CN110525562A - Balance car and the method and storage medium for controlling it - Google Patents
Balance car and the method and storage medium for controlling it Download PDFInfo
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- CN110525562A CN110525562A CN201910707963.8A CN201910707963A CN110525562A CN 110525562 A CN110525562 A CN 110525562A CN 201910707963 A CN201910707963 A CN 201910707963A CN 110525562 A CN110525562 A CN 110525562A
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- balance car
- power supply
- control device
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000004044 response Effects 0.000 claims abstract description 32
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 25
- 230000006870 function Effects 0.000 description 14
- 230000001276 controlling effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 210000001699 lower leg Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000006563 Carroll rearrangement reaction Methods 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 210000003733 optic disk Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
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
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a kind of balance car and the methods and storage medium that control it, wherein balance car includes car body, pedal switch device, power supply and control device, pedal switch device is arranged on the car body, under power-off shutdown state, it detects foot-operated movement, exports manned signal；Power supply is powered on for enabling control device according to the manned signal；Control device, for controlling the balance car and entering ride mode in response to the manned signal.Balance car disclosed by the invention and the method for controlling it, power-on operation is more smooth simple, it can be achieved that step at once, and raising is ridden experience.
Description
Technical field
The invention belongs to the methods and meter of balance car technical field more particularly to a kind of balance car and control balance car
Calculation machine readable storage medium storing program for executing.
Background technique
Currently, most of balance car is provided with switching on and shutting down key, the switching on and shutting down control of balance car is realized by switching on and shutting down key
System.The basic process of booting is as follows: 1, after pressing starting key, triggering " switching circuit " makes system electrification；2, self-test is carried out；
3, detection of riding is carried out.Specifically, after system starting power-up, floor push can detect whether people stands onto pedal pad, thus into
Enter ride mode, can normally ride at this time.
Existing floor push generallys use photoelectric correlated cell, only after system electrification, could enable detection function,
That is, it is necessary to first manual operation switch machine key.But switching on and shutting down key is generally arranged at lower position, operation is very
Inconvenience reduces experience of riding.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
One purpose is to propose a kind of balance car, the more smooth convenience of balance car power-on operation, and raising is ridden experience.
Second purpose of the invention is to propose a kind of method for controlling balance car.
Third purpose of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
In order to achieve the above object, the balance car of first aspect present invention embodiment includes: car body；Pedal switch device,
It is arranged on the car body, for detecting foot-operated movement under power-off shutdown state, exports manned signal；Power supply and control
Device processed, the power supply are powered on for enabling the control device in response to the manned signal；The control device is used
In in response to the manned signal, controls the balance car and enter ride mode.
The balance car of the embodiment of the present invention cancels entity starting key, fills by using the floor push without being powered in advance
It sets, the function of booting triggering and manned detection is two-in-one, without operation setting in the switch key of lower, operate more smooth
Simply, in the case where pedal switch device triggering power supply powers on, enter in response to manned signal i.e. control balance car and ride
Row mode is realized and steps on to walk, and provides for user and raising is facilitated to ride experience.
In some embodiments, the power supply includes: electric power management circuit and power supply module, the power management electricity
Road is used to enable trigger signal in response to the manned signal out-put supply, and the power supply module receives the enabled touching of the power supply
Signalling is powered；Power-switching circuit is converted to the work of the control device for the power supply by the power supply module
Voltage signal is simultaneously supplied to the control device.
In some embodiments, the pedal switch device includes the first floor push module and the second foot-operated switching molding
Block；
The first filter circuit is set between the first floor push module and the control device, in the crus secunda
It steps between switch module and the control device and the second filter circuit is set.
In some embodiments, the balance car further includes the supporting element that the vehicle bottom side is arranged in, in determination
When the balance car enters the ride mode, the supporting element is packed up.
In some embodiments, the pedal switch device is also used under the ride mode, is detected described foot-operated
Movement disappears, and exports non-manned signal；The control device is also used to control the balance in response to the non-manned signal
Vehicle is switched to assistant mode from the ride mode.
In some embodiments, the balance car further includes wheel speed detector, and the control device is also used to detect
The non-manned signal is zero to carry out accumulative timing in response to wheel speed, and when accumulative timing reaches preset time, described in control
Balance car enters off-mode；
Alternatively, the pedal switch device is also used to when detecting foot-operated shutdown movement, and output shutdown trigger signal, institute
It states control device and is also used to control the balance car in response to the shutdown trigger signal and enter off-mode.
