CN112319681A

CN112319681A - Balance car, method for controlling balance car and storage medium

Info

Publication number: CN112319681A
Application number: CN202010620747.2A
Authority: CN
Inventors: 任冠佼; 陈中元; 柴富华
Original assignee: Ninebot Beijing Technology Co Ltd
Current assignee: Ninebot Beijing Technology Co Ltd
Priority date: 2019-08-01
Filing date: 2019-08-01
Publication date: 2021-02-05
Also published as: CN110525562A

Abstract

The invention discloses a balance car, a method for controlling the same and a storage medium, wherein the balance car comprises a car body; the foot switch device is arranged on the vehicle body and used for outputting a manned signal when a manned state is detected; the power supply is used for responding to the manned signal and supplying electric energy; the control device is used for controlling the vehicle body to enter a riding mode after the electric energy provided by the power supply source is electrified; wherein, the riding mode is that the balance car is in a self-balancing state when in the manned state. The balance car and the method for controlling the same disclosed by the invention have the advantages that the starting operation is smoother and simpler, the operation can be carried out while stepping on, and the riding experience is improved.

Description

Balance car, method for controlling balance car and storage medium

Technical Field

The invention belongs to the technical field of balance cars, and particularly relates to a balance car, a method for controlling the balance car and a computer readable storage medium.

Background

At present, most balance cars are provided with a startup and shutdown key, and the startup and shutdown control of the balance cars is realized through the startup and shutdown key. The basic process of starting up is as follows: 1. after a starting-up key is pressed down, a switching circuit is triggered to electrify the system; 2. carrying out self-checking; 3. and carrying out riding detection. Specifically, after the system is powered on, the foot switch can detect whether a person stands on the pedal pad or not, so that the riding mode is entered, and the person can normally ride at the moment.

The existing foot switch usually adopts a photoelectric correlation tube, and the detection function can be enabled only after the system is powered on, namely, a startup and shutdown key must be manually operated. However, the startup and shutdown key is usually arranged at a lower position, so that the operation is very inconvenient, and the riding experience is reduced.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, one object of the present invention is to provide a balance car, which is more smooth and convenient in starting operation and improves riding experience.

The second purpose of the invention is to provide a method for controlling the balance car.

A third object of the invention is to propose a non-transitory computer-readable storage medium.

In order to achieve the above object, a balance car according to an embodiment of a first aspect of the present invention includes: a vehicle body; the foot switch device is arranged on the vehicle body and used for detecting foot action and outputting a manned signal in a power-off shutdown state; a power supply and a control device, the power supply for enabling the control device to power up in response to the manned signal; and the control device is used for responding to the manned signal and controlling the balance car to enter a riding mode.

According to the balance car provided by the embodiment of the invention, the entity starting button is cancelled, the functions of starting triggering and manned detection are integrated into a whole by adopting the foot switch device without pre-electrification, the switch button arranged at the lower part is not required to be operated, the operation is smoother and simpler, and under the condition that the foot switch device triggers the power supply to be electrified, the balance car is controlled to enter the riding mode in response to the manned signal, so that the purpose of stepping and walking is realized, and convenience is provided for a user to improve the riding experience.

In some embodiments, the power supply includes: the power supply management circuit is used for responding to the manned signal and outputting a power supply enabling trigger signal, and the power supply module receives the power supply enabling trigger signal and supplies power; and the power supply conversion circuit is used for converting the power supply of the power supply module into a working voltage signal of the control device and providing the working voltage signal to the control device.

In some embodiments, the foot switch device comprises a first foot switch module and a second foot switch module;

a first filter circuit is arranged between the first foot switch module and the control device, and a second filter circuit is arranged between the second foot switch module and the control device.

In some embodiments, the balance car further comprises a support member disposed on a side of the bottom of the car body, the support member being stowed when the balance car is determined to enter the riding mode.

In some embodiments, the foot switch device is further configured to detect that the foot action disappears and output an unattended signal in the riding mode; the control device is also used for responding to the non-manned signal and controlling the balance car to be switched from the riding mode to the power-assisted mode.

