, to brake the balance mobile device by the brake unit；Wherein, the preset trigger condition includes
The balance mobile device be in it is non-moving during static labile state and/or the dynamic labile state in moving process.
2. balance mobile device according to claim 1, which is characterized in that the dynamic labile state includes emergency braking
State；The static state labile state includes the labile state generated due to by external force or because the balance mobile device is contained
Movable loading and the labile state generated.
3. balance mobile device according to claim 2, which is characterized in that the balance mobile device includes:
Posture detecting unit is electrically connected described control unit, for detecting and sending the posture of the balance mobile device
Data and movement tendency data are to described control unit；Wherein, the posture detecting unit includes gyroscope and accelerometer.
4. balance mobile device according to claim 3, which is characterized in that described control unit is according to the posture number
When according to judging that the balance mobile device is in non-moving state and posture shakiness with movement tendency data, it is single to trigger the braking
Member executes braking task, to pass through balance mobile device described in the brake unit static brake.
5. balance mobile device according to claim 3, which is characterized in that described control unit is according to the posture number
When according to judging that the balance mobile device is in moving condition and posture shakiness with movement tendency data, the brake unit is triggered
Braking task is executed, to pass through balance mobile device described in the brake unit dynamic brake.
6. balance mobile device according to claim 2, which is characterized in that the balance mobile device includes:
Environmental detection unit is electrically connected described control unit, for detecting and sending around the balance mobile device
Environmental data is to described control unit；
Wherein, described control unit judges on balance mobile device on the move and movement routine according to the ambient data
The distance between barrier do not meet default safe distance when in the emergency braking condition, trigger the brake unit
Braking task is executed, to pass through balance mobile device described in the brake unit emergency braking.
7. balance mobile device according to claim 6, which is characterized in that the environmental detection unit includes: that image is known
Individual sensor, voice recognition sensor, laser radar sensor, infrared sensor of the human body, electricity induction detecting element, binocular are taken the photograph
As head or any one or more of combination of ultrasonic sensor.
8. balance mobile device according to any one of claims 1 to 7, which is characterized in that the brake unit includes
Electric expansion part；The electric retractable part is in contraction state when not being triggered, extends to the balance in a triggered
Plane is where mobile device to brake the device.
9. balance mobile device according to claim 8, which is characterized in that the electric expansion part include at least one with
The pulley of planar slide contact where the balance mobile device.
10. a kind of control method suitable for balance mobile device characterized by comprising
Judge whether balance mobile device meets preset trigger condition；
If meeting preset trigger condition, the brake unit of the balance mobile device is triggered, to pass through the brake unit system
Move the balance mobile device；Wherein, the preset trigger condition includes that the balance mobile device is in moving process
Dynamic labile state and/or static labile state during non-moving.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The control method described in any one of claim 10 suitable for balance mobile device is realized when being executed by processor.
12. a kind of electric terminal characterized by comprising processor, memory and transceiver；
The transceiver with external device communication for connecting, and the memory is for storing computer program, the processor
For executing the computer program of the memory storage, so that the electric terminal executes as claimed in claim 10 be applicable in
In the control method of balance mobile device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811087792.5A CN109278914A (en) | 2018-09-18 | 2018-09-18 | Balance mobile device and its control method, storage medium and electric terminal |
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| CN201811087792.5A CN109278914A (en) | 2018-09-18 | 2018-09-18 | Balance mobile device and its control method, storage medium and electric terminal |
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| CN113031612A (en) * | 2021-03-10 | 2021-06-25 | 深圳市科服信息技术有限公司 | Balance car system based on intelligent control, control method and computer readable storage medium |
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|---|---|---|---|---|
| CN113031612A (en) * | 2021-03-10 | 2021-06-25 | 深圳市科服信息技术有限公司 | Balance car system based on intelligent control, control method and computer readable storage medium |
| CN113031612B (en) * | 2021-03-10 | 2024-04-12 | 深圳市科服信息技术有限公司 | Balance car system based on intelligent control, control method and computer readable storage medium |
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Application publication date: 20190129 |