In some embodiments, determining that the supporting element is fallen, the control device control when entering the off-mode
The oblique predetermined angle of inclination where making the car body to the supporting element.
In order to achieve the above object, the method for the control balance car of second aspect of the present invention embodiment, comprising: closed in power-off
Under machine state, foot-operated movement is detected, pedal switch device exports manned signal；Power supply makes can control according to manned signal
Device powers on；The control device controls the balance car and enters ride mode in response to the manned signal.
The method of the control balance car of the embodiment of the present invention is touched booting based on the pedal switch device without being powered in advance
Hair and manned detection function it is two-in-one, without operation setting lower starting key, in the case where power supply powers on,
Balance car is controlled in response to manned signal and enters ride mode, realizes and steps on to walk, and operation is more smooth simple, mentions for user
For convenient.
In some embodiments, power supply is powered on according to the enabled control device of the manned signal, comprising: by the load
People's signal is converted to power supply and enables trigger signal；The power supply module of the power supply receives the power supply and enables trigger signal
It is powered；The power supply of the power supply module is converted into the operating voltage signal of the control device and is supplied to the control
Device.
In some embodiments, the manned signal is converted into power supply to enable trigger signal includes: to open in described ride
It closes and electric power management circuit is set between device and the power supply module；The power supply of the power supply module is converted into the control dress
The operating voltage signal set includes: that power-switching circuit is arranged between the power supply module and the control device.
In some embodiments, the side of the balance car bottom is provided with supporting element, the method also includes: in determination
When controlling the balance car and entering ride mode, controls the supporting element and pack up.
In some embodiments, the method also includes: under ride mode, detect that the foot-operated movement disappears, foot
It steps on switching device and exports non-manned signal, control device controls the balance car and ride from described in response to the non-manned signal
Row pattern switching is assistant mode.
In some embodiments, the method also includes: the non-manned signal is detected, in response to the balance car
Wheel speed is zero to carry out accumulative timing, and the accumulative timing reaches preset time, controls the balance car and enter off-mode, or
Person detects foot-operated shutdown movement, and the pedal switch device output shutdown trigger signal, the control device is in response to described
Shutdown trigger signal controls the balance car and enters off-mode.
In some embodiments, the method also includes: determine enter the off-mode when, the supporting element is fallen
Under, the control device rolls oblique predetermined angle where controlling the car body to the supporting element of the balance car.
The non-transitorycomputer readable storage medium of third aspect present invention embodiment is stored thereon with computer journey
Sequence, the computer program are performed the method realized and control balance car described in above example.
Detailed description of the invention
Fig. 1 is the block diagram of balance car according to an embodiment of the invention；
Fig. 2 is the signal flow diagram of balance car according to an embodiment of the invention；
(1) and (2) is the circuit diagram of the control trigger module of balance car in accordance with another embodiment of the present invention in Fig. 3；
Fig. 4 is the schematic diagram of balance car according to an embodiment of the invention；
Fig. 5 is the block diagram of balance car according to an embodiment of the invention；
Fig. 6 is the flow chart of the method for control balance car according to an embodiment of the invention；
Fig. 7 is the flow chart of control balance car booting according to an embodiment of the invention；
Fig. 8 is the flow chart of control balance car shutdown according to an embodiment of the invention.
Appended drawing reference:
Balance car 1；
Including car body 10, pedal switch device 20, power supply 30, control device 40, supporting element 50, wheel speed detector
60, trigger module 70, motor module 80, attitude detection module 90 are controlled,
Electric power management circuit 31, power supply module 32 and power-switching circuit 33, the first filter circuit 71 and the second filtered electrical
Road 72.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The balance car of embodiment according to a first aspect of the present invention is described with reference to the accompanying drawings.
Fig. 1 is the block diagram of balance car according to an embodiment of the invention, as shown in Figure 1, the balance of the embodiment of the present invention
Vehicle 1 includes car body 10, pedal switch device 20, power supply 30 and control device 40.
Wherein, car body 10 includes the components such as vehicle frame, wheel, handrail, motor.