In some embodiments, the balance vehicle further comprises a wheel speed detection device, and the control device is further configured to detect the no-man carrying signal, perform cumulative timing in response to the wheel speed being zero, and control the balance vehicle to enter a shutdown state when the cumulative timing reaches a preset time;

or, the foot switch device is further configured to output a shutdown trigger signal when detecting a foot shutdown action, and the control device is further configured to control the balance car to enter a shutdown state in response to the shutdown trigger signal.

In some embodiments, when it is determined that the vehicle is in the shutdown state, the support member falls, and the control device controls the vehicle body to tilt by a predetermined angle to the side of the support member.

In order to achieve the above object, a method of controlling a balance vehicle according to an embodiment of a second aspect of the present invention includes: when the power-off and power-off state is detected, the foot switch device outputs a manned signal; the power supply enables the control device to be powered on according to the manned signal; the control device responds to the manned signal and controls the balance car to enter a riding mode.

According to the method for controlling the balance car, the functions of starting triggering and manned detection are integrated on the basis of the pedal switch device without power supply in advance, the starting button arranged at the lower part is not required to be operated, the balance car is controlled to enter the riding mode in response to the manned signal under the condition that the power supply is powered on, stepping and walking are achieved, the operation is smoother and simpler, and convenience is brought to users.

In some embodiments, the power supply enables the control device to be powered up according to the manned signal, and the method comprises the following steps: converting the manned signal into a power enable trigger signal; a power supply module of the power supply receives the power supply enabling trigger signal to supply power; and converting the power supply of the power supply module into a working voltage signal of the control device and providing the working voltage signal to the control device.

In some embodiments, converting the man-carried signal to a power enable trigger signal comprises: a power management circuit is arranged between the foot switch device and the power supply module; converting the power supplied by the power supply module into the operating voltage signal of the control device comprises: and a power supply conversion circuit is arranged between the power supply module and the control device.

In some embodiments, a support is provided at one side of the balance car bottom, and the method further comprises: and when the balance car is determined to be controlled to enter the riding mode, the support piece is controlled to be retracted.

In some embodiments, the method further comprises: in the riding mode, the pedal action is detected to disappear, the pedal switch device outputs a non-manned signal, and the control device responds to the non-manned signal and controls the balance car to be switched from the riding mode to the power-assisted mode.

In some embodiments, the method further comprises: when the non-manned signal is detected, the wheel speed of the balance car is zero, accumulated timing is carried out, the accumulated timing reaches preset time, the balance car is controlled to enter a shutdown state, or when a pedal shutdown action is detected, the pedal switch device outputs a shutdown trigger signal, and the control device responds to the shutdown trigger signal to control the balance car to enter the shutdown state.

In some embodiments, the method further comprises: when the shutdown state is determined, the supporting piece falls down, and the control device controls the balance car body to incline to the side where the supporting piece is located by a preset angle.

A non-transitory computer-readable storage medium of an embodiment of the third aspect of the present invention has stored thereon a computer program that, when executed, implements the method of controlling a balance vehicle described in the above embodiment.

Drawings

FIG. 1 is a block diagram of a balance car according to one embodiment of the present invention;

FIG. 2 is a signal flow diagram of a balance car according to one embodiment of the present invention;

fig. 3 (1) and (2) are circuit diagrams of a control trigger module of a balance car according to another embodiment of the present invention;

FIG. 4 is a schematic view of a balance car according to one embodiment of the present invention;

FIG. 5 is a block diagram of a balance car according to one embodiment of the present invention;

FIG. 6 is a flow chart of a method of controlling a balance vehicle according to one embodiment of the present invention;

FIG. 7 is a flow chart for controlling the start of a balance car according to one embodiment of the present invention;

FIG. 8 is a flow chart for controlling the shutdown of a balancing vehicle according to one embodiment of the present invention.

Reference numerals:

a balance car 1;

comprises a vehicle body 10, a foot switch device 20, a power supply 30, a control device 40, a support 50, a wheel speed detection device 60, a control trigger module 70, a motor module 80 and an attitude detection module 90,

a power management circuit 31, a power supply module 32, a power conversion circuit 33, a first filter circuit 71 and a second filter circuit 72.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

A balance car according to an embodiment of the first aspect of the present invention will be described below with reference to the accompanying drawings.