Pedal switch device 20 is arranged on car body 10, for detecting the manned state of car body 10, i.e., on detection car body 10
Whether people, and when detecting under power-off shutdown state foot-operated movement if standing, that is, foot-operated when detecting that car body 10 be in manned state
Switching device 20 exports manned signal.
Power supply 30 is connected and is powered in response to manned signal, and enabled control device 40 powers on, that is, realizes balance car 1
Booting.That is, manned detection, while trigger signal of the manned signal as booting are realized by pedal switch device 20,
It triggers balance car 1 to be switched on, i.e., power supply 30 is connected and powered, such as the systems component such as motor, control device 40 powers on.
In short, booting triggering and two kinds of functions of manned detection, the embodiment of the present invention may be implemented in pedal switch device 20
Balance car 1, no setting is required special starting key.
In an embodiment of the present invention, pedal switch device 20 is a kind of physical switch element, passes through foot without pre- power-up
Stepping on contact can be realized manned detection and triggers the booting of balance car 1.In some embodiments, pedal switch device 20 can use
Thin film switch, can also be or applicable without being powered in advance using other using surveying the device for realizing switching function by pressure sensitivity
Switching device.
Control device 40, in response to manned signal, controls balance car 1 and enters mould of riding in the case where power supply is powered on
Formula.Specifically, when user needs to ride, the directly foot-operated such as pedal pad of car body 10, pedal switch device 20 detects car body
10 are in the manned signal of manned state output, and trigger the booting of balance car 1, and power supply 30 is powered, and control device 40 powers on, and control
Device 40 processed still detects the manned signal of pedal switch device 20, then controls balance car 1 into ride mode, ride mode
It is understood that enter self-balancing state for rear balance car 10 on the car body 10 of people station, and then can be controlled and be balanced according to human body attitude
The riding condition of vehicle 1 for example advances, stops, turning etc. enters manned self-balancing state, steps on to walk so as to realize,
It is more convenient particularly with some people for having the waist pain of injury without operating the power button that is switched on, it operates smooth simple.
Further, as shown in Fig. 2, power supply 30 includes electric power management circuit 31, power supply module 32 and power supply conversion
Circuit 33, electric power management circuit 31 are used to enable trigger signal in response to manned signal out-put supply, and power supply module 32 receives
Power supply enables trigger signal and is powered such as output 42V voltage；Power-switching circuit 33 is used for the power supply of power supply module 32
Be converted to the operating voltage signal of control device 40 and be supplied to control device 40, for example, power-switching circuit 33 may be implemented by
42V is converted to 12V, and 12V is converted to 5V, and 5V is converted to 3.3V etc..And then control device 40 detects required work electricity
Pressure signal powers on, and detects that pedal switch device 20 is still triggered, and controls balance car 1 into ride mode.
As shown in figure 3, balance car 1 further includes control trigger module 70 for manned signal to be converted to enabled triggering of riding
Signal.Further, in embodiment, it stands corresponding to the both feet of people, pedal switch device 20 includes the first floor push mould
Block and the second foot-operated switch module, correspond respectively to the detection of the left foot of people and the foot-operated signal of right crus of diaphragm.As shown in figure 3, control
Trigger module 70 includes the first filter circuit 71 and the second filter circuit 72, wherein the first filter circuit 71 is arranged in the first foot
Step between switch module and control device 40, the setting of the second filter circuit 72 the second foot-operated switch module and control device 40 it
Between.In embodiment, filter circuit may include RC filter circuit, and in Fig. 3, the first filter circuit 71 includes first resistor R1
With first capacitor C1, the second filter circuit 72 includes second resistance R2 and the second capacitor C2, can reduce foot by filter circuit
The interference signal of the output signal of switching device 20 is stepped on, the stabilization of detection signal can be kept, shake when preventing foot-operated.
Specifically, as shown in Figure 3, wherein SW-Left-IN and SW-Right-IN is separately connected the first floor push module
With the second foot-operated switch module, SW-Left and SW-Right are connect with control device 40 respectively, further include pull-up resistor R3 and upper
Pull-up resistor R4 can be connected to+3V3_MCU_BT the pin of control device 40 by pull-up resistor R3 and R4.It is filled in floor push
When detecting manned when setting 20 accesses such as SW-Left-IN or SW-Right-IN input, then logic is " 0 ", conversely, working as
When SW-Left-IN and SW-Right-IN are grounded, system voltage pull up as high level by pull-up resistor, i.e. logic is " 1 ", thus
Realize manned state-detection.
Further, as shown in figure 3, in the first floor push module and the first filter circuit 71, electric power management circuit 31
Between be additionally provided with first diode D1；The second foot-operated switch module and the second filter circuit 72, electric power management circuit 32 it
Between be additionally provided with the second diode D2.Pedal switch device 20 and power supply 30, control can be prevented by the way that diode is arranged
The interference of signal between device 40.
Referring to shown in Fig. 2, power-switching circuit 33 is also used to be converted to the power supply of power supply module 32 motor module work
Voltage signal and attitude detection module operating voltage signal；The motor module 80 of balance car 1 detects motor module operating voltage
Signal powers on, and the attitude detection module 90 of balance car 1 detects that attitude detection module operating voltage signal powers on and carries out posture
Detection.Control device 40 controls motor mould in response to enabled trigger signal of riding, according to the detection data of attitude detection module 90
Block 80 and car body 10, to enter ride mode.
In some embodiments, as shown in figure 4, balance car 1 further includes the supporting element 50 that 10 bottom side of car body is arranged in,
It, can be by this when balance car 1 is in off-mode, that is, power supply 30 power supply state, all parts are not in off-position
Supporting element 50 makes the support of car body 10 on the ground, for example, the direction perpendicular to the ground of car body 10 keeps being tilted a certain angle such as 45 °
Or 60 ° of supports, facilitate user directly to ride.When determining that control balance car 1 enters ride mode, the control support of control device 40
Part 50 is packed up, such as it is in 90 degree of the left side or the right that supporting element 50, which is turned to ground, or supporting element 50 is rotated up
Experience of riding is improved to the top far from ground to avoid the blocking in ride by barrier.
In embodiment, self-test can be carried out after powering, to avoid failure, to carry out standard into ride mode
It is standby.For example, whether failure is persistently reported an error detection motor if electrical fault；If 10 upright state of car body or and ground
The drift angle of vertical direction be less than in such as 20 ° of set angle, then enter assistant mode, if it is determined that car body 10 and ground are hung down
Histogram to drift angle be greater than set angle, that is, think to be unsatisfactory for the condition of riding, then the motor for controlling balance car 1 enters closing mould
Formula, and after standby preset time such as 5 seconds, control balance car 1 enters off-mode.After self-test does not have failure, Ke Yijin
Enter ride mode.
Under ride mode, when user gets off from balance car 1, pedal switch device 20 detects that foot-operated movement disappears,
I.e. car body 10 is switched to non-manned state and then exports non-manned signal, and control device 40 is in response to non-manned signal, control balance
Vehicle 1 is switched to assistant mode from ride mode, wherein assistant mode on car body 10 it is to be understood that without station people and balance
Vehicle 1 is under self-balancing state, i.e., non-manned self-balancing mode.
As shown in figure 5, the balance car 1 of the embodiment of the present invention can also include wheel speed detector 60, control device 40 is also
It is zero to carry out accumulative meter in response to wheel speed for detecting non-manned signal for example under assistant mode or after people gets off
When, when accumulative timing reaches preset time such as 10 seconds, control balance car 1 enters off-mode, that is, realizes that time-out is automatic and close
Machine, without operating shutdown key, and relatively low position is usually arranged in existing shutdown key, very inconvenient, especially right
In comparing worried user, energy consumption for no reason can be increased to avoid forgetting to shut down, be provided conveniently for user, improve body of riding
It tests.
In further embodiments, user can realize that shutdown, such as user are ridden by executing default operated by foot
Pedal switch device 20 is several lower or left and right rides or length steps on the rear short operation stepped on or other can set.Specifically
Ground, under assistant mode, pedal switch device 20, which detects, then exports shutdown triggering letter under foot-operated shutdown movement such as foot-operated three
Number, control device 40 enters off-mode in response to shutdown trigger signal control balance car 1, that is, realizes and realized by interactive action
Shutdown.Similarly, user provides conveniently for user without operating shutdown key, improves experience of riding.