Fig. 1 is a block diagram of a balance car according to an embodiment of the present invention, and as shown in fig. 1, the balance car 1 of the embodiment of the present invention includes a car body 10, a foot switch device 20, a power supply 30, and a control device 40.

The vehicle body 10 includes a frame, wheels, an armrest, a motor, and other components.

The foot switch device 20 is disposed on the vehicle body 10, and is configured to detect a manned state of the vehicle body 10, that is, detect whether a person stands on the vehicle body 10, and when a foot operation is detected in a power-off shutdown state, that is, when the vehicle body 10 is detected to be in the manned state, the foot switch device 20 outputs a manned signal.

The power supply 30 is switched on and supplies power in response to the manned signal, and the enabling control device 40 is powered on, namely, the balance car 1 is started. That is, the man-carrying detection is realized through the foot switch device 20, and the man-carrying signal is used as a trigger signal for starting up, so as to trigger the balance car 1 to start up, that is, the power supply 30 is switched on and supplies power, for example, system components such as the motor and the control device 40 are powered on.

In short, the foot switch device 20 can realize two functions of power-on triggering and manned detection, and the balance car 1 of the embodiment of the invention does not need to be provided with a special power-on button.

In the embodiment of the present invention, the foot switch device 20 is a physical switch element without pre-power, and the manned detection can be realized and the balance car 1 can be triggered to start by foot contact. In some embodiments, the foot switch device 20 may be a membrane switch, a device that performs a switching function through pressure sensing, or other suitable switching devices that do not require pre-power.

The control device 40 controls the balance car 1 to enter the riding mode in response to the manned signal in the case where the power supply is powered on. Specifically, when a user needs to ride, the vehicle body 10 is directly pedaled, for example, by a pedal pad, the foot switch device 20 detects that the vehicle body 10 is in a manned state and outputs a manned signal, and triggers the balance vehicle 1 to start, the power supply 30 supplies power, the control device 40 is powered on, the control device 40 still detects the manned signal of the foot switch device 20, and then the balance vehicle 1 is controlled to enter a riding mode, and the riding mode can be understood as that the balance vehicle 10 enters a self-balancing state after a person stands on the vehicle body 10, and then the riding state of the balance vehicle 1, such as forward movement, stop, turning and the like, can be controlled according to the posture of the human body, namely, the manned self-balancing state is entered, so that the user can step on and walk without operating a start power supply button, and particularly for.

Further, as shown in fig. 2, the power supply 30 includes a power management circuit 31, a power supply module 32 and a power conversion circuit 33, the power management circuit 31 is configured to output a power enable trigger signal in response to the man carrying signal, and the power supply module 32 receives the power enable trigger signal to supply power, for example, to output a 42V voltage; the power conversion circuit 33 is configured to convert the power supplied by the power supply module 32 into an operating voltage signal of the control device 40 and provide the operating voltage signal to the control device 40, for example, the power conversion circuit 33 may convert 42V into 12V, 12V into 5V, 5V into 3.3V, and the like. And the control device 40 detects that the required working voltage signal is powered on and detects that the foot switch device 20 is still triggered, and then controls the balance car 1 to enter the riding mode.

As shown in fig. 3, the balance car 1 further includes a control trigger module 70 for converting the man carrying signal into a riding enable trigger signal. Further, in an embodiment, the foot switch device 20 comprises a first foot switch module and a second foot switch module corresponding to the standing of a person's feet, respectively corresponding to the detection of foot signals of the person's left and right feet. As shown in fig. 3, the control trigger module 70 includes a first filter circuit 71 and a second filter circuit 72, wherein the first filter circuit 71 is disposed between the first foot switch module and the control device 40, and the second filter circuit 72 is disposed between the second foot switch module and the control device 40. In an embodiment, the filter circuit may include an RC filter circuit, as shown in fig. 3, the first filter circuit 71 includes a first resistor R1 and a first capacitor C1, and the second filter circuit 72 includes a second resistor R2 and a second capacitor C2, so that the interference signal of the output signal of the foot switch device 20 can be reduced through the filter circuit, the stability of the detection signal can be maintained, and the jitter during pedaling can be prevented.