Further, it directly gets on the bus when riding next time in order to facilitate user, in an embodiment of the present invention, enters determining
When off-mode, control device 40 controls supporting element 50 and falls, for example, control supporting element 50 is for example in ground from initial position
90 degree of the left side or the right, the top far from ground, turn to the plumbness with ground, ground are supported on when in order to stop
On, and control 10 supporting elements places of car body and roll oblique predetermined angle, which is more small angle, can be made
Car body 10 is tilted towards that side of supporting element 50 after shut down, so that balance car 1 is tilted to fixed direction, and by supporting
Part 50 supports on the ground, facilitates directly get on the bus when riding next time, more convenient.
In short, the balance car 1 of the embodiment of the present invention, eliminates entity starting key, by using without pre- power-up
Pedal switch device 20, will booting triggering and manned detection function it is two-in-one, realize and step on to walk, exist without operation setting
The starting key of lower, operation is more smooth simple, provides conveniently for user.And by overtime automatic shutdown or by setting
Fixed foot-operated instruction rolls oblique minute angle to supporting element 50 to control car body 10 when realizing shutdown, and shutting down, and facilitates ride next time
Row improves experience of riding.
The method of the control balance car of embodiment according to a second aspect of the present invention is described with reference to the accompanying drawings.
Fig. 6 is the method for control balance car according to an embodiment of the invention, as shown in fig. 6, the side of control balance car
Method includes step S1, step S2, step S3.
Step S1 detects foot-operated movement under power-off shutdown state, and pedal switch device exports manned signal.
Specifically, balance car cancels switching on and shutting down key, and the pedal switch device without being powered in advance is arranged, floor push dress
The manned state of detection car body is set, i.e., whether people, and export and carry when detecting that car body is in manned state if standing on detection car body
People's signal.
Step S2, power supply enable control device according to manned signal and power on.
Specifically, power supply is connected and is powered in response to manned signal, that is, realizes the booting of balance car.That is,
Manned detection may be implemented by pedal switch device, while manned signal triggers balance car also as the trigger signal being switched on
Booting, i.e., power supply is connected and is powered, such as the systems component such as motor, control device powers on.In short, floor push fills
Set two kinds of functions that booting triggering and manned detection may be implemented.
When user needs to ride, directly foot-operated car body such as pedal pad, pedal switch device detects that car body is in and carries
The manned signal of people's state output triggers balance car booting in response to manned signal-powered power supply power supply, and control device powers on, and controls
Device processed still detects the manned signal of pedal switch device, then controls balance car and enter ride mode, that is, enter it is manned from
Equilibrium state is stepped on to walk so as to realize, more convenient without operating booting power button, operates smooth simple.
Further, power supply is powered on according to the enabled control device of the manned signal, comprising: converts manned signal
Trigger signal is enabled for power supply；The power supply module of power supply receives the enabled trigger signal of power supply and is powered；To power mould
The power supply of block is converted to the operating voltage signal of control device and is supplied to control device.
Wherein, by manned signal be converted into power supply enable trigger signal include: pedal switch device and power supply module it
Between electric power management circuit is set；It include: in power supply mould by the operating voltage signal that the power supply of power supply module is converted to control device
Power-switching circuit is set between block and control device.
In embodiment, the side of balance car bottom is provided with supporting element, is determining that controlling balance car enters ride mode
When, control supporting element is packed up, and to avoid the blocking in ride by barrier, improves experience of riding.
Fig. 7 is the flow chart of control balance car booting according to an embodiment of the invention, as shown in fig. 7, being switched on
Journey includes:
S10, balance car are in off-mode.
S11 judges whether pedal switch device is triggered and detects manned signal, if so, S12 is entered step, it is no
Then, return step S10.
S12, control balance car booting, i.e., power supply is connected and is powered, component powers on.
S13, judging whether car body is in can balance in angular range, for example, the drift angle in car body direction perpendicular to the ground is
It is no less than 20 ° within, if so, entering step S14, otherwise enter step S18.
S14, into assistant mode.
S15, control supporting element are packed up.
S16, judges whether pedal switch device is still triggered, if so, enter step S17, otherwise return step
S14。
S17, into ride mode.
S18, control motor is closed, and after standby preset time such as 5s, control balance car enters off-mode, that is, returns to step
Rapid S10.
Using the booting control process of above example, software is improved more quickly, efficiently.
When user gets off from balance, pedal switch device detects that foot-operated movement disappears, i.e., car body is switched to non-load
People's state then exports non-manned signal, and in response to non-manned signal, control balance car is switched to from ride mode to be helped control device
Force mode is non-manned self-balancing mode from manned self-balancing pattern switching.