Specifically, as shown IN fig. 3, wherein SW-Left-IN and SW-Right-IN are respectively connected to the first and second foot switch modules, and SW-Left and SW-Right are respectively connected to the control device 40, a pull-up resistor R3 and a pull-up resistor R4 may be connected to the +3V3_ MCU _ BT pin of the control device 40 through the pull-up resistors R3 and R4. When the foot switch device 20 is connected to, for example, the SW-Left-IN or SW-Right-IN input, i.e., when a person is detected, the logic is "0", whereas when the SW-Left-IN and SW-Right-IN are grounded, the pull-up resistor pulls up the system voltage to a high level, i.e., the logic is "1", thereby realizing the person carrying state detection.

Further, as shown in fig. 3, a first diode D1 is further disposed between the first foot switch module and the first filter circuit 71 and the power management circuit 31; a second diode D2 is also provided between the second foot switch module and the second filter circuit 72 and the power management circuit 32. The diode is provided to prevent the signal interference between the foot switch device 20 and the power supply 30 and the control device 40.

Referring to fig. 2, the power conversion circuit 33 is further configured to convert the power supplied by the power supply module 32 into a motor module operating voltage signal and an attitude detection module operating voltage signal; the motor module 80 of the balance car 1 detects that the working voltage signal of the motor module is powered on, and the attitude detection module 90 of the balance car 1 detects that the working voltage signal of the attitude detection module is powered on and performs attitude detection. The control device 40 controls the motor module 80 and the vehicle body 10 according to the detection data of the posture detection module 90 in response to the riding enable trigger signal to enter the riding mode.

In some embodiments, as shown in fig. 4, the balance vehicle 1 further includes a support member 50 disposed on a bottom side of the vehicle body 10, and when the balance vehicle 1 is in a shutdown state, i.e., the power supply 30 is not powered, and the components are in a power-off state, the vehicle body 10 can be supported on the ground through the support member 50, for example, the vehicle body 10 is supported by being inclined at a certain angle, e.g., 45 ° or 60 °, from the vertical direction of the ground, so as to facilitate direct riding of a user. When it is determined to control balance car 1 to enter the riding mode, control device 40 controls support 50 to retract, for example, support 50 is rotated to the left or right at 90 degrees to the ground, or support 50 is rotated upward to the top far away from the ground, so as to avoid being blocked by an obstacle during riding, and improve riding experience.

In an embodiment, self-checking can be performed after starting up to avoid a fault and prepare for entering a riding mode. For example, whether the motor fails or not is detected, and if the motor fails, continuous error reporting is performed; if the vehicle body 10 is in an upright state or the deflection angle in the vertical direction with the ground is smaller than a set angle, for example, within 20 degrees, the power-assisted mode is entered, if the deflection angle in the vertical direction with the ground of the vehicle body 10 is judged to be larger than the set angle, that is, the riding condition is not met, the motor of the balance vehicle 1 is controlled to enter a closing mode, and after the standby preset time, for example, 5 seconds, the balance vehicle 1 is controlled to enter a shutdown state. After the self-checking has no fault, the riding mode can be entered.

In the riding mode, when the user gets off balance car 1, foot switch device 20 detects that the foot action disappears, that is, vehicle body 10 switches to the non-manned state, and outputs a non-manned signal, and control device 40 controls balance car 1 to switch from the riding mode to the power-assisted mode in response to the non-manned signal, wherein the power-assisted mode can be understood as that there is no person standing on vehicle body 10 and balance car 1 is in the self-balancing state, that is, the non-manned self-balancing mode.

As shown in fig. 5, the balance car 1 according to the embodiment of the present invention may further include a wheel speed detection device 60, and the control device 40 is further configured to detect an unattended signal, for example, in a power-assisted mode or after a person gets off the car, perform cumulative timing in response to a wheel speed being zero, and control the balance car 1 to enter a shutdown state when the cumulative timing reaches a preset time, for example, 10 seconds, to achieve automatic shutdown after timeout, without operating a shutdown key.