In non-manned situation, if detecting that the wheel speed of balance car is zero, accumulative timing is carried out, accumulative timing reaches pre-
If the time, control balance car enters off-mode, that is, realizes overtime automatic shutdown.Alternatively, detecting foot-operated shutdown movement, ride
Switching device output shutdown trigger signal, such as the pedal switch device lower shutdown command that detects foot-operated three then export shutdown and touch
It signals, control device enters off-mode in response to shutdown trigger signal control balance car, that is, realizes through interactive action reality
Now shut down.
Further, it rides next time in order to facilitate user, in an embodiment of the present invention, enters off-mode determining
When, control supporting element is fallen, and the car body for controlling balance car rolls oblique predetermined angle to supporting element place.Wherein, the preset angle
Degree is more small angle, can make car body after shut down towards that side of supporting element tilt, thus balance car to
Fixed direction inclination, and on the ground by supports support, facilitate directly get on the bus when riding next time, it is more convenient.
Fig. 8 is the flow chart of control balance car shutdown according to an embodiment of the invention, as shown in figure 8, shutting down
Journey includes:
S20 is in ride mode.
Whether S21, judges whether pedal switch device disconnects, i.e., detect from manned state and be switched to non-manned state,
If so, enter step S22, otherwise return step S20.
S22 into assistant mode, and judges whether the condition for meeting step S23 and step S24 respectively.
S23, adds up whether timing is more than preset time, if so, enter step S25, otherwise return step S22.
S24, if detect shutdown trigger signal, if so, enter step S25, otherwise return step S22.
S25, control supporting element are fallen, and are controlled car body and rolled oblique minute angle to supporting element place.
S26, into off-mode.
In short, the method for the control balance car of the embodiment of the present invention, detects manned signal by pedal switch device, together
When manned signal as booting trigger signal, the function of manned detection and booting triggering is two-in-one, and realize and step on to walk, nothing
Starting key is needed to operate, control is more smooth simple, provides conveniently for user.And overtime automatic shutdown may be implemented or pass through
The foot-operated instruction of setting tilts minute angle to supporting element come control car body when realizing shutdown, and shutting down, and facilitates ride next time, mentions
Height is ridden experience.
Third aspect present invention embodiment also proposes a kind of non-transitorycomputer readable storage medium, is stored thereon with meter
Calculation machine program, the computer program are performed the method for realizing the control balance car of above example.
It should be noted that in the present specification, any process described otherwise above or side in flow chart or herein
Method description is construed as, and indicates to include the steps that one or more holding for realizing specific logical function or process
Module, segment or the part of the code of row instruction, and the range of the preferred embodiment of the present invention includes other realization,
In can not press sequence shown or discussed, including according to related function by it is basic and meanwhile in the way of or by opposite suitable
Sequence, Lai Zhihang function, this should be understood by the embodiment of the present invention person of ordinary skill in the field.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (15)
1. a kind of balance car, which is characterized in that the balance car includes:
Car body；
Pedal switch device is arranged on the car body, for detecting foot-operated movement under power-off shutdown state, exports manned
Signal；
Power supply and control device, the power supply are powered on for enabling the control device according to the manned signal,
The control device is used to control the balance car in response to the manned signal and enter ride mode.
2. balance car according to claim 1, which is characterized in that the power supply includes:
Electric power management circuit and power supply module, the electric power management circuit are used for enabled in response to the manned signal out-put supply
Trigger signal, the power supply module receive the enabled trigger signal of the power supply and are powered；
Power-switching circuit, for the power supply of the power supply module to be converted to the operating voltage signal of the control device and is mentioned
Supply the control device.
3. balance car according to claim 1, which is characterized in that
The pedal switch device includes the first floor push module and the second foot-operated switch module；
The first filter circuit is set between the first floor push module and the control device, rides and opens described second
It closes and the second filter circuit is set between module and the control device.
4. balance car according to claim 1, which is characterized in that
The balance car further includes the supporting element that the vehicle bottom side is arranged in, enter in the balance car described in ride mould
When formula, the supporting element is packed up.
5. balance car according to claim 1, which is characterized in that
The pedal switch device is also used under the ride mode, is detected that the foot-operated movement disappears, is exported non-manned
Signal；
The control device is also used to control the balance car in response to the non-manned signal and switch from the ride mode
For assistant mode.
6. balance car according to claim 3, which is characterized in that
The balance car further includes wheel speed detector, and the control device is also used to detect the non-manned signal, is responded
It is zero to carry out accumulative timing, and when accumulative timing reaches preset time, control the balance car and enter off-mode in wheel speed；
Alternatively, the pedal switch device is also used to when detecting foot-operated shutdown movement, and output shutdown trigger signal, the control
Device processed, which is also used to control the balance car in response to the shutdown trigger signal, enters off-mode.
7. balance car according to claim 4, which is characterized in that
Determining that the supporting element is fallen when entering the off-mode, the control device controls the car body to the branch
Oblique predetermined angle is rolled where support member.
8. a kind of method for controlling balance car, which is characterized in that the described method includes:
Under power-off shutdown state, foot-operated movement is detected, pedal switch device exports manned signal；
Power supply enables control device according to the manned signal and powers on；
The control device controls the balance car and enters ride mode in response to the manned signal.
9. the method for control balance car according to claim 8, power supply make to can control dress according to the manned signal
It sets and powers on, comprising:
The manned signal is converted into power supply and enables trigger signal；
The power supply module of the power supply receives the enabled trigger signal of the power supply and is powered；
The power supply of the power supply module is converted into the operating voltage signal of the control device and is supplied to the control device.
10. the method for control balance car according to claim 9, which is characterized in that
It includes: in the pedal switch device and the power supply module that the manned signal, which is converted into power supply to enable trigger signal,
Between electric power management circuit is set；
By the operating voltage signal that the power supply of the power supply module is converted to the control device include: the power supply module with
Power-switching circuit is set between the control device.
11. the method for control balance car according to claim 8, which is characterized in that the side of the balance car bottom is set
It is equipped with supporting element, the method also includes: when determining that controlling the balance car enters ride mode, controls the supporting element and receive
It rises.
12. the method for control balance car according to claim 11, which is characterized in that the method also includes:
Under the ride mode, detect that the foot-operated movement disappears, pedal switch device exports non-manned signal；
Control device controls the balance car from the ride mode and is switched to assistant mode in response to the non-manned signal.
13. the method for control balance car according to claim 12, which is characterized in that the method also includes:
Detect the non-manned signal, the wheel speed in response to the balance car is zero to carry out accumulative timing, the accumulative timing
Reach preset time, control the balance car and enter off-mode, alternatively, detecting foot-operated shutdown movement, the floor push
Device output shutdown trigger signal, the control device control the balance car in response to the shutdown trigger signal and enter shutdown
State.
14. the method for control balance car according to claim 13, which is characterized in that the method also includes:
Determining that the supporting element is fallen, and the control device controls the car body of the balance car when entering the off-mode
Oblique predetermined angle is rolled where to the supporting element.
15. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the meter
Calculation machine program is performed the method for realizing the balance car of the control as described in any one of claim 8-14.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010620747.2A CN112319681A (en) | 2019-08-01 | 2019-08-01 | Balance car, method for controlling balance car and storage medium |
| CN201910707963.8A CN110525562A (en) | 2019-08-01 | 2019-08-01 | Balance car and the method and storage medium for controlling it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910707963.8A CN110525562A (en) | 2019-08-01 | 2019-08-01 | Balance car and the method and storage medium for controlling it |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010620747.2A Division CN112319681A (en) | 2019-08-01 | 2019-08-01 | Balance car, method for controlling balance car and storage medium |
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| CN110525562A true CN110525562A (en) | 2019-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010620747.2A Pending CN112319681A (en) | 2019-08-01 | 2019-08-01 | Balance car, method for controlling balance car and storage medium |
| CN201910707963.8A Pending CN110525562A (en) | 2019-08-01 | 2019-08-01 | Balance car and the method and storage medium for controlling it |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010620747.2A Pending CN112319681A (en) | 2019-08-01 | 2019-08-01 | Balance car, method for controlling balance car and storage medium |
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| CN (2) | CN112319681A (en) |
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| 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 |
| CN113928452A (en) * | 2020-06-29 | 2022-01-14 | 纳恩博（常州）科技有限公司 | Switching method and device of vehicle pedal state, vehicle and storage medium |
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| CN112319681A (en) | 2021-02-05 |
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