In other embodiments, the user may perform a preset pedaling operation to turn off the device, such as a user pedaling the foot switch device 20 several times, or pedaling left and right, or stepping long and then stepping short, or other settable operations. Specifically, in the boost mode, the foot switch device 20 outputs a shutdown trigger signal when detecting a foot shutdown action, such as three feet, and the control device 40 controls the balance car 1 to enter a shutdown state in response to the shutdown trigger signal, that is, realizes shutdown through an interactive action. Similarly, the user does not need to operate a shutdown key, convenience is provided for the user, and riding experience is improved.

Further, in order to facilitate the user to get on the vehicle directly when riding next time, in the embodiment of the present invention, when determining to enter the shutdown state, the control device 40 controls the support 50 to fall, for example, controls the support 50 to rotate from the initial position, for example, the left side or the right side which is 90 degrees from the ground, away from the upper side of the ground, to the vertical state with the ground, so as to support on the ground when parking, and controls the side of the vehicle body 10 where the support is located to incline by a preset angle which is a relatively small angle, so that the vehicle body 10 can incline towards the side of the support 50 after shutdown, and thus the balance vehicle 1 inclines towards a fixed direction and is supported on the ground by the support 50, so as to facilitate the user to get on the vehicle directly when riding next time, which is more.

In summary, the balance car 1 according to the embodiment of the present invention cancels the physical start button, integrates the functions of start triggering and people detection into one by using the foot switch device 20 that does not need to be powered up in advance, realizes stepping on and walking without operating the start button arranged at a low position, and is more smooth and simple in operation, thereby providing convenience for the user. And shutdown is realized by automatic shutdown in overtime or by setting a pedal instruction, and the vehicle body 10 is controlled to incline towards the supporting piece 50 side by a slight angle when the shutdown is carried out, so that the next riding is facilitated, and the riding experience is improved.

A method of controlling a balance car according to an embodiment of the second aspect of the present invention will be described with reference to the accompanying drawings.

Fig. 6 is a method of controlling a balance car according to an embodiment of the present invention, and as shown in fig. 6, the method of controlling a balance car includes steps S1, S2, and S3.

And step S1, in the power-off and power-off state, when the pedal action is detected, the pedal switch device outputs a manned signal.

Specifically, the balance car cancels a power-on and power-off button, and is provided with a pedal switch device which does not need to be powered up in advance, the pedal switch device detects the manned state of the car body, namely whether the car body stands for a person or not, and outputs a manned signal when the car body is detected to be in the manned state.

And step S2, enabling the control device to be powered on by the power supply according to the manned signal.

Specifically, the power supply is switched on and supplies power in response to the manned signal, namely, the starting of the balance car is realized. That is to say, through foot switch device can realize manned detection, manned signal also is as the trigger signal of start-up simultaneously, triggers balance car start-up, and power supply switch-on and power supply promptly, for example system components such as motor, controlling means are electrified. In short, the foot switch device can realize two functions of starting triggering and manned detection.

When a user needs to ride, the user directly pedals the vehicle body such as a pedal pad, the pedal switch device detects that the vehicle body is in a manned state and outputs a manned signal, the power supply of the manned signal power supply is responded, the balance vehicle is triggered to start, the control device is powered on, the control device still detects the manned signal of the pedal switch device, and then the balance vehicle is controlled to enter a riding mode, namely, a manned self-balancing state is entered, so that the balance vehicle can step on and walk without operating a start power supply button, and the operation is more convenient and is smooth and simple.

Further, the power supply enables the controlling means to power up according to the manned signal, including: converting the manned signal into a power enable trigger signal; a power supply module of the power supply receives the power supply enabling trigger signal to supply power; and converting the power supply of the power supply module into a working voltage signal of the control device and providing the working voltage signal to the control device.

Wherein, convert manned signal into power enable trigger signal includes: a power management circuit is arranged between the foot switch device and the power supply module; converting the power supplied by the power supply module into an operating voltage signal for the control device comprises: a power conversion circuit is arranged between the power supply module and the control device.

In the embodiment, one side of balance car bottom is provided with support piece, and when confirming control balance car entering mode of riding, control support piece packs up to avoid riding the in-process and receive blockking of barrier, improve the experience of riding.

Fig. 7 is a flowchart for controlling the balance car to start according to an embodiment of the present invention, and as shown in fig. 7, the start process includes:

and S10, the balance car is in a shutdown state.

S11, judging whether the foot switch device is triggered, namely detecting the man carrying signal, if yes, entering the step S12, otherwise, returning to the step S10.

And S12, controlling the balance car to start, namely, switching on the power supply and supplying power, and electrifying the components.

S13, judging whether the vehicle body is in the balance angle range, for example, whether the deflection angle of the vehicle body and the ground vertical direction is less than 20 degrees, if so, going to step S14, otherwise, going to step S18.

And S14, entering a boosting mode.

And S15, controlling the support to retract.

S16, judging whether the foot switch device is still triggered, if yes, entering the step S17, otherwise returning to the step S14.

And S17, entering a riding mode.

And S18, controlling the motor to be turned off, controlling the balance car to enter a shutdown state after waiting for a preset time, such as 5S, and returning to the step S10.

By adopting the starting control process of the embodiment, the software improvement is quicker and more efficient.

When a user gets on or off the balance bike, the foot switch device detects that the foot action disappears, namely the bike body is switched to the manned state, then the unmanned signal is output, the control device responds to the unmanned signal and controls the balance bike to be switched from the riding mode to the power-assisted mode, namely the manned self-balancing mode is switched to the unmanned self-balancing mode.

Under the condition of no person, if the wheel speed of the balance car is detected to be zero, accumulative timing is conducted, the accumulative timing reaches preset time, the balance car is controlled to enter a shutdown state, and therefore automatic shutdown is achieved when time is out. Or, when the pedal shutdown action is detected, the pedal switching device outputs a shutdown trigger signal, for example, when the pedal switching device detects a shutdown instruction under three pedals, the pedal switching device outputs the shutdown trigger signal, and the control device controls the balance car to enter a shutdown state in response to the shutdown trigger signal, that is, the shutdown is realized through the interactive action.

Further, in order to facilitate the next riding of the user, in the embodiment of the invention, when the user is determined to enter the shutdown state, the support member is controlled to fall down, and the vehicle body of the balance vehicle is controlled to incline to the side of the support member by the preset angle. Wherein, this preset angle is more tiny angle, can make the automobile body after shutting down towards that side slope of support piece can to the balance car inclines to fixed direction, and supports subaerial by support piece, and the convenience is directly got on the bus when riding next time, convenient and fast more.

Fig. 8 is a flowchart for controlling shutdown of the balancing vehicle according to an embodiment of the present invention, and as shown in fig. 8, the shutdown process includes:

and S20, in the riding mode.

S21, judging whether the foot switch device is off, namely whether the person carrying state is switched to the person carrying state is detected, if yes, entering the step S22, otherwise, returning to the step S20.

And S22, entering an assistance mode, and respectively judging whether the conditions of the step S23 and the step S24 are met.

S23, whether the accumulated time exceeds the preset time, if yes, the step S25 is proceeded, otherwise, the step S22 is returned.

S24, whether a shutdown trigger signal is detected, if yes, the step S25 is entered, otherwise, the step S22 is returned to.

And S25, controlling the support part to fall down and controlling the vehicle body to incline to a slight angle towards the side where the support part is located.

S26, entering a shutdown state.

In short, according to the method for controlling the balance car, disclosed by the embodiment of the invention, the manned signal is detected through the foot switch device, and meanwhile, the manned signal is used as the starting trigger signal, so that the manned detection function and the starting trigger function are integrated, stepping and walking are realized, the operation of a starting button is not needed, the control is smoother and simpler, and convenience is provided for a user. And can realize overtime automatic shutdown or realize shutting down through setting for pedal instruction to and control the automobile body to support piece slope small angle when shutting down, conveniently ride next time, improve the experience of riding.

The third aspect of the present invention provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program, when executed, implementing the method for controlling a balance car of the above embodiment.

It should be noted that in this specification, any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A balance car, characterized in that, the balance car includes:

a vehicle body;

the foot switch device is arranged on the vehicle body and used for outputting a manned signal when a manned state is detected;

the power supply is used for responding to the manned signal and supplying electric energy; and

the control device is used for controlling the vehicle body to enter a riding mode after the electric energy provided by the power supply source is electrified;

wherein, the riding mode is that the balance car is in a self-balancing state when in the manned state.

2. The balance car of claim 1,

the foot switch device is also used for outputting a non-manned signal if the manned state is detected to disappear in the riding mode;

the control device is also used for responding to the manned signal and controlling the vehicle body to be switched from the riding mode to the power-assisted mode;

wherein, the boosting mode is that the balance car is in a self-balancing state when the manned state disappears.

3. The balance car of claim 1, wherein the power supply comprises:

the power supply management circuit is used for responding to the manned signal to output a power supply enabling trigger signal;

the power supply module is used for responding to the power supply enabling trigger signal to supply power;

and the power supply conversion circuit is used for converting the power supply of the power supply module into a working voltage signal for the control device.

4. The balance car of claim 1, further comprising: the supporting piece is arranged on one side of the bottom of the vehicle body;

when the bicycle body enters the riding mode, the control device controls the supporting piece to be folded.

5. The balance car of claim 4, further comprising: wheel speed detection means for detecting a wheel speed of the vehicle body;

and the control device responds to the non-manned signal and the accumulated time when the wheel speed is zero and exceeds the preset time, and controls the power supply to be disconnected so as to enable the balance car to enter a shutdown state.

6. The balance car of claim 4, wherein the foot switch device is further configured to: when the pedal shutdown action is detected, a shutdown trigger signal is output to the control device, and the control device responds to the shutdown trigger signal to control the power supply to be disconnected, so that the balance car enters a shutdown state.

7. The balance car of claim 5 or 6,

before the balance car enters the shutdown state, the control device controls the support piece to incline towards the side where the support piece is located and fall down by a preset angle.

8. A method of controlling a balance car, the balance car comprising: foot switch device, power supply and controlling means, the method includes:

when the foot switch device detects a manned state, a manned signal is output;

the power supply responds to the manned signal to provide electric energy;

the control device controls the bicycle body to enter a riding mode after the electric energy provided by the power supply is powered on, wherein the riding mode is that the balance bicycle is in a self-balancing state in the manned state.

9. The method of controlling a balance car of claim 8, further comprising:

in the riding mode, if the pedal switch device detects that the pedal action disappears, outputting a non-manned signal;

the control device responds to the manned signal and controls the vehicle body to be switched from the riding mode to the power-assisted mode, wherein the power-assisted mode is that the balance vehicle is in a self-balancing state when the manned state disappears.

10. The method of controlling a balance car according to claim 8, the power supply source supplying power in response to the manned signal comprising:

outputting a power enable trigger signal in response to the manned signal;

supplying power in response to the power enable trigger signal;

converting the power supply to an operating voltage signal for the control device.

11. The method of controlling a balance car of claim 8, further comprising:

when the bicycle body enters the riding mode, the control device controls the support piece to be folded.

Wherein, the supporting piece is rotatably connected to one side of the bottom of the vehicle body.

12. The method of controlling a balance car of claim 11, further comprising:

if the control device detects the manned signal and the wheel speed of the balance car is zero, the control device responds to the manned signal and the accumulated time when the wheel speed is zero exceeds the preset time, and controls the power supply to be disconnected so as to enable the balance car to enter a shutdown state.

13. The method of controlling a balance car of claim 11, further comprising:

when the foot switch device detects a foot-operated shutdown action, a shutdown trigger signal is output to the control device;

the control device responds to the shutdown trigger signal to control the power supply to be disconnected, so that the balance car enters a shutdown state.

14. The method of controlling a balance car according to claim 12 or 13, characterized in that the method further comprises:

15. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the non-transitory computer readable storage medium stores one or more computer program(s) executable by one or more processors, the computer program(s) when executed implement the method of controlling a balancing vehicle of any of claims 8-